CN103197761B

CN103197761B - Gesture identification method and device

Info

Publication number: CN103197761B
Application number: CN201310105911.6A
Authority: CN
Inventors: 陈济棠
Original assignee: SHENZHEN TOL TECHNOLOGY Co Ltd
Current assignee: Shenzhen Taishan Sports Technology Co.,Ltd.
Priority date: 2013-03-28
Filing date: 2013-03-28
Publication date: 2016-12-28
Anticipated expiration: 2033-03-28
Also published as: CN103197761A

Abstract

The invention discloses a kind of gesture identification method and device, described method includes: S1, obtain the three-dimensional data of the preset duration identifying object；S2, three-dimensional data to described preset duration are fitted, and obtain fit operation plane, and described fit operation plane is to identify the almost plane of object movement locus place plane in preset duration；S3, extract the projected footprint of the three-dimensional data subpoint in described fit operation plane identifying object including each sampling instant, obtain according to described projected footprint turn round a little with the described parameter turned round a little；S4, when the described parameter turned round a little meets instruction decision condition set in advance, then perform the instruction that this instruction decision condition set in advance is corresponding.The present invention can be substantially reduced operand, quickly, accurately surely identifies that the gesture of object is identified.

Description

Gesture identification method and device

Technical field

The present invention relates to human-computer interaction technique field, particularly relate to a kind of gesture identification method and device.

Background technology

Operation to file, is confined to mouse and keyboard at present, this mode of operation the most extremely inconvenience, example As in demonstration occasion, speaker is likely to require the multiple files of operation, it may be necessary to minimizes present procedure, needs to open next Individual file and this document is carried out maximum operation come emphasis show.Although the operation of current mouse and keyboard has been passed through wireless Technology and ergonomics technology become more and more convenient, but require that operator is also to rely on mouse and keyboard when operation, And can not the most cosily carry out man-machine interaction.

Currently, somatosensory operation identification technology, as interactive mode brand-new between the mankind and computer, is widely used in intelligence The various fields such as energy robot, computer, game machine, mobile phone, display, automatic control system.And along with multimedia technology Universal with development, people are carrying out unremitting exploration to this brand-new human-computer interaction technology, make to use gesture, limb action etc. Intuitive way finishing man-machine interaction a, it has also become hot technology.

But current somatosensory operation identification technology, it is impossible to more fast efficiently identify the gesture of operator, to carry out people Machine interactive operation.

Summary of the invention

In view of the above problems, it is an object of the invention to propose a kind of gesture identification method and device, by identification is right The movement locus of elephant is mapped in a plane, captures the gesture of manipulator rapidly and accurately.

For reaching this purpose, the present invention by the following technical solutions:

A kind of gesture identification method, including:

S1, obtain the three-dimensional data of preset duration identifying object；

S2, three-dimensional data to described preset duration are fitted, and obtain fit operation plane, described fit operation plane For identifying the almost plane of object movement locus place plane in preset duration；

S3, extraction include the projection in described fit operation plane of the three-dimensional data identifying object of each sampling instant The projected footprint of point, obtains according to described projected footprint and turns round a little and the described parameter turned round a little；When certain subpoint corresponding The extended line of one line segment meets predetermined condition to the deflection angle of the second line segment corresponding to this subpoint, defines this subpoint for turning Curved, wherein, the first line segment that described subpoint is corresponding is connected shape by subpoint with the former point of adjacent time in projected footprint The line segment become, the second line segment that described subpoint is corresponding is connected formation by subpoint with the latter point of adjacent time in projected footprint Line segment；

S4, when the described parameter turned round a little meets instruction decision condition set in advance, then perform this finger set in advance Make the instruction that decision condition is corresponding.

Preferably, the parameter turned round a little described in described step S3 includes turn round deflection angle a little, displacement a little of turning round Ratio, speed proportional a little of turning round and the adjacent velocity rate turned round a little；

Wherein, the deflection angle a little that turns round described in is the first corresponding ray deflection angle to the second ray of currently turning round Degree；

Currently turn round a little exist temporally adjacent previous turn round some time, in projected footprint, this temporally adjacent previous turns Curved point carries out fitting a straight line to the subpoint occurred in chronological order between currently turning round a little, when taking in the fitting a straight line of acquisition this Between an adjacent previous ray pointing to a direction of currently turning round that turns round be the first ray；Otherwise, to projected footprint projects rail Mark starting point carries out fitting a straight line to the subpoint occurred in chronological order between currently turning round a little, take in the fitting a straight line of acquisition by It is the first ray that projected footprint starting point points to the ray in a direction of currently turning round；

Currently turn round a little exist temporally adjacent rear one turn round some time, when pointing to this to projected footprint currently turns round Between adjacent rear one turn round a little between the subpoint that occurs in chronological order carry out fitting a straight line, take in the fitting a straight line of acquisition when Before turn round that to point to this rear one temporally adjacent ray turning round a direction be the second ray；Otherwise, to current in projected footprint Turn round and a little carry out fitting a straight line to the subpoint occurred in chronological order between projected footprint terminal, take in the fitting a straight line of acquisition By currently turning round, a ray pointing to projected footprint terminal direction is the second ray；

The described displacement ratio turned round a little is currently turn round the first corresponding crucial line segment and a second crucial line segment Middle length higher value and the ratio of smaller value；

Currently turn round a little exist temporally adjacent previous turn round some time, the described first crucial line segment is described first ray Previous turn round a little to the line segment currently turning round a little from temporally adjacent；Otherwise, the described first crucial line segment is described first Ray from projected footprint starting point to the line segment currently turning round a little；

Currently turn round a little exist temporally adjacent rear one turn round some time, the described second crucial line segment is described second ray From currently turn round a little to this temporally adjacent rear one turn round a little line segment；Otherwise, described second crucial line segment is described the Two rays are from currently turning round a little to the line segment projected footprint terminal；

The described speed proportional turned round a little is currently turn round the first corresponding crucial line segment and the speed of the second crucial line segment Degree ratio；Currently turn round a little exist temporally adjacent previous turn round some time, the speed of the described first crucial line segment is according to first The length of crucial line segment and projected footprint previous turn round a little to the Time Calculation a little experienced of currently turning round from temporally adjacent；No Then, according to the length of the first crucial line segment and projected footprint from starting point to the Time Calculation a little experienced of currently turning round；

Currently turn round a little exist temporally adjacent rear one turn round some time, the speed of the described second crucial line segment is according to second The length of crucial line segment and projected footprint from currently turn round a little to projected footprint temporally adjacent rear one turn round a little experienced time Between calculate；Otherwise, length and projected footprint according to the second crucial line segment are a little experienced to projected footprint terminal from currently turning round Time Calculation；

The described adjacent velocity rate that turns round a little be the temporally adjacent speed at the first crucial line segment front turned round a little with Temporally adjacent after turn round the ratio of speed of the crucial line segment of second a little.

