CN106971131A - A kind of gesture identification method based on center - Google Patents
A kind of gesture identification method based on center Download PDFInfo
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- CN106971131A CN106971131A CN201610024587.9A CN201610024587A CN106971131A CN 106971131 A CN106971131 A CN 106971131A CN 201610024587 A CN201610024587 A CN 201610024587A CN 106971131 A CN106971131 A CN 106971131A
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- G06V40/20—Movements or behaviour, e.g. gesture recognition
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Abstract
The invention discloses a kind of gesture identification method based on center, belong to technical field of hand gesture recognition；Method includes：Obtain video data stream and handle and obtain that the bone point model in user is respectively associated；Determined to correspond to the palm of the hand positional information and pushing information of user respectively according to bone point model；Gesture closest to the center of picture frame is confirmed as into gesture to be judged, its palm of the hand position information confirming is object location information and is the pushing information of object by its pushing validation of information；Judge whether its height is more than a height threshold according to object location information：If then continuing；If otherwise exiting；Judge to obtain the image of palm area and handle obtaining hand mask；Fingertip area is identified, and the gesture of user is identified.The beneficial effect of above-mentioned technical proposal is：Eliminate the figure viewed from behind to ring, it is to avoid some invalid gestures are mistaken as the situation generation that user carries out gesture instruction input, improve the accuracy of gesture identification.
Description
Technical field
The present invention relates to technical field of hand gesture recognition, more particularly to a kind of gesture identification based on center
Method.
Background technology
In the prior art, it can support gesture control, i.e. user can be by doing in some smart machines
Some gesture motions specified are come the operation that controls smart machine to be specified.The smart machine of different model
In default gesture motion it is different, corresponding assigned operation is also not quite similar, but the gesture generally used
Identification method can be applicable in different smart machines.
Then in the prior art, the gesture identification mode generally used in smart machine can not be recognized well
Occurs the situation of multiple gestures in the image-capture field of image collecting device (such as camera).Change
Yan Zhi, in these cases, smart machine generally occur the result of recognition failures, or by mistake
Gesture identification is gone forward side by side traveling single stepping for control gesture.These identification behaviors can all have influence on gesture identification
The degree of accuracy, and then have influence on the usage experience of user.
The content of the invention
According to the above-mentioned problems in the prior art, a kind of finger gesture based on center is now provided
The technical scheme of recognition methods, is specifically included：
A kind of gesture identification method based on center palm of the hand position, wherein, comprise the following steps：
Step S1, the video data stream for being associated with user's whole body is obtained by an image collecting device, and
Processing obtains that the skeleton point information in each skeleton point of at least one user is respectively associated, with shape
Into the bone point model for being associated with least one user respectively；
Step S2, respectively according to each bone point model, it is determined that representing to make described at least one respectively
The palm of the hand positional information of the palm of the hand position of user, and the pushing pushing letter of the user is represented respectively
Breath；
Step S3, obtains the center of the picture frame in the video data stream, and will be described in
The corresponding gesture in the palm of the hand position of center confirms as gesture to be judged, and waits to judge by described
The palm of the hand position information confirming of gesture is object location information, by the hand of the gesture to be judged
Long message confirms as the pushing information of object；
Step S4, height of the palm of the hand apart from ground of the user is judged according to the object location information
Whether a default height threshold is more than：
If so, then continuing executing with the step S5；
If it is not, then exiting；
Step S5, judges to obtain the image of palm area, and split the image of the palm area
Cut and pre-processed, obtain corresponding hand mask and export；
Step S6, according to the result, identifies the fingertip area of hand, and according to the finger tip
The gesture of the user is identified the geometrical relationship in region.
It is preferred that, the gesture identification method, wherein, in the step S1, described image harvester
For depth of field camera；
The video data is the depth of field video data for being associated with the whole body of the user.
It is preferred that, the gesture identification method, wherein, the step S1 includes：
Step S11, includes the whole body of background and the user using the collection of described image harvester
Depth image video data stream；
Step S12, the three of the pixel of the depth image for every frame that the video data stream is included
Tie up information and carry out spatial alternation, to obtain corresponding cloud information in real space；
Step S13, according to the corresponding described cloud information of each pixel, obtains each pixel
The distance between with the depth of field camera；
Step S14, respectively according to each corresponding distance of the pixel, processing obtains the bone
Point information.
