CN102426480A - Man-machine interactive system and real-time gesture tracking processing method for same - Google Patents
Man-machine interactive system and real-time gesture tracking processing method for same Download PDFInfo
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Abstract
The invention discloses a man-machine interactive system and a real-time gesture tracking processing method for the same. The method comprises the following steps of: obtaining image information of user side, executing gesture detection by a gesture detection unit to finish separation of a gesture and a background, and automatically determining a smaller rectangular frame which surrounds the hand as a region of interest in the image information through a vision algorithm; calculating the hand profile state of each frame in a video sequence by a gesture tracking unit; executing validity check on hand actions according to the calculated hand profile state, and determining the gesture action finished by the user; and generating a corresponding gesture action control instruction according to the determined gesture action, and making corresponding feedbacks by a three-dimensional user interface according to the gesture action control instruction. In the system and the method, all or part of gesture actions of the user are sensed so as to finish accurate tracking on the gesture, thus, a real-time robust solution is provided for an effective gesture man-machine interface port based on a common vision sensor.
Description
Technical field
The present invention relates to human-computer interaction technique field, in particular a kind of man-machine interactive system and real-time gesture tracking processing method thereof.
Background technology
Human-computer interaction technology is one of field with fastest developing speed in the present user interface research, and to this, each state all attaches great importance to.The U.S. classifies man-machine interface in the infotech as and one of software and computing machine six gordian techniquies arranged side by side in national gordian technique.In the U.S. national defense gordian technique, man-machine interface is not only one of important content in the software engineering, and is and one of computing machine and software engineering 11 gordian techniquies arranged side by side.The European information technology research and development strategic plan (ESPRIT) of the European Community has also been set up the user interface techniques project specially, comprising multimodal human-computer interaction interface (Multi-Modal Interface for Man-Machine Interface).Remaining on taking the lead in this field, is vital to whole intelligent computer systems.
The information 80% that human body obtained is from vision, therefore, is the important means that solves man-machine interaction from knowing psychologic angle research based on the man-machine interaction mode of machine vision.Gesture be in the man-machine interaction process one very naturally, exchange channels intuitively, therefore studying gestures detection Tracking Recognition technology not only helps to realize the man-machine interaction of nature, and helps robot through imitating user's demonstration movement acquistion technical ability.
Because diversity, polysemy and time that gesture itself has and the characteristics such as otherness on the space; Staff is the ill-posedness of complex deformation body and vision itself in addition, and therefore the gesture identification based on vision is a multidisciplinary intersection, challenging research topic.
The present man-machine interaction based on gesture mainly contains three kinds of modes, and the one, Massachusetts Polytechnics is representative, utilizes devices such as data glove, data clothes, the motion of adversary and health is followed the tracks of, the completion man-machine interaction; Second kind is to be the somatic sensation television game of representative with the Microsoft, and it adopts degree of depth camera and RGB camera to realize the Position Tracking of hand and health.The front dual mode all has expensive characteristics, is unsuitable for enterprise, particularly the widespread use of household appliances enterprise with keen competition; The third is exactly well-known in the industry HandVu; It is the object of research with common camera; Have advantages such as cost is low, real-time performance is good, but bigger by the external environment influence in tracing process, can not solve well owing to illumination and the complicated tracking failure problem that brings of background.
The Kinect somatic sensation television game that Microsoft in 2010 releases because of its human-computer interaction function intuitively naturally, and makes it favored by consumers in general.This system has adopted dual camera (degree of depth camera and RGB camera) to help the information fusion of multisensor, therefore have higher gestures detection and tracking accuracy, but its cost is high.On the contrary; Real-time gesture detection tracker based on common single camera has very strong advantage in this respect; But all there are certain deficiency in its adversary's the tracking and the preparation of detection and precision; Trace it to its cause and mainly contain: (1) hand itself is not a rigid body, in motion process, possibly have deformation in various degree; (2) influence of illumination condition and variation; (3) to target following neither one confidence level module, therefore, when system keeps track other targets and the tracking failure problem that causes is difficult to solve.