Preferably, the parameter turned round a little described in described step S3 includes turn round deflection angle a little, displacement a little of turning round Ratio；Described in described step S4, instruction decision condition set in advance includes: turn round a little if described projected footprint occurs one Deflection angle between 30 degree to 170 degree, and this displacement ratio that turns round is between 1.5 to 2.5, then assert that this gesture is for sky Middle picture " √ ", then Predicated execution first instructs.

Preferably, the parameter turned round a little described in described step S3 also includes the speed proportional turned round a little；

Described in described step S4, instruction decision condition set in advance also includes, described in speed proportional a little of turning round exist Between 0.7 to 1.5.

Preferably, speed proportional a little of turning round described in is 1.3.

Preferably, the parameter turned round a little described in described step S3 includes turn round deflection angle a little, displacement a little of turning round Ratio；Described in described step S4, instruction decision condition set in advance includes: turn round a little if described projected footprint occurs one Deflection angle between-180 degree to-170 degree or between 170 degree to 180 degree, and described in the displacement ratio that turns round a little 1.5 Between 2, then assert that gesture, for wave in the air, performs the second instruction.

Preferably, the parameter turned round a little described in described step S3 includes the deflection angle turned round a little；In described step S4 Described instruction decision condition set in advance includes: if described projected footprint include two deflection angles 100 degree to 174 degree it Between turn round a little, and temporally adjacent front turn round a little first crucial line segment with temporally adjacent after turn round second a little Crucial line segment has an intersection point, then assert that this gesture for drawing "×" in the air, then performs the 3rd instruction.

Preferably, the parameter turned round a little described in described step S3 also includes the adjacent velocity rate turned round a little:

Described in described step S4, instruction decision condition set in advance also includes, the described adjacent velocity rate turned round a little Between 0.7 to 1.5.

Preferably, the described adjacent velocity rate turned round a little is 1.3.

The invention also discloses a kind of gesture identifying device, it is characterised in that including:

Three-dimensional data acquisition module, for obtaining the three-dimensional data of the preset duration identifying object；

Operation planar acquisition module, for being fitted the three-dimensional data of described preset duration, obtains fit operation and puts down Face, described fit operation plane is to identify the almost plane of object movement locus place plane in preset duration；

Characteristic extracting module, grasps in described matching for extracting the three-dimensional data identifying object including each sampling instant Make the projected footprint of subpoint in plane, obtain according to described projected footprint turn round a little with the described parameter turned round a little；When certain The extended line of the first line segment that subpoint is corresponding meets predetermined condition to the deflection angle of the second line segment corresponding to this subpoint, fixed This subpoint of justice is for turning round a little, and wherein, the first line segment that described subpoint is corresponding is subpoint and adjacent time in projected footprint The line segment that even formed of former point, the second line segment that described subpoint is corresponding is subpoint and adjacent time in projected footprint The line segment that latter point is even formed；

Characteristic matching with perform module, for when described in parameter a little of turning round meet instruction decision condition set in advance Time, perform the instruction that this instruction decision condition set in advance is corresponding.

Preferably, parameter a little of turning round described in include turning round deflection angle, the displacement ratio a little that turns round a little, turn round a little Combination one or more in speed proportional and the adjacent velocity rate turned round a little；

Wherein, the deflection angle a little that turns round described in be currently turn round a first corresponding ray to the second ray deflection Angle；

Currently turn round a little exist temporally adjacent rear one turn round some time, the described second crucial line segment is described second ray From currently turn round a little to this temporally adjacent rear one turn round a little line segment；Otherwise, described second crucial line segment is described the Two rays are from currently turning round a little to the line segment projected footprint terminal；The described speed proportional turned round a little is a little right for currently turning round The crucial line segment of first answered and the speed proportional of the second crucial line segment；

Currently turn round a little exist temporally adjacent previous turn round some time, the speed of the described first crucial line segment is according to first The length of crucial line segment and projected footprint previous turn round a little to the Time Calculation a little experienced of currently turning round from temporally adjacent；No Then, according to the length of the first crucial line segment and projected footprint from starting point to the Time Calculation a little experienced of currently turning round；

Preferably, parameter a little of turning round described in include turning round deflection angle a little, turn round displacement ratio a little；

With performing module, characteristic matching includes that the first instruction assert that unit, described first instruction assert that unit is for described There is a deflection angle turned round a little between 30 degree to 170 degree in projected footprint, and this displacement ratio that turns round arrives 1.5 Time between 2.5, assert and identify that object is drawn " √ " in the air, perform the first instruction.

Preferably, parameter a little of turning round described in also includes the speed proportional turned round a little；

Described first instruction assert unit identification identification object draw in the air the condition of " √ " also include described in turn round speed a little Degree ratio is between 0.7 to 1.5.

Preferably, speed proportional a little of turning round described in is 1.3.

Preferably, parameter a little of turning round include turning round deflection angle a little, turn round displacement ratio a little；

With performing module, characteristic matching includes that the second instruction assert that unit, described second instruction assert that unit is for described Projected footprint occurs that a deflection angle turned round a little is spent between-170 degree or between 170 degree to 180 degree and described-180 Turn round displacement ratio a little between 1.5 to 2 time, assert gesture for wave in the air, perform second instruct.

Preferably, parameter a little of turning round described in includes the deflection angle turned round a little；

With performing module, characteristic matching includes that the 3rd instruction assert that unit, described 3rd instruction assert that unit is for described Projected footprint includes two deflection angles turning round a little between 100 degree to 174 degree, and temporally adjacent turning in front appearance The crucial line segment of the first of curved point has an intersection point with the temporally adjacent crucial line segment of second a little of turning round in rear appearance, and assert should Gesture, for drawing "×" in the air, performs the 3rd instruction.

Preferably, parameter a little of turning round described in also includes the adjacent velocity rate turned round a little；

Described first instruction assert that unit identification identification object is drawn the condition of "×" in the air and also included described adjacent turn round a little Velocity rate between 0.7 to 1.5.

Preferably, the described adjacent velocity rate turned round a little is 1.3.

