Hand pointing estimation for human computer interaction

  • US 8,971,572 B1
  • Filed: 08/10/2012
  • Issued: 03/03/2015
  • Est. Priority Date: 08/12/2011
  • Status: Active Grant
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First Claim
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1. A method for estimating a finger pointing direction using an active appearance model, which tracks a plurality of landmarks on the hand, corresponding to landmarks of hands in a training image set to which a principal component analysis is applied to formulate a statistical model of the hand, comprising:

  • detecting a hand in each of at least two images acquired from different angles with at least one automated processor, comprising generating Haar-like features from the at least two images, implementing a cascade detector using AdaBoost, wherein portions of each image are scanned over different translations, scales and rotations to find a best fit for the hand, and locating a center of the hand and a position of the wrist in each image;

    warping the detected hand in each image from a Cartesian Coordinate representation to a Polar Coordinate representation, with the center of the hand at the pole, and the polar angle determined by a position of the wrist with respect to the center of the hand;

    applying the active appearance model to find a best fit for visible landmarks of the hand in each image;

    combining the best fit for the visible landmarks of the hand in each image to the active appearance model to infer a three dimensional position of each visible landmark in each image;

    determining at least two visible features of a finger extending from the hand, to define a pointing gesture in each image; and

    determining with the at least one automated processor, at least one of a three dimensional pointing vector of the finger and a target of the pointing gesture.

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