It is preferred that, the gesture identification method, wherein, the step S2 includes：
Step S21, according to processing obtain be associated with each described skeleton point of the user described in
Skeleton point information, obtains the palm of the hand positional information of the user；
Step S22, according to processing obtain be associated with each described skeleton point of the user described in
Skeleton point information, the height information for obtaining the user is calculated according to following formula：
Wherein, H1Represent the height values of the user, H2The pixels tall numerical value of background is represented,
H3Pixels tall numerical value of the user in collected video image is represented, d represents described and used
The distance between person and the depth of field camera numerical value, θ represent the depth of field camera in the horizontal direction
Vertical angle numerical value；
Step S23, according to the corresponding relation of default Human Height and human body between pushing, obtains described
The pushing information of user.
It is preferred that, the gesture identification method, wherein, the step S4 includes：
Step S51, according to the palm of the hand positional information and the pushing information, removes the user's
The distance for all and palm of the hand position that hand includes is more than the letter of the pixel of the pushing half
Breath, and the information of all pixels included according to the hand after removal obtains hand data；
The hand data that processing is obtained are carried out at cluster by step S52 by K mean cluster algorithm
Reason, obtains the hand data after clustering processing；
Step S53, sets min cluster number, to carry out noise jamming pixel clusters to the hand data
Filtering is excluded, so as to obtain being associated with hand mask and the output of the hand data.
It is preferred that, the gesture identification method, wherein, the hand data are included in the user's
The pushing half is radius and one using the palm of the hand position of the user as the center of circle is spherical
In region.
It is preferred that, the gesture identification method, wherein, the step S5 includes：
Step S61, the edge for obtaining the hand mask is detected using Moore neighborhoods contour following algorithm
Profile, and obtain first chain set of all profile points included on the edge contour；
Step S62, is obtained on the hand profile of the hand mask using the detection of Graham scanning algorithms
Convex closure collection, and obtain include the second point chain set of all convex closures；
Step S63, using the maximum depression points scanning algorithm of profile, in the edge of the hand mask
Detection obtains the maximum depression between all salient points on the convex closure collection of profile and the hand profile
Point, and obtain the thirdly chain set of the sags and crests included on the hand profile；
Step S64, using concavo-convex angle recognizer, according to being associated with described the of the hand profile
3 chain process of aggregation obtain including the 4th chain set of all finger tip points of hand；
Step S65, each finger for obtaining hand is recognized according to the finger tip point, is then performed gesture and is known
Do not operate.
It is preferred that, the gesture identification method, wherein, in the step S65, perform gesture identification operation
The step of specifically include：
Step S651, identification obtains the number of all fingers of hand；
Step S652, according to presupposed information judge to obtain the title of the every finger, direction vector with
And the angle between the adjacent finger and output；
Step S653, one or three layers of decision tree, and root are formed according to the information exported in the step S652
Gesture is identified according to three layers of decision tree.
It is preferred that, the gesture identification method, wherein, in the step S62, the K mean cluster is calculated
K values in method are set as fixed numbers 2.
The beneficial effect of above-mentioned technical proposal is to provide a kind of gesture identification method, can eliminate the extraneous back of the body
The influence of scape, and correct identification master control gesture when in image-capture field including multiple gesture motions,
So as to improve the accuracy of gesture identification, and lift the usage experience of user.
Brief description of the drawings
Fig. 1 be the present invention preferred embodiment in, a kind of overall procedure schematic diagram of gesture identification method；
Fig. 2 be the present invention preferred embodiment in, gather and handle the skeleton point information for obtaining user
Schematic flow sheet；
During Fig. 3 is the preferred embodiment of the present invention, processing obtains palm of the hand positional information and pushing information
Schematic flow sheet；
During Fig. 4 is the preferred embodiment of the present invention, processing obtains the schematic flow sheet of hand mask；
Fig. 5 be the present invention preferred embodiment in, the schematic flow sheet that gesture is identified；
During Fig. 6 is the preferred embodiment of the present invention, the flow signal of profile maximum depression points scanning algorithm
Figure；
Fig. 7 be the present invention preferred embodiment in, the schematic flow sheet of concavo-convex angle recognizer；
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the invention, and
The embodiment being not all of.Based on the embodiment in the present invention, those of ordinary skill in the art are not making
The every other embodiment obtained on the premise of going out creative work, belongs to the scope of protection of the invention.
It should be noted that in the case where not conflicting, the embodiment in the present invention and the spy in embodiment
Levying to be mutually combined.
The invention will be further described with specific embodiment below in conjunction with the accompanying drawings, but not as the present invention's
Limit.