The present invention is by by identifying that object three-dimensional data in scheduled duration is mapped in a fit operation plane, obtaining Take its plane projection track identifying object motion, by utilizing a parameter of turning round a little in plane projection track and turn round to obtain Identify, owing to the data processed are changed into 2-D data by three-dimensional data, and track place space plane need not be adapted to Direction arranges multiple characteristic matching storehouse and mates, and the present invention greatly reduces the operand of action recognition, and meanwhile, the present invention ties Close the feature of gesture somatosensory operation, utilize and turn round a little and relevant parameter is used as the characteristic parameter of gesture identification, it is possible to preferably Embody gesture feature, improve the accuracy of gesture identification.

Accompanying drawing explanation

Fig. 1 is the flow chart of the gesture identification method described in the embodiment of the present invention one；

Fig. 2 is by a judgement schematic diagram that turns round；

Fig. 3 is the schematic diagram that the deflection angle turned round a little calculates；

Fig. 4 is the schematic diagram calculating deflection angle according to straight slope；

Fig. 5 is that the aerial gesture drawing " √ " judges schematic diagram；

Fig. 6 is that the gesture of oscillating air judges schematic diagram；

Fig. 7 is that the gesture drawing "×" in the air judges schematic diagram；

Fig. 8 is the structural representation of the gesture identifying device of the embodiment of the present invention two.

Detailed description of the invention

Embodiment one

Fig. 1 is the flow chart of the gesture identification method described in the present embodiment, as it is shown in figure 1, described method includes:

S101, the three-dimensional data of acquisition identification object preset duration.

In a preferred implementation of the present embodiment, described identification object can be a single point, such as finger tip or Person is the central point representing whole hand, and this central point refers to according to point coordinates all of in hand three-dimensional data calculated Representing the some cloud centre of form or the point of barycenter of hand three-dimensional data, it can be by adding point coordinates all of in hand three-dimensional data Weight average or arithmetic average are calculated.

In a preferred implementation of the present embodiment, the three-dimensional data acquisition methods of described preset duration can be: adopts With existing three-dimensional space data acquisition methods, obtained by evaluator.It is for instance possible to use binocular calculates parallax, thus count Calculate three-dimensional information.Again it is for instance possible to use TOF (Time of Flight, light flight time) method, by calculating the reflection of light Time Calculation depth map, obtains the three-dimensional data identifying object.Again it is for instance possible to use the method for structured light of monocular, by meter Calculate coupling degree of depth pattern and calculate depth value, thus obtain the three-dimensional data identifying object.

Herein, evaluator can be any instrument that can identify three-dimensional data at three dimensions in prior art, it is possible to To be 3D(Three Dimensional, three-dimensional) sensor or stereo camera etc..

And the setting of preset duration is usually set to the duration that be enough to fully identify fit operation plane, can be according to identification Depending on the performance of device, such as, when evaluator powerful, when speed is fast, preset duration can be set to shorter.

S102, to identify object three-dimensional data of each sampling instant in preset duration be fitted, obtain fit operation Plane, described fit operation plane is to identify the almost plane of object movement locus place plane in preset duration.

In a detailed description of the invention of the present embodiment, described fit operation plane is that a single point is in preset duration The almost plane of movement locus place plane.

The general expression of plane equation is:

P(x, y, z)=Ax+By+Cz+D=0

Both sides can obtain with divided by D:

P(x,y,z)=ax+by+cz+1=0

If in preset duration, such as 3 seconds, the three-dimensional data of a single point recorded is:

(x_i,y_i,z_i)(i=0,1,2,......,n)

In the present embodiment, according to this three-dimensional data, it is possible to use method of least square formula is fitted:

F = Σ_{i = 0}^{n} {[{ax}_{i} + {by}_{i} + {cz}_{i} + 1]}^{2} = \min

If:

Q = [\begin{matrix} Σ_{i = 1}^{n} {x_{i}}^{2} & Σ_{i = 1}^{n} x_{i} y_{i} & Σ_{i = 1}^{n} x_{i} z_{i} \\ Σ_{i = 1}^{n} x_{i} y_{i} & Σ_{i = 1}^{n} {y_{i}}^{2} & Σ_{i = 1}^{n} z_{i} y_{i} \\ Σ_{i = 1}^{n} x_{i} z_{i} & Σ_{i = 1}^{n} z_{i} y_{i} & Σ_{i = 1}^{n} {z_{i}}^{2} \end{matrix}]

K = [\begin{matrix} - Σ_{i = 1}^{n} x_{i} \\ - Σ_{i = 1}^{n} y_{i} \\ - Σ_{i = 1}^{n} z_{i} \end{matrix}]

Q [a b c] can be obtained^T=K

Solve floor coefficient for [a b c]^TQ^-1K.

According to the knowledge of space geometry, the rotation relationship of the most former coordinate system of plane normal can be obtained from plane equation R。

It should be noted that those skilled in the art can also use other existing planar fit method to come to identification Object three-dimensional data of each sampling instant in preset duration is fitted, as long as being obtained in that fit operation plane.

S103, extraction include the throwing in described fit operation plane of the three-dimensional data identifying object of each sampling instant The projected footprint of shadow point, obtains according to described projected footprint and turns round a little and the described parameter turned round a little.

In projected footprint, when the extended line of the first line segment corresponding to certain subpoint is to the second line segment corresponding to this subpoint Deflection angle meet predetermined condition, define this subpoint for turning round a little, wherein, the first line segment corresponding to described subpoint is for throwing The line segment that shadow point is even formed with the former point of adjacent time in projected footprint, the second line segment that described subpoint is corresponding is projection The line segment that point is even formed with the latter point of adjacent time in projected footprint.

Specifically, as in figure 2 it is shown, some A, B, C are three subpoints temporally adjacent in projected footprint, three subpoints exist Order in track is that A to C occurs in succession.If the subpoint analyzed is some B, then some A is adjacent time in its projected footprint Former point, and putting C is the latter point of adjacent time in its projected footprint.Line segment AB is first line segment of subpoint B, and line segment BC is Second line segment of subpoint B, the extended line that extended line BD is the first line segment of line segment AB.

The deflection angle of subpoint is then the deflection angle from the extended line of the first line segment to the second line segment, in the present invention, institute Have deflection angle with rotate to be counterclockwise on the occasion of.Otherwise it is then negative value.In the example in figure 2, the deflection angle of Angles Projections point B is ∠ DBC, this angle is negative value.