Therefore, prior art awaits to improve and development.
Summary of the invention
The technical matters that the present invention will solve is; Above-mentioned defective to prior art; A kind of man-machine interactive system and real-time gesture tracking processing method thereof are provided; The present invention can solve the tracking of non-steel body target under common single camera and the inaccurate problem of detection such as hand, and can solve owing to illumination and the complicated tracking failure problem that brings of background, utilizes computer vision and image processing techniques to realize automatic staff detection, tracking and gesture identification; In real time, robust, be easy to realize and operation, can make the computer user through hand attitude and computing machine carry out more natural, more intuitively, more intelligence alternately.
The technical scheme that technical solution problem of the present invention is adopted is following:
A kind of real-time gesture tracking processing method of man-machine interactive system wherein, comprises step:
A, obtain the image information of user side and carry out corresponding image noise reduction and enhancement process;
B, treated image information is carried out staff through the gestures detection unit detect, accomplish separating of gesture and background, and be area-of-interest through vision algorithm confirms to surround staff automatically in image information a less rectangle frame;
C, through the gesture tracking cell, the area-of-interest in said image information is accomplished the sub-pixel tracking of gesture feature point, in video sequence, calculates the staff profile state of every frame;
The validity that the staff profile state that D, basis calculate carries out the staff action detects, and carries out gesture identification and classify with the track of the user being accomplished certain predefine gesture, confirms the gesture motion that the user accomplishes;
The gesture motion that E, basis are confirmed generates corresponding gesture motion steering order, and this gesture motion steering order is sent to three-dimensional user interface;
F, three-dimensional user interface are made respective feedback according to said gesture motion steering order.
The real-time gesture tracking processing method of described man-machine interactive system wherein, comprises also before the said steps A that a, stereopsis display unit show 3 D stereoscopic image and three-dimensional graphical interface of user.
The real-time gesture tracking processing method of described man-machine interactive system, wherein, said steps A specifically comprises:
A1, video image acquiring unit obtain the user and belong to environment depth image information;
A2, the image information of the video image acquiring unit being obtained through graphics processing unit are carried out denoising and target enhancement process.
The real-time gesture tracking processing method of described man-machine interactive system, wherein, the staff profile state among the said step C: the length and the angle that comprise position, rotation angle, scaling amount and each finger.
The real-time gesture tracking processing method of described man-machine interactive system, wherein, said step D also comprises: the basis for estimation whether gesture motion begins is in the staff testing result of continuous 20 frames, has 12 frames of surpassing to detect staff and is in same position.
The real-time gesture tracking processing method of described man-machine interactive system, wherein, the gesture motion among the said step D comprises: move to left, move to right, on move, move down.
The real-time gesture tracking processing method of described man-machine interactive system, wherein, the gesture motion that the basis in the said step e is confirmed generates corresponding gesture motion steering order and comprises:
E1, motionless through hand gesture location identify this action for clicking order, generate corresponding click steering order;
E2, through the moving to left fast of hand gesture location, move to right, on move, in-migration identifies left and right, upper and lower four orders down, generate move to left accordingly, move to right, on move, move down steering order;
E3, through the closing motion of waving to identify of hand gesture location, generate the instruction of corresponding closing control.
A kind of man-machine interactive system wherein, comprising:
The video image acquiring unit is used to obtain the user and belongs to environment depth image information;
Graphics processing unit, the image information that is used for that the video image acquiring unit is obtained is carried out denoising and target enhancement process;
The gestures detection unit is used for that treated image information is carried out staff and detects, and the completion gesture is separated with background, and confirms that through vision algorithm a less rectangle frame of encirclement staff is an area-of-interest in image information automatically;
The gesture tracking cell is used for accomplishing at the area-of-interest of said image information the sub-pixel tracking of gesture feature point, in video sequence, calculates the staff profile state of every frame;
Gesture effect property detection and gesture motion confirmation unit, the validity of carrying out the staff action according to the staff profile state that calculates detects, and carries out gesture identification and classify with the track of the user being accomplished certain predefine gesture, confirms the gesture motion that the user accomplishes;
Gesture instruction control command generation unit generates corresponding gesture motion steering order according to the gesture motion of confirming, and this gesture motion steering order is sent to three-dimensional user interface;
The stereopsis display unit is used to show 3 D stereoscopic image and three-dimensional graphical interface of user, and is used for making respective feedback according to said gesture motion steering order.
