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Gesture recognition system using depth perceptive sensors

  • US 9,959,463 B2
  • Filed: 10/31/2012
  • Issued: 05/01/2018
  • Est. Priority Date: 02/15/2002
  • Status: Active Grant
First Claim
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1. One or more computer-storage devices having computer-executable instructions embodied thereon that when executed by a computing device perform a method of three-dimensional (“

  • 3D”

    ) image analysis, the method comprising;

    receiving 3D image data describing a 3D scene and comprising points having 3D coordinate information;

    grouping at least some of the points into a plurality of clusters by using the points'"'"' depth values to form individual clusters comprising points that have similar depth values, wherein said grouping comprises testing adjacent points in the 3D image data for homogeneity using a gradient of the depth values for a cluster and splitting one or more regions and/or merging two or more adjacent regions, until no region needs be split and no two adjacent regions can be merged to form a cluster, wherein using the gradient of the depth values comprises determining that a region is homogeneous when a greatest gradient magnitude in the interior of the region is below a predefined threshold;

    selecting, according to at least a first parameter, a specific cluster from the plurality of clusters, the specific cluster corresponding to a real-world object of interest described by the 3D image data;

    grouping at least some of the points of the specific cluster into a set according to points'"'"' depth positions, wherein the set has a geometric center; and

    associating a shape to the set, the shape being fixed to the geometric center of the set.

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