For the judgement turned round in track a little, it is that each subpoint all can go to judge whether this point turns round a little.Such as Fig. 2 institute Show, judge B point whether for turn round a some some time, need to try to achieve the first line segment AB and the slope of the second line segment BC the most respectively, according to Two straight slopes and the relation of angle, try to achieve deflection angle ∠ DBC.After the deflection angle obtaining subpoint, according to deflection angle whether Meet predetermined condition and i.e. can determine that whether corresponding Current projection point is to turn round a little.A preferred embodiment at the present embodiment In, the deflection angle of subpoint is if exceeding-5～5 degree of scopes, then it is assumed that be to turn round a little.Certainly, those skilled in the art are permissible Understand, as required described predetermined condition can be set as other scope.Additionally, define subpoint deflection angle relatively great talent For be turn round a little in the case of, only can need to analyze this subpoint first line segment and the second line segment slope is the most close, so that it may quickly Whether distinguish is flex point.

The parameter a little of turning round extracted in this step can be turn round deflection angle, the displacement ratio a little that turns round a little, turn The speed proportional of curved point and the adjacent velocity rate turned round a little.

Wherein, the deflection angle a little that turns round is the first corresponding ray deflection angle to the second ray that currently turns round. Currently turn round a little exist temporally adjacent previous turn round some time, in projected footprint, this temporally adjacent previous turns round a little to working as Before turn round a little between the subpoint that occurs in chronological order carry out fitting a straight line, take in the fitting a straight line of acquisition this temporally adjacent A previous ray pointing to a direction of currently turning round that turns round is the first ray；Otherwise, projected footprint starting point in projected footprint is arrived The subpoint occurred in chronological order between currently turning round a little carries out fitting a straight line, takes in the fitting a straight line of acquisition by projected footprint It is the first ray that starting point points to the ray in a direction of currently turning round.

Currently turn round a little exist temporally adjacent rear one turn round some time, when pointing to this to projected footprint currently turns round Between adjacent rear one turn round a little between the subpoint that occurs in chronological order carry out fitting a straight line, take in the fitting a straight line of acquisition when Before turn round that to point to this rear one temporally adjacent ray turning round a direction be the second ray；Otherwise, to current in projected footprint Turn round and a little carry out fitting a straight line to the subpoint occurred in chronological order between projected footprint terminal, take in the fitting a straight line of acquisition By currently turning round, a ray pointing to projected footprint terminal direction is the second ray.

For example, with reference to shown in Fig. 3, needing to calculate turning round of deflection angle in projected footprint is some F, if at projection rail In mark there is a temporally adjacent previous E that turns round in it, then to from projected footprint in chronological order from turn round an E to turn round a F it Between the subpoint that occurs carry out fitting a straight line, it is thus achieved that fitting a straight line, then, take to be pointed to penetrating of a F direction of turning round by some E of turning round Line is as first ray of a F that turns round.During a F is projected footprint if turned round first turn round do not exist temporally adjacent Previous turn round a little, at this moment, its preceding key point is taken as starting point E of projected footprint ' (shown in bracket), from projection rail To in chronological order from starting point E in mark ' to turning round, the subpoint occurred a F carries out fitting a straight line, it is thus achieved that fitting a straight line, so After, take using by starting point E ' point to the F ray as direction the first ray as a F that turns round that turns round.

Simultaneously for a F that currently turns round, if in projected footprint, there is temporally adjacent rear one and turn round a G, then in it To carrying out fitting a straight line from a F that turns round to all subpoints occurred a G that turn round in chronological order, it is thus achieved that fitting a straight line, Then, take to be pointed to, by a F that turns round, the G ray as direction the second ray as a F that turns round that turns round.If at projected footprint In, last that a F is projected footprint of turning round is turned round and a little and be there is not temporally adjacent rear one and turn round a little, at this moment, takes projection The terminal G ' (shown in bracket) of track is key point, in chronological order from turning round a F to projected footprint terminal G ' The all subpoints occurred carry out fitting a straight line, it is thus achieved that fitting a straight line, then, take to be pointed to terminal G ' as direction by a F that turns round Ray as second ray of a F that turns round.

After the first ray a little and the second ray are turned round in acquisition, try to achieve the slope of two rays respectively, i.e. can be according to two Straight slope and the relation of angle, calculate the deflection angle of the first ray to the second ray as the deflection angle turned round a little.

Specifically, according to the relation of two straight slopes Yu angle, described in turn round deflection angle circular a little can Calculate in the following way:

As shown in Figure 4, in plane right-angle coordinate xOy, straight line l₁Inclination angle be α₁, straight line l₂Inclination angle be α₂, it is assumed that θ (θ ≠ 90 °) is straight line l₁, l₂Formed one jiao, according to the tangent formula of two angular differences:

Straight line l₁With straight line l₂Between angle α circular be:

Assume that θ (θ ≠ 90 °) is straight line l₁, l₂Formed one jiao, it is clear that α₂=α₁+ θ, then θ=α₂-α₁, formula obtain:

\tan θ = \tan (α_{2} - α_{1}) = \frac{\tan α_{2} - \tan α_{1}}{1 + \tan α_{1} \tan α_{2}} = \frac{k_{2} - k_{1}}{1 + k_{1} k_{2}}

Again because two crossing and mutual off plumb included angle of straight line α scopes are (0 °, 90 °) in plane, so tan α ＞ 0. Thus:

\tan α = | \tan θ | = | \tan (α_{2} - α_{1}) | = | \frac{\tan α_{2} - \tan α_{1}}{1 + \tan α_{1} \tan α_{2}} | = | \frac{k_{2} - k_{1}}{1 + k_{1} k_{2}} |

That is, straight line l in plane₁With Straight line l₂Angle

Then, try to achieve the supplementary angle of this angle, the deflection angle of turning round defined in the present embodiment can be tried to achieve.

Another parameter a little of turning round displacement ratio a little that turns round is the crucial line segment and second of corresponding first that currently turns round Length higher value and the ratio of smaller value in crucial both line segments.Temporally adjacent previous turn round a little is a little there is currently turning round Time, described first crucial line segment is described first ray previous to turn round a little to the line currently turning round a little from temporally adjacent Section；Otherwise, described first crucial line segment is described first ray from projected footprint starting point to the line segment currently turning round a little；? Currently turning round and a little there is temporally adjacent rear one when turning round, the described second crucial line segment is that described second ray is from currently turning round Point to this temporally adjacent rear one turn round a little between line segment；Otherwise, the described second crucial line segment is that described second ray is from working as Before turn round a little to the line segment between projected footprint terminal.