Described man-machine interactive system, wherein, said video image acquiring unit is a camera.
Described man-machine interactive system, wherein, said staff profile state: the length and the angle that comprise position, rotation angle, scaling amount and each finger;
Gesture instruction control command generation unit further comprises:
First generation module is used for motionless through hand gesture location, identifies this action for clicking order, generates the corresponding steering order of clicking;
Second generation module, be used for through the moving to left fast of hand gesture location, move to right, on move, in-migration identifies left and right, upper and lower four orders down, generate move to left accordingly, move to right, on move, move down steering order;
The 3rd generates module, is used for the closing motion of waving to identify through hand gesture location, generates corresponding closing control instruction.
A kind of man-machine interactive system provided by the present invention and real-time gesture tracking processing method thereof; The present invention is through image sensing and processing unit on the 3 D stereoscopic image display device; Induction user's all or part of gesture motion; Accomplish the accurate tracking of gesture; Thereby for the solution of real-time gesture tracking effectively is provided based on the gesture user-machine interface of common vision sensor; The present invention utilizes computer vision and image processing techniques to realize automatic staff detection, tracking and gesture identification, in real time, robust, be easy to realize and operation, can make the computer user through hand attitude and computing machine carry out more natural, more intuitively, more intelligence alternately; Can be used for applications such as intelligent appliance, man-machine interaction and VR-Platform.Be applied in the intelligent television and the man-machine interaction of other intelligent appliance products, various somatic sensation television game and the various relevant VR-Platform products, so the present invention also has great economic worth and using value.
Description of drawings
Fig. 1 is the real-time gesture tracking processing method process flow diagram of the man-machine interactive system of the embodiment of the invention.
Fig. 2 is that the staff classifier stage of the embodiment of the invention links composition.
Fig. 3 is the man-machine interactive system functional schematic block diagram of the embodiment of the invention.
Fig. 4 is the man-machine interactive system hardware configuration synoptic diagram of the embodiment of the invention.
Embodiment
A kind of man-machine interactive system provided by the invention and real-time gesture tracking processing method thereof, clearer, clear and definite for making the object of the invention, technical scheme and advantage, below develop simultaneously embodiment to further explain of the present invention with reference to accompanying drawing.Should be appreciated that specific embodiment described herein only in order to explanation the present invention, and be not used in qualification the present invention.
The hardware device that needs in the embodiment of the invention is as shown in Figure 4, is computing machine 300 and video image acquisition equipment 400, and the real-time gesture tracking processing method of a kind of man-machine interactive system that the embodiment of the invention provides is as shown in Figure 1, comprises step:
Step S110, stereopsis display unit show 3 D stereoscopic image and three-dimensional graphical interface of user.
For example, on the display screen of the computing machine 300 of man-machine interactive system, show 3 D stereoscopic image and the three-dimensional graphical interface of user that to realize man-machine interaction.
Step S120, obtain the image information of user side and carry out corresponding image noise reduction and enhancement process.
For example, when need carry out man-machine interaction, can obtain user (as shown in Figure 4 500) place environment depth image information through video image acquiring unit (first-class) as making a video recording; And carry out denoising and target enhancement process through the image information that graphics processing unit obtains the video image acquiring unit, for next step gestures detection and tracking provides effective guarantee.Get into step S130 then.
Step S130, treated image information is carried out staff through the gestures detection unit detect, accomplish separating of gesture and background, and be area-of-interest through vision algorithm confirms to surround staff automatically in image information a less rectangle frame.
Accomplish separating of gesture and background in this step, for the feature point extraction in the tracking of target is provided convenience, and set area-of-interest, for the real-time demand of system is given security.