There is provided a kind of gesture identification method, the overall procedure of this method in the preferred embodiment of the present invention
As shown in figure 1, comprising the steps：
Step S1, the video data stream for being associated with user's whole body is obtained by an image collecting device, and
Processing obtains that the skeleton point information in each skeleton point of at least one user is respectively associated, and is divided with being formed
The bone point model of at least one user is not associated with；
In the preferred embodiment of the present invention, it is contemplated that in the range of image collecting device may be photographed
There may be the images of many individuals, and wherein should one-man smart machine is carried out as user
Gesture control.Therefore, corresponding at least one user present in the video data stream collected
Situation, handle obtain different being associated with each of user respectively for the user of each physical presence
The skeleton point information of individual skeleton point, and and then foundation is associated with the bone point model of each user.
Specifically, as shown in Fig. 2 above-mentioned steps S1 comprises the steps：
Step S11, the scape of background and the whole body of user is included using image acquisition device
The video data stream of deep image；
In the preferred embodiment of the present invention, above-mentioned image collecting device can be to be installed on support hand
Camera on the intelligent terminal of gesture instruction interaction, can preferably be depth of field camera, that is, support into
It is capable of the camera of the function of blur-free imaging in the range of the longitudinal separation of picture object.
Then in above-mentioned steps S11, picture where directly shooting user using above-mentioned depth of field camera
The video flowing of the background in face and the whole body depth image of user, eventually forms above-mentioned video data stream simultaneously
Output.
Step S12, the three-dimensional letter of the pixel of the depth image for every frame that video data stream is included
Breath carries out spatial alternation, to obtain corresponding cloud information in real space；
In the preferred embodiment of the present invention, in above-mentioned steps S12, by the video data photographed
The voxel information of each pixel divide after spatial alternation in the depth image of acquired every frame in stream
Its corresponding cloud information in real space is not obtained.
Step S13, according to corresponding cloud information of each pixel, obtains each pixel and is taken the photograph with the depth of field
As the distance between head；
The point cloud information obtained in above-mentioned steps S12, further can be in above-mentioned steps S13
Middle processing obtains the distance between each pixel of correspondence and depth of field camera.
Step S14, respectively according to the corresponding distance of each pixel, processing obtains skeleton point information.
In above-mentioned steps S14, finally respectively according between each pixel and above-mentioned depth of field camera
Distance, can handle the skeleton point information for obtaining user.So-called skeleton point, it is believed that be a kind of people
Body markup model, the markup model include it is multiple can for mark human body different parts skeleton point,
Different skeleton points may be respectively used for marking each joint of human body.The multiple skeleton point shapes of such as certain class
Into human visual's model, there is defined 20 skeleton points come represent human body be in standing state under bone
Rack-like state, each skeleton point is an artis.In other words, perform above-mentioned gesture identification method it
Before, it is necessary first to it is pre-defined to include a physically weak analog model of people of multiple skeleton points, deposit in the prior art
The technical scheme of default above-mentioned human visual's model can be realized in more, in this not go into detail.
Then in preferred embodiment of the invention, the voxel information per frame depth image carries out empty
Between be transformed in real space point cloud information detailed process can be realized according to related software, it is only necessary to
The api interface of related software code is called when realizing, be will not be repeated here.
In the preferred embodiment of the present invention, as mentioned above it is possible, each user's difference shape of correspondence
Into corresponding bone point model, each bone point model includes all skeleton points for being associated with the user
Information.
Step S2, respectively according to each bone point model, it is determined that representing the hand of at least one user respectively
The palm of the hand positional information of heart position, and the pushing pushing information of user is represented respectively；
In the preferred embodiment of the present invention, above-mentioned palm of the hand positional information is used for the palm of the hand position for indicating user
Put, further, palm of the hand positional information can serve to indicate that the position of the hand of user.
In the preferred embodiment of the present invention, pushing information can serve to indicate that the hand length of user.
The pushing information is usually default, the Human Height for example obtained by training in advance and pushing ratio
Calculating is obtained, and above-mentioned calculating process can hereinafter be described in detail.
In the preferred embodiment of the present invention, for there may be many personal bats for being in image collecting device
Situation in the range of taking the photograph, handles each user and obtains its palm of the hand positional information and pushing information, and
Judge which is only according to palm of the hand positional information in the step of being described below really to carry out smart machine
The user of gesture control.
Then in preferred embodiment of the invention, as shown in figure 3, above-mentioned steps S2 further comprises：
Step S21, the skeleton point of each skeleton point for being associated with user obtained according to processing is believed
Breath, obtains the palm of the hand positional information of user；
Step S22, the skeleton point of each skeleton point for being associated with user obtained according to processing is believed
Breath, the height information for obtaining user is calculated according to following formula：
Wherein, H1Represent the height values of user, H2The pixels tall numerical value of background is represented,
H3Pixels tall numerical value of the user in collected video image is represented, d represents user and the depth of field
The distance between camera numerical value, θ represents the vertical angle numerical value of depth of field camera in the horizontal direction.