Still, as a example by Fig. 3, the first crucial line segment of a F that turns round is line segment EF or E ' F, the second crucial line segment be FG or FG’。

Another parameter a little of turning round speed proportional a little of turning round is the crucial line segment and second of corresponding first that currently turns round The speed proportional of crucial line segment.The described speed proportional turned round a little is currently turn round a first corresponding crucial line segment and second pass The speed proportional of key line segment.

Currently turn round a little exist temporally adjacent rear one turn round some time, the speed of the described second crucial line segment is according to second The length of crucial line segment and projected footprint from currently turn round a little to projected footprint temporally adjacent rear one turn round a little experienced time Between calculate；Otherwise, length and projected footprint according to the second crucial line segment are a little experienced to projected footprint terminal from currently turning round Time Calculation.

Still, as a example by Fig. 3, the speed of the crucial line segment EF of the first of a F that turns round can be according to line segment EF length divided by projection From subpoint E to subpoint F, track occurs that the Time Calculation experienced obtains.The speed of the second crucial line segment FG can be according to line From subpoint F to subpoint G, the length of section FG occurs that the Time Calculation experienced obtains divided by projected footprint.

The adjacent velocity rate turned round a little of another parameter a little of turning round is fixed for there is multiple situation about turning round a little in projection Justice, its be defined as the temporally adjacent speed at a little the first crucial line segment that front turns round with temporally adjacent after turn round a little The ratio of the speed of the second crucial line segment.

In a preferred implementation of the present embodiment, if needing the default gesture identified for identifying object aloft Draw " √ ", then the required parameter of turning round extracted is the deflection angle turned round a little and the displacement ratio a little that turns round.Preferably, also The speed proportional turned round a little can be included.

In another preferred implementation of the present embodiment, if needing the default gesture identified for identifying that object is at sky Middle swing, then the required parameter of turning round extracted be turn round deflection angle a little, turn round displacement ratio a little.

In this another preferred implementation implemented, if needing the default gesture identified for identifying that object is drawn in the air "×", then the required parameter of turning round extracted is the deflection angle turned round a little.Preferably, it is also possible to include adjacent turning round a little Velocity rate.

S104, when the described parameter turned round a little meets instruction decision condition set in advance, then perform this set in advance The instruction that instruction decision condition is corresponding.

In a preferred implementation of the present embodiment, if needing the default gesture identified for identifying that object is drawn in the air " √ ", instruction decision condition set in advance includes: if described projected footprint a deflection angle turned round a little occurs at 30 degree Between 170 degree, and this displacement ratio that turns round is between 1.5 to 2.5, then assert that this gesture draws " √ " for aerial, performs the One instruction.

In the present embodiment, it is also possible to preferably extract the speed proportional turned round a little；At this moment, in addition it is also necessary to turn described in judgement Whether the speed proportional of curved point is between 0.7 to 1.5, if meet above-mentioned condition simultaneously, then assert that the gesture identifying object is Aerial picture " √ ", performs corresponding first instruction.Preferably, described first instruction can determine that instruction or select "Yes" Instruction.

It is highly preferred that turn round, the decision condition of speed proportional a little can be set as 1.3.

As it is shown in figure 5, extract the deflection angle C of an A2 that turns round between 30 degree to 170 degree, at the first of the C that turns round Crucial line segment A1A2 is with the second key line segment A2A3, and A2A3 is longer than A1A2, it is judged that whether the ratio of A2A3/A1A2 exists Within the scope of 1.5～2.5.The most then can determine that the gesture identifying object is aloft to draw " √ ".

For eliminating maloperation, decision condition can be added further:

Require to judge the speed of the first crucial line segment A1A2, be one with the ratio of the speed of the second crucial line segment A2A3 and compare Close value.If the ratio of this speed is between 0.7 to 1.5, preferably 1.3, can determine whether the first crucial line segment and the second key lines The speed of section is close, thus judges that the gesture identifying object is aloft to draw " √ ".

In another preferred implementation of the present embodiment, if needing the default gesture identified aerial for identifying object Swing, then the required parameter of turning round extracted be turn round deflection angle a little, turn round displacement ratio a little.

At this moment, described in step S104, instruction decision condition set in advance includes: if described projected footprint occurs one The deflection angle turned round a little is between-180 degree to-170 degree or between 170 degree to 180 degree, and described in turn round displacement ratio a little Between 1.5 to 2, then assert that gesture, for wave in the air, performs the second instruction.Instruction is preferably cancelled in described second instruction.

Specifically, as a example by Fig. 6, projected footprint turns round and is a little arranged as P, Q, R in order, wherein, the deflection of a Q that turns round Angle is less than 180 degree more than 170 degree.

If turning round, length PQ of the first of a Q the crucial line segment is L；Length QR of the second crucial line segment of a Q of turning round is U. Assuming that L-value is more than U value, if the ratio between L and U is in the range of 1.5～2.0.Thus can determine that track is to identify that object is at sky Middle swing is once, naturally it is also possible to regulation has n to meet a part that turns round above when occurring, such as can rock 2 times, 3 times or Person 4 times, it is judged that identify that object implements prearranged gesture.

In this another preferred implementation implemented, if needing the default gesture identified for identifying object aloft Draw "×", then the required parameter of turning round extracted is the deflection angle turned round a little.Preferably, it is also possible to include adjacent turning round a little Velocity rate.

Described in described step S104, instruction decision condition set in advance includes: if described projected footprint includes two partially Gyration turning round a little between 100 degree to 174 degree, and temporally adjacent in the first crucial line segment and the time front turned round a little Adjacent after the crucial line segment of second a little that turns round have an intersection point, then assert that this gesture for drawing "×" in the air, then performs the 3rd Instruction.Described 3rd instruction is preferably ignored instruction or selects "No" to instruct.

In the present embodiment, it is also possible to preferably extract the adjacent velocity rate turned round a little；At this moment, in addition it is also necessary to judge institute State the adjacent velocity rate turned round a little whether between 0.7 to 1.5, if meet above-mentioned condition simultaneously, then assert and identify object Gesture for draw "×" in the air, perform corresponding 3rd instruction.

As a example by Fig. 7, it is assumed that A1 point is that the previous of A2 point turns round a little, A4 point is that the later of A3 point is turned round a little.At this In section track, in the range of 100～174 degree of angle A, angle B is in the range of 100～174 degree.The friendship of we cut-off line K Yu L That two lines section of point compares.