It is to adopt direction gradient histogram (HOG) characteristic that staff described in the embodiment of the invention detects, through what realize based on the statistical learning method of Adaboost.
The statistical learning method that is used to learn the staff pattern is the Adaboost algorithm.The Adaboost algorithm is in people's face detects, to use a kind of extremely widely ripe algorithm, its sample through finding it difficult to learn and practise in the continuous learning training sample of learner a little less than calling, thus reach higher extensive precision.The main process of Adaboost algorithm is: at first given training sample set; Then this sample set is carried out cycling; Each circulation obtains a Weak Classifier with selected features training; Calculate the error rate of this hypothesis then, the weight that changes each example according to this error rate gets into next circulation, and a strong classifier is formed in several weak typing cascades.Final sorter is formed by a series of similar strong classifier cascades; The classification capacity of sorter is along with the number of strong classifier in the cascade structure increases and increases; Wherein l as shown in Figure 2,2_M are each strong classifier that cascades up, and T representes that the candidate region accepted (promptly thinking staff district a fabulous creature, said to be like a turtle and blow poisonous sand in man's face) by certain strong classifier, and F representes that the candidate region refused by strong classifier; Be the candidate region that has been excluded, promptly think non-staff zone.Have only the candidate region to be accepted just to think that by all strong classifiers it is real staff zone, as long as some strong classifiers refusal thinks that promptly it is non-staff zone.
Step S140, through the gesture tracking cell, the area-of-interest in said image information is accomplished the sub-pixel tracking of gesture feature point, in video sequence, calculates the staff profile state of every frame;
The tracking of gesture is for next step gesture analysis information to be provided, wherein, and said staff profile state: the length and the angle that comprise position, rotation angle, scaling amount and each finger.
Said sub-pix is interpreted as: the imaging surface at area array camera is least unit with the pixel.Certain CMOS camera chip for example, its pel spacing is 5.2 microns.When video camera is taken, continuous images in the physical world has been carried out the discretize processing.Each pixel is only represented near the color it to the imaging surface.As for " near " to what degree? Just very difficulty is explained.Between two pixels 5.2 microns distance is arranged, on macroscopic view, can be regarded as and connect together.But on microcosmic, also have unlimited littler thing to exist between them.We claim that it is " sub-pix " this littler thing.In fact " sub-pix " should exist, and just do not have a trickle sensor to detect it on the hardware.So calculate it approx on the software.
The validity that the staff profile state that step S150, basis calculate carries out the staff action detects, and carries out gesture identification and classify with the track of the user being accomplished certain predefine gesture, confirms the gesture motion that the user accomplishes; In the present embodiment, said gesture motion comprises: move to left, move to right, on move, move down.And wherein the basis for estimation that whether begins of gesture motion is in the staff testing result of continuous 20 frames, has 12 frames of surpassing to detect staff and is in same position.
Gesture identification described in the present invention implements is passed through HMM and is realized,
The step of gesture identification according to the invention comprises:
Step 151: carry out pre-service removal point of density to follow the tracks of the gesture track that obtains from profile, obtain the pre-service track:
Step 152: pretreated track is extracted the direction encoding characteristic, to characteristic normalization;
Step 153: the probability of the corresponding all kinds of gesture models of characteristic that employing forward recursion algorithm computation step 152 obtains, getting probability the maximum is recognition result.
Staff profile according to the invention is followed the tracks of and is adopted the method that conditional probability density is propagated and heuristic scanning technique combines to realize that the step of said profile track algorithm is following:
Step 51: adopt conditional probability density to propagate translation, rotation and the scaling component motion of (Condensation) algorithm keeps track profile, obtain some candidate's profiles, these candidate's profiles are not also confirmed about the state component of finger;
Step 52: to each candidate's profile of having confirmed translation, rotation and scaling component motion, progressively adjust the length and the angle of each finger, obtain the finger motion state component of each profile, thereby produce final candidate's profile that all state components are all confirmed;
Step 53: from all final candidate's profiles, produce a profile as tracking results.