Then above-mentioned H2Numerical value can preset, for example value be 240, similarly θ can also preset,
For example it is set as 21.5 °.
Step S23, according to the corresponding relation of default Human Height and human body between pushing, is obtained
The pushing information of user.
In the preferred embodiment of the present invention, above-mentioned Human Height can root with pushing corresponding relation
According to substantial amounts of human body related data, by way of big data is counted carrying out multiple linear regression analysis obtains.
Step S3, obtains the center of the picture frame in video data stream, and will be closest to center
The corresponding gesture in palm of the hand position confirm as gesture to be judged, and the palm of the hand position of gesture to be judged is believed
Breath confirms as object location information, is the pushing information of object by the pushing validation of information of gesture to be judged；
In the preferred embodiment of the present invention, because the position of image collecting device will not change substantially,
Therefore its coverage will not equally change.The figure for being associated with the coverage can be then obtained in advance
As the center of frame, different make then is obtained according to the palm of the hand position processing of the different user of correspondence
Position of the palm of the hand of user in picture frame, and and then calculate the palm of the hand of different users and above-mentioned figure
The distance between center as frame.
Then, in preferred embodiment of the invention, the distance of the palm of the hand of each user of correspondence is carried out
Compare, and according to comparison result, will apart from most short (i.e. closest above-mentioned center) user but
Think the real user for carrying out gesture control.In other words, by the user of closest above-mentioned center
Gesture as gesture to be judged, and further by its corresponding palm of the hand position information confirming be object
Positional information, and by its corresponding pushing validation of information be the pushing information of object.
In other words, in order to solve to there may be multiple users in image capturing range in the case of to true
One is set in the problem of user of positive control smart machine is differentiated, technical solution of the present invention to compare
It is simple to differentiate rule, will closest to the center of picture frame gesture as gesture to be judged,
So as to which the corresponding user of the gesture is realized into gesture is known as the real user for carrying out gesture control
Not.In the other embodiment of the present invention, above-mentioned center can be further improved, for example
Center is changed to the position that any one is fixed on picture frame, and suitably changes Rule of judgment.
The center of the top half of picture frame is for example changed to, Rule of judgment is still closest to the centre bit
Put as gesture to be judged；In another example being changed to the position in the lower left corner of picture frame, Rule of judgment can be fitted
It is gesture to be judged etc. when being revised as farthest away from the position.
Step S4, judges whether height of the palm of the hand of user apart from ground is more than according to object location information
One default height threshold：
If so, then continuing executing with step S5；
If it is not, then exiting；
In the prior art, generally there is such a case in the intelligent terminal for supporting gesture identification：Make
Although user stands in the range of the picture catching of depth of field camera, it is not intended to corresponding intelligence
Terminal carries out gesture operation.Then now, user may carry out some other affairs (such as with him
People talk etc.) when unconsciously brandish arm, this series of actions is possible to that intelligent terminal opponent can be caused
What gesture was acted misreads, i.e., some gesture motions done during user is not felt were identified as needing to intelligent end
Hold the gesture motion being controlled.
Then in the preferred embodiment of the present invention, in order to avoid the above-mentioned situation for misreading gesture motion occurs,
Preset a height threshold first before gesture identification, the height threshold is that user does a standard
During gesture motion, the calibrated altitude that hand is liftoff.In other words, as long as the liftoff height of the hand of user
Higher than above-mentioned height threshold, then it may indicate that user is current and attempting to input gesture instruction to intelligent terminal.
Conversely, then it is considered that user does not have a mind to control intelligent terminal by gesture motion.
Then in above-mentioned steps S4, it can be determined first by the image of palm of the hand position and user's whole body
The distance that hand is liftoff., can be directly by height threshold during the pre-setting of above-mentioned height threshold
Value is set to the liftoff height distance in center (i.e. the palm of the hand) of the corresponding hand of gesture motion of standard, this
Sample in actual calculating process, can directly using above-mentioned palm of the hand position calculate terrain clearance and with it is default
Height threshold is contrasted.Similarly, above-mentioned height threshold is it can also be provided that the gesture motion pair of standard
The height distance that hand bottom/top edge for answering is liftoff, in this case, in actual calculating process,
It is accomplished by extrapolating the marginal position on bottom/top of hand substantially according to object location information first, and
And then the actual terrain clearance of hand is calculated, and contrasted with default height threshold.