Straight line K(A1A2) there is intersection point with L (A3A4).Thus can determine that the gesture identifying object is aloft to draw "×".Enter One step ground, it may include following auxiliary judgement condition:

Require straight line K(A1A2) and the similar rate of L (A3A4), measure with the adjacent velocity rate turned round a little, The most adjacent velocity rate A1A2/A3A4 turned round a little between 0.7 to 1.5, preferably 1.3, then regard as similar rate, it is determined that Identify that the gesture of object is for drawing "×" in the air.

The present embodiment by by identify object three-dimensional data in scheduled duration be mapped in a fit operation plane, Obtain its plane projection track identifying object motion, by utilizing a parameter of turning round a little in plane projection track and turn round to obtain Take identification, owing to the data processed are changed into 2-D data by three-dimensional data, and track place space plane need not be adapted to Direction multiple characteristic matching storehouse be set mate, the present invention greatly reduces the operand of action recognition, meanwhile, the present invention In conjunction with the feature of gesture somatosensory operation, utilize and turn round a little and relevant parameter is used as the characteristic parameter of gesture identification, it is possible to be more preferable Ground embodies gesture feature, improves the accuracy of gesture identification.

Embodiment two

According to the same design of the present invention, present invention also offers a kind of gesture identifying device, Fig. 8 is described in the present embodiment The structural representation of gesture identifying device, as shown in Figure 8, the gesture identifying device described in the present embodiment includes:

Three-dimensional data acquisition module 801, for obtaining the three-dimensional data of the preset duration identifying object.

In a preferred implementation of the present embodiment, the three-dimensional data acquisition methods of described preset duration can be: adopts With existing three-dimensional space data acquisition methods, obtained by evaluator.It is for instance possible to use binocular calculates parallax, thus count Calculate three-dimensional information.Again it is for instance possible to use TOF method, calculate depth map by calculating the reflex time of light, it is thus achieved that identify object Three-dimensional data.Again it is for instance possible to use the method for structured light of monocular, calculate depth value by calculating coupling degree of depth pattern, Thus obtain the three-dimensional data identifying object.

Herein, evaluator can be any instrument that can identify three-dimensional data at three dimensions in prior art, it is possible to To be 3D sensor or stereo camera etc..

Operation planar acquisition module 802, for being fitted the three-dimensional data of described preset duration, obtains fit operation Plane, described fit operation plane is to identify the almost plane of object movement locus place plane in preset duration.

The general expression of plane equation is:

P(x,y,z)Ax+By+Cz+D=0

Both sides can obtain with divided by D:

P(x,y,z)=ax+by+cz+1=0

(x_i,y_i,z_i)(i=0,1,2,......,n)

F = Σ_{i = 0}^{n} {[{ax}_{i} + {by}_{i} + {cz}_{i} + 1]}^{2} = \min

If:

Q = [\begin{matrix} Σ_{i = 1}^{n} {x_{i}}^{2} & Σ_{i = 1}^{n} x_{i} y_{i} & Σ_{i = 1}^{n} x_{i} z_{i} \\ Σ_{i = 1}^{n} x_{i} y_{i} & Σ_{i = 1}^{n} {y_{i}}^{2} & Σ_{i = 1}^{n} z_{i} y_{i} \\ Σ_{i = 1}^{n} x_{i} z_{i} & Σ_{i = 1}^{n} z_{i} y_{i} & Σ_{i = 1}^{n} {z_{i}}^{2} \end{matrix}]

K = [\begin{matrix} - Σ_{i = 1}^{n} x_{i} \\ - Σ_{i = 1}^{n} y_{i} \\ - Σ_{i = 1}^{n} z_{i} \end{matrix}]

Q [a b c] can be obtained^T=K

Solve floor coefficient for [a b c]^T=Q^-1K。

Characteristic extracting module 803, for extracting the three-dimensional data identifying object including each sampling instant in described plan The projected footprint of the subpoint in closing operation plane, obtains according to described projected footprint and turns round a little and the described parameter turned round a little.

As shown in Figure 4, in plane right-angle coordinate xOy, straight line l₁Inclination angle be α₁, straight line l₂Inclination angle be α₂, Assume that θ (θ ≠ 90 °) is straight line l₁, l₂Formed one jiao, according to the tangent formula of two angular differences

Straight line l₂With straight line l₂Between angle α circular be:

Assume that θ (θ ≠ 90 °) is straight line l₁,l₂Formed one jiao, it is clear that α₂=α₁+ θ, then θ=α₂-α₁, formula obtain:

\tan θ = \tan (α_{2} - α_{1}) = \frac{\tan α_{2} - \tan α_{1}}{1 + \tan α_{1} \tan α_{2}} = \frac{k_{2} - k_{1}}{1 + k_{1} k_{2}}

Again because two crossing and mutual off plumb straight angle α scopes are (0 °, 90 °) in plane, so

Tan α ＞ 0. thus:

\tan α = | \tan θ | = | \tan (α_{2} - α_{1}) | = | \frac{\tan α_{2} - \tan α_{1}}{1 + \tan α_{1} \tan α_{2}} | = | \frac{k_{2} - k_{1}}{1 + k_{1} k_{2}} |

That is, straight line l in plane₁With Straight line l₂Angle

Another parameter a little of turning round displacement ratio a little that turns round is the crucial line segment and second of corresponding first that currently turns round Higher value and the ratio of smaller value in crucial both line segments.Currently turn round a little exist temporally adjacent previous turn round some time, institute Stating the first crucial line segment, to be described first ray previous turn round a little to the line segment currently turning round a little from temporally adjacent；No Then, described first crucial line segment is described first ray from projected footprint starting point to the line segment currently turning round a little；Currently Turn round and a little there is temporally adjacent rear one when turning round, the described second crucial line segment be described second ray from currently turn round a little to This temporally adjacent rear one turn round a little between line segment；Otherwise, the described second crucial line segment is that described second ray is from currently turning Curved point is to the line segment between projected footprint terminal.

The described speed proportional turned round a little is currently turn round the first corresponding crucial line segment and the speed of the second crucial line segment Degree ratio.

Characteristic matching with perform module 804, for when described in turn round parameter a little meet set in advance instruction judgement bar During part, perform the instruction that this instruction decision condition set in advance is corresponding.