The gesture motion that step S160, basis are confirmed generates corresponding gesture motion steering order, and this gesture motion steering order is sent to three-dimensional user interface;
Wherein, the gesture motion confirmed of the basis in this step generates corresponding gesture motion steering order and comprises:
E1, motionless through hand gesture location identify this action for clicking order, generate corresponding click steering order;
E2, through the moving to left fast of hand gesture location, move to right, on move, in-migration identifies left and right, upper and lower four orders down, generate move to left accordingly, move to right, on move, move down steering order;
E3, through the closing motion of waving to identify of hand gesture location, generate the instruction of corresponding closing control.
Step S170, three-dimensional user interface are made respective feedback according to said gesture motion steering order.For example, according to user's gesture motion control, the three-dimensional user interface that the stereopsis display unit shows carries out corresponding action demonstration etc.
Therefore this bright embodiment through induction user's all or part of gesture motion, accomplishes the accurate tracking of gesture, thereby for the solution of real-time robust effectively is provided based on the gesture user-machine interface of common vision sensor
Based on the foregoing description, the embodiment of the invention also provides a kind of man-machine interactive system, and is as shown in Figure 3, mainly comprises:
Video image acquiring unit 210 is used to obtain the user and belongs to environment depth image information; Specifically of above-mentioned step S120.Wherein, said video image acquiring unit is a camera.
Gesture effect property detection and gesture motion confirmation unit 250; The validity of carrying out the staff action according to the staff profile state that calculates detects; And carry out gesture identification and classify with the track of the user being accomplished certain predefine gesture, confirm the gesture motion that the user accomplishes; Specifically of above-mentioned step S150.
Gesture instruction control command generation unit 260 generates corresponding gesture motion steering order according to the gesture motion of confirming, and this gesture motion steering order is sent to three-dimensional user interface; Specifically of above-mentioned step S160.
Wherein, said gesture instruction control command generation unit further comprises:
First generation module is used for motionless through hand gesture location, identifies this action for clicking order, generates the corresponding steering order of clicking;
Second generation module, be used for through the moving to left fast of hand gesture location, move to right, on move, in-migration identifies left and right, upper and lower four orders down, generate move to left accordingly, move to right, on move, move down steering order;
The 3rd generates module, is used for the closing motion of waving to identify through hand gesture location, generates corresponding closing control instruction.
In sum; A kind of man-machine interactive system provided by the present invention and real-time gesture tracking processing method thereof; The present invention is through image sensing and processing unit on the 3 D stereoscopic image display device; Induction user's all or part of gesture motion; Accomplish the accurate tracking of gesture, thereby for the solution of real-time gesture tracking effectively is provided based on the gesture user-machine interface of common vision sensor, the present invention utilizes computer vision and image processing techniques to realize automatic staff detection, tracking and gesture identification; In real time, robust, be easy to realize and operation, can make the computer user through hand attitude and computing machine carry out more natural, more intuitively, more intelligence alternately; Can be used for applications such as intelligent appliance, man-machine interaction and VR-Platform.Be applied in the intelligent television and the man-machine interaction of other intelligent appliance products, various somatic sensation television game and the various relevant VR-Platform products, so the present invention also has great economic worth and using value.
Should be understood that application of the present invention is not limited to above-mentioned giving an example, concerning those of ordinary skills, can improve or conversion that all these improvement and conversion all should belong to the protection domain of accompanying claims of the present invention according to above-mentioned explanation.
Claims (10)
1. the real-time gesture tracking processing method of a man-machine interactive system is characterized in that, comprises step:
A, obtain the image information of user side and carry out corresponding image noise reduction and enhancement process;
B, treated image information is carried out staff through the gestures detection unit detect, accomplish separating of gesture and background, and be area-of-interest through vision algorithm confirms to surround staff automatically in image information a less rectangle frame;
C, through the gesture tracking cell, the area-of-interest in said image information is accomplished the sub-pixel tracking of gesture feature point, in video sequence, calculates the staff profile state of every frame;
The validity that the staff profile state that D, basis calculate carries out the staff action detects, and carries out gesture identification and classify with the track of the user being accomplished certain predefine gesture, confirms the gesture motion that the user accomplishes;
The gesture motion that E, basis are confirmed generates corresponding gesture motion steering order, and this gesture motion steering order is sent to three-dimensional user interface;
F, three-dimensional user interface are made respective feedback according to said gesture motion steering order.