In a preferred implementation of the present embodiment, characteristic matching is used for identifying aerial picture with performing module 804 The gesture of " √ ", it includes that the first instruction assert that unit 8041, described first instruction assert that unit 8041 is in described projection Track occur a deflection angle turned round a little between 30 degree to 170 degree, and this turn round a displacement ratio 1.5 to 2.5 it Between time, assert identify object draw in the air " √ ", perform first instruction.Preferably, parameter a little of turning round described in also includes turning round a little Speed proportional；The condition that described first instruction identification unit identification identification object draws " √ " in the air is turned round a little described in also including Speed proportional is between 0.7 to 1.5.Speed proportional a little of turning round described in it is highly preferred that is 1.3.Described first instruction is preferably Determine instruction or select "Yes" instruction.

In a preferred implementation of the present embodiment, characteristic matching is used for identifying oscillating air with performing module 804 Gesture, it includes that the second instruction assert that unit 8042, described second instruction assert that unit 8042 is at described projected footprint Occur a deflection angle turned round a little-180 degree to-170 degree between or 170 degree to 180 degree between, and described in turn round a little When displacement ratio is between 1.5 to 2, assert that gesture, for wave in the air, performs the second instruction.Described second instruction is preferably to be cancelled Instruction.

In another preferred implementation of the present embodiment, characteristic matching is used for identifying aerial picture with performing module 804 "×" gesture, it includes that the 3rd instruction assert that unit 8043, described 3rd instruction assert that unit 8043 is at described projection rail Mark includes two deflection angles turning round a little between 100 degree to 174 degree, and temporally adjacent turning round a little in front appearance First crucial line segment has an intersection point with the temporally adjacent crucial line segment of second a little of turning round in rear appearance, assert that this gesture is Draw "×" in the air, perform the 3rd instruction.Described 3rd instruction is preferably ignored instruction or selects "No" to instruct.Preferably, described Parameter a little of turning round also includes that the adjacent velocity rate turned round a little, described first instruction assert that unit identification identification object is drawn in the air The condition of "×" also includes that the described adjacent velocity rate turned round a little is between 0.7 to 1.5.Adjacent turn round it is highly preferred that described The velocity rate of point is 1.3.

The present embodiment is by, in trajectory map to the plane of the three-dimensional motion by identifying object, extracting projected footprint A parameter of turning round a little and turn round captures the gesture of manipulator, and further, the present invention can be based on turning round a little and turn round a parameter Assert rapidly and accurately and aerial draw " √ ", draw "×" and/or the gesture such as wave, and perform the instruction that its gesture is corresponding.

All or part of content in the technical scheme that above example provides can be realized by software programming, its software Program is stored in the storage medium that can read, storage medium such as: hard disk, CD or the floppy disk in computer.

The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all spirit in the present invention and Within principle, any modification, equivalent substitution and improvement etc. made, should be included within the scope of the present invention.

Claims

1. a gesture identification method, including:

S1, obtain the three-dimensional data of preset duration identifying object；

S2, three-dimensional data to described preset duration are fitted, and obtain fit operation plane, and described fit operation plane is for knowing The almost plane of other object movement locus place plane in preset duration；

S3, extraction include the three-dimensional data identifying object of each sampling instant subpoint in described fit operation plane Projected footprint, obtains according to described projected footprint and turns round a little and the described parameter turned round a little；When the First Line that certain subpoint is corresponding The extended line of section meets predetermined condition to the deflection angle of the second line segment corresponding to this subpoint, defines this subpoint for turning round Point, wherein, the first line segment that described subpoint is corresponding is connected formation by subpoint with the former point of adjacent time in projected footprint Line segment, the second line segment corresponding to described subpoint is subpoint and company of the latter point institute formation of adjacent time in projected footprint Line segment；

S4, when the described parameter turned round a little meets instruction decision condition set in advance, then perform this instruction set in advance and sentence The instruction that fixed condition is corresponding；

It is characterized in that: obtain described in described step S3 the parameter turned round a little include obtaining turn round deflection angle a little, turn round Displacement ratio, speed proportional a little of turning round and the adjacent velocity rate turned round a little of point；

Wherein, the deflection angle a little that turns round described in is the first corresponding ray deflection angle to the second ray that currently turns round；

Currently turn round a little exist temporally adjacent previous turn round some time, in projected footprint, this temporally adjacent previous turns round a little Carry out fitting a straight line to the subpoint occurred in chronological order between currently turning round a little, take this time phase in the fitting a straight line of acquisition An adjacent previous ray pointing to a direction of currently turning round that turns round is the first ray；Otherwise, projected footprint in projected footprint is risen Point carries out fitting a straight line to the subpoint occurred in chronological order between currently turning round a little, takes in the fitting a straight line of acquisition by projecting It is the first ray that track starting point points to the ray in a direction of currently turning round；

Currently turn round a little exist temporally adjacent rear one turn round some time, point to this time phase to projected footprint currently turns round The subpoint that adjacent rear one occurs between turning round a little in chronological order carries out fitting a straight line, takes in the fitting a straight line of acquisition and currently turns Curved this rear one temporally adjacent ray turning round a direction of sensing is the second ray；Otherwise, currently turn round in projected footprint Put the subpoint occurred in chronological order between projected footprint terminal and carry out fitting a straight line, take in the fitting a straight line of acquisition by working as Before turn round that to point to the ray in projected footprint terminal direction be the second ray；

The described displacement ratio turned round a little is currently turn round a first corresponding crucial line segment and the second middle length of crucial line segment Degree higher value and the ratio of smaller value；

Currently turn round a little exist temporally adjacent previous turn round some time, the described first crucial line segment be described first ray from time Between adjacent previous turn round a little to the line segment between currently turning round a little；Otherwise, the described first crucial line segment is described first ray From projected footprint starting point to the line segment currently turning round a little；

Currently turn round a little exist temporally adjacent rear one turn round some time, the described second crucial line segment is that described second ray is from working as Before turn round a little to this temporally adjacent rear one turn round a little between line segment；Otherwise, described second crucial line segment is described second to penetrate Line is from currently turning round a little to the line segment projected footprint terminal；

The described speed proportional turned round a little is currently turn round the first corresponding crucial line segment and a speed ratio for the second crucial line segment Example；

Currently turn round a little exist temporally adjacent previous turn round some time, the speed of the described first crucial line segment is crucial according to first The length of line segment and projected footprint previous turn round a little to the Time Calculation a little experienced of currently turning round from temporally adjacent；Otherwise, Length according to the first crucial line segment and projected footprint from starting point to the Time Calculation a little experienced of currently turning round；

Currently turn round a little exist temporally adjacent rear one turn round some time, the speed of the described second crucial line segment is crucial according to second The length of line segment and projected footprint are from currently turning round a little to temporally adjacent rear one the turning round the time meter a little experienced of projected footprint Calculate；Otherwise, according to the length of the second crucial line segment and projected footprint from currently turn round a little to projected footprint terminal experienced time Between calculate；

The described adjacent velocity rate turned round a little is the temporally adjacent speed at the first crucial line segment front turned round a little and time Adjacent after turn round the ratio of speed of the crucial line segment of second a little.

2. gesture identification method as claimed in claim 1, it is characterised in that obtain described in described step S3 turns round a little Parameter include obtaining turn round deflection angle a little, turn round displacement ratio a little；Instruction set in advance described in described step S4 Decision condition includes: if described projected footprint a deflection angle turned round a little occurs between 30 degree to 170 degree, and this turns round Point displacement ratio between 1.5 to 2.5, then assert that this gesture draws " √ " for aerial, then Predicated execution first instructs.

3. gesture identification method as claimed in claim 2, it is characterised in that turn round parameter a little described in described step S3 also Including the speed proportional turned round a little；

Described in described step S4, instruction decision condition set in advance also includes, described in speed proportional a little of turning round arrive 0.7 Between 1.5.

4. gesture identification method as claimed in claim 3, it is characterised in that described in speed proportional a little of turning round be 1.3.

5. gesture identification method as claimed in claim 1, it is characterised in that turn round described in described step S3 parameter bag a little Include the deflection angle a little of turning round, turn round displacement ratio a little；Instruction decision condition bag set in advance described in described step S4 Include: if described projected footprint occur deflection angle turned round a little between-180 degree to-170 are spent or 170 degree to 180 degree it Between, and described in the displacement ratio a little that turns round between 1.5 to 2, then assert that gesture, for wave in the air, performs second and instructs.

6. gesture identification method as claimed in claim 1, it is characterised in that turn round described in described step S3 parameter bag a little Include the deflection angle turned round a little；Described in described step S4, instruction decision condition set in advance includes: if described projected footprint Including two deflection angles turning round a little between 100 degree to 174 degree and temporally adjacent front turn round a little first crucial Line segment with temporally adjacent after the crucial line segment of second a little that turns round have an intersection point, then assert that this gesture is to draw "×" in the air, Then perform the 3rd instruction.

7. gesture identification method as claimed in claim 6, it is characterised in that turn round parameter a little described in described step S3 also Including the adjacent velocity rate turned round a little:

Described in described step S4, instruction decision condition set in advance also includes, the described adjacent velocity rate turned round a little exists Between 0.7 to 1.5.

8. gesture identification method as claimed in claim 7, it is characterised in that the described adjacent velocity rate turned round a little is 1.3.

9. a gesture identifying device, including:

Operation planar acquisition module, for being fitted the three-dimensional data of described preset duration, obtains fit operation plane, institute Stating fit operation plane is to identify the almost plane of object movement locus place plane in preset duration；

Characteristic extracting module, puts down at described fit operation for extracting the three-dimensional data identifying object including each sampling instant The projected footprint of the subpoint on face, obtains according to described projected footprint and turns round a little and the described parameter turned round a little；When certain projects The extended line of the first line segment that point is corresponding meets predetermined condition to the deflection angle of the second line segment corresponding to this subpoint, defines this Subpoint is for turning round a little, wherein, the first line segment that described subpoint is corresponding be subpoint with adjacent time in projected footprint before Some line segment even formed, the second line segment that described subpoint is corresponding is subpoint and in projected footprint rear the one of adjacent time The line segment that point is even formed；

Characteristic matching and execution module, for when the described parameter turned round a little meets instruction decision condition set in advance, hold The instruction that this instruction decision condition set in advance of row is corresponding；

It is characterized in that: described acquisition turn round parameter a little include obtaining turn round deflection angle a little, the displacement ratio a little that turns round, Speed proportional a little of turning round and the adjacent velocity rate turned round a little；

Wherein, the deflection angle a little that turns round described in be currently turn round a first corresponding ray to the second ray deflection angle Degree；

10. gesture identifying device as claimed in claim 9, it is characterised in that described in parameter a little of turning round include turning round a little Deflection angle, turn round displacement ratio a little；

With performing module, characteristic matching includes that the first instruction assert that unit, described first instruction assert that unit is in described projection Track occur a deflection angle turned round a little between 30 degree to 170 degree, and this turn round a displacement ratio 1.5 to 2.5 it Between time, assert identify object draw in the air " √ ", perform first instruction.

11. gesture identifying devices as claimed in claim 10, it is characterised in that described in parameter a little of turning round also include turning round a little Speed proportional；

Described first instruction assert unit identification identification object draw in the air the condition of " √ " also include described in turn round speed ratio a little Example is between 0.7 to 1.5.

12. gesture identifying devices as claimed in claim 11, it is characterised in that described in speed proportional a little of turning round be 1.3.

13. gesture identifying devices as claimed in claim 9, it is characterised in that parameter a little of turning round includes the deflection turned round a little Angle, turn round displacement ratio a little；

With performing module, characteristic matching includes that the second instruction assert that unit, described second instruction assert that unit is in described projection There is deflection angle turned round a little between-180 degree to-170 are spent or between 170 degree to 180 degree in track, and described in turn round When the displacement ratio of point is between 1.5 to 2, assert that gesture, for wave in the air, performs the second instruction.

14. gesture identifying devices as claimed in claim 9, it is characterised in that described in parameter a little of turning round include turning round a little Deflection angle；

With performing module, characteristic matching includes that the 3rd instruction assert that unit, described 3rd instruction assert that unit is in described projection Track includes two deflection angles turning round a little between 100 degree to 174 degree, and temporally adjacent turning round a little in front appearance The first crucial line segment have an intersection point with temporally adjacent the second key line segment a little that turns round in rear appearance, assert this gesture For drawing "×" in the air, perform the 3rd instruction.

15. gesture identifying devices as claimed in claim 14, it is characterised in that described in parameter a little of turning round also include adjacent turning The velocity rate of curved point；

The condition that described 3rd instruction identification unit identification identification object draws "×" in the air also includes the described adjacent speed turned round a little Degree ratio is between 0.7 to 1.5.

16. gesture identifying devices as claimed in claim 15, it is characterised in that the described adjacent velocity rate that turns round a little is 1.3。