2. the real-time gesture tracking processing method of man-machine interactive system according to claim 1 is characterized in that, also comprises before the said steps A, and a, stereopsis display unit show 3 D stereoscopic image and three-dimensional graphical interface of user.
3. the real-time gesture tracking processing method of man-machine interactive system according to claim 1 is characterized in that, said steps A specifically comprises:
A1, video image acquiring unit obtain the user and belong to environment depth image information;
A2, the image information of the video image acquiring unit being obtained through graphics processing unit are carried out denoising and target enhancement process.
4. the real-time gesture tracking processing method of man-machine interactive system according to claim 1 is characterized in that, the staff profile state among the said step C: the length and the angle that comprise position, rotation angle, scaling amount and each finger.
5. the real-time gesture tracking processing method of man-machine interactive system according to claim 1; It is characterized in that; Said step D also comprises: the basis for estimation whether gesture motion begins is in the staff testing result of continuous 20 frames, has 12 frames of surpassing to detect staff and is in same position.
6. the real-time gesture tracking processing method of man-machine interactive system according to claim 1 is characterized in that, the gesture motion among the said step D comprises: move to left, move to right, on move, move down.
7. the real-time gesture tracking processing method of man-machine interactive system according to claim 1 is characterized in that, the gesture motion that the basis in the said step e is confirmed generates corresponding gesture motion steering order and comprises:
E1, motionless through hand gesture location identify this action for clicking order, generate corresponding click steering order;
E2, through the moving to left fast of hand gesture location, move to right, on move, in-migration identifies left and right, upper and lower four orders down, generate move to left accordingly, move to right, on move, move down steering order;
E3, through the closing motion of waving to identify of hand gesture location, generate the instruction of corresponding closing control.
8. a man-machine interactive system is characterized in that, comprising:
The video image acquiring unit is used to obtain the user and belongs to environment depth image information;
Graphics processing unit, the image information that is used for that the video image acquiring unit is obtained is carried out denoising and target enhancement process;
The gestures detection unit is used for that treated image information is carried out staff and detects, and the completion gesture is separated with background, and confirms that through vision algorithm a less rectangle frame of encirclement staff is an area-of-interest in image information automatically;
The gesture tracking cell is used for accomplishing at the area-of-interest of said image information the sub-pixel tracking of gesture feature point, in video sequence, calculates the staff profile state of every frame;
Gesture effect property detection and gesture motion confirmation unit, the validity of carrying out the staff action according to the staff profile state that calculates detects, and carries out gesture identification and classify with the track of the user being accomplished certain predefine gesture, confirms the gesture motion that the user accomplishes;
Gesture instruction control command generation unit generates corresponding gesture motion steering order according to the gesture motion of confirming, and this gesture motion steering order is sent to three-dimensional user interface;
The stereopsis display unit is used to show 3 D stereoscopic image and three-dimensional graphical interface of user, and is used for making respective feedback according to said gesture motion steering order.
9. man-machine interactive system according to claim 8 is characterized in that, said video image acquiring unit is a camera.
10. man-machine interactive system according to claim 8 is characterized in that, said staff profile state: the length and the angle that comprise position, rotation angle, scaling amount and each finger;
Gesture instruction control command generation unit further comprises:
First generation module is used for motionless through hand gesture location, identifies this action for clicking order, generates the corresponding steering order of clicking;
Second generation module, be used for through the moving to left fast of hand gesture location, move to right, on move, in-migration identifies left and right, upper and lower four orders down, generate move to left accordingly, move to right, on move, move down steering order;
The 3rd generates module, is used for the closing motion of waving to identify through hand gesture location, generates corresponding closing control instruction.
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