Step S5, judges to obtain the image of palm area, and carry out partition, cutting to the image of palm area
And pre-processed, obtain corresponding hand mask and export；
In the preferred embodiment of the present invention, above-mentioned steps S5 is specific as shown in figure 4, including following steps
Suddenly：
Step S51, according to object location information and the pushing information of object, removes the hand of user
Including all distances with palm of the hand position be more than pushing half pixel information, and according to removal
The information for all pixels point that hand afterwards includes obtains hand data；
In the preferred embodiment of the present invention, based on the filter algorithm apart from depth, remove it is all with
Above-mentioned palm of the hand position is apart more than the data of the pixel of pushing half, so as to quick obtaining hand number
According to.In other words, eventually pass through filtering after remain be using palm of the hand position as the center of circle, with pushing one
Half is a spheric region of radius, and all pixels point in the spheric region is retained, to make
For the pixel of hand data.
Therefore, in preferred embodiment of the invention, the hand data of user be comprised in so that
The pushing half of user is in radius and a spheric region by the center of circle of the palm of the hand position of user.
Specifically, in preferred embodiment of the invention, in above-mentioned steps S51, according to following public affairs
Formula calculates the set of the pixel obtained in above-mentioned spheric region, produces hand data：
Wherein, p0The set of the pixel in above-mentioned spheric region is represented, p is the hand of user
Including pixel, p (x, y, z) be used for denotation coordination for (x, y, z) pixel p, p (x0, y0, z0) be used for table
It is (x0, y0, z0) to show coordinate, i.e., for representing the pixel where palm of the hand position, H4For representing object hand
The numerical value of long message.
The hand data that processing is obtained are carried out at cluster by step S52 by K mean cluster algorithm
Reason, obtains the hand data after clustering processing；
In the preferred embodiment of the present invention, in the K mean cluster algorithm in above-mentioned steps S52
K values can be specified the number of class by developer, and in the preferred embodiment of the present invention, K values take
Fixed numerical value 2.
Step S53, sets min cluster number, to carry out noise jamming pixel clusters to hand data
Filtering is excluded, so as to obtain being associated with hand mask and the output of hand data.
In the preferred embodiment of the present invention, above-mentioned hand mask can be one be made up of 0 and 1
Individual binary picture.Then in the preferred embodiment of the present invention, in above-mentioned steps S53, set
Min cluster number (minimum cluster numbers pixel threshold) be 50 pixels.
Step S6, according to result, identifies the fingertip area of hand, and according to the several of fingertip area
The gesture of what relation pair user is identified.
, can the finger tip detection method combination depth map based on contour curvature in the preferred embodiment of the present invention
The characteristic of picture, proposes a kind of sags and crests angle recognizer, and this algorithm overcomes 3 points of conventional alignment
Method to the deficiency of finger tip detection (for example lack relative consistency, between image and camera away from
From there is a higher requirement, and the operand of program can be increased etc.).And recognize calculation in above-mentioned sags and crests angle
On the basis of method, each finger of hand is recognized using the spatial relation of human body and hand.Finally may be used
So that by three layers of decision tree of formation, the fingertip area for relying on each finger is carried out at analysis to gesture
Reason, so as to recognize the gesture motion of user.
Specifically, in preferred embodiment of the invention, as shown in figure 5, above-mentioned steps S6 includes：
Step S61, the edge for obtaining hand mask is detected using Moore neighborhoods contour following algorithm
Profile, and obtain first chain set of all profile points included on edge contour；
Moore neighborhoods contour following algorithm is relatively classical present in prior art to be used for detecting
The algorithm of profile, will not be repeated here.
Step S62, is obtained on the hand profile of hand mask using the detection of Graham scanning algorithms
Convex closure collection, and obtain include the second point chain set of all convex closures；
Graham also classical algorithms for being used to monitor profile, are also repeated no more herein.
Step S63, using the maximum depression points scanning algorithm of profile, in the edge contour of hand mask
And detection obtains the maximum depression points between all salient points on the convex closure collection of hand profile, and acquisition includes hand
The thirdly chain set of sags and crests on contouring；
Further, in preferred embodiment of the invention, as shown in fig. 6, above-mentioned steps S63
In, the maximum depression points scanning algorithm of so-called profile is specifically included：
Step S631, using the second point chain set on hand profile as it is initial thirdly
Chain set.
Step S632, successively to it is between 2 salient points adjacent before and after second point chain set,
Thirdly each hand outline concave point in chain set detects its hand wheel with the range formula of point to line
Wide depression points have the concave point of ultimate range to the connection straight line between above-mentioned 2 adjacent salient points.
Step S633, above-mentioned thirdly chain collection is inserted into by the above-mentioned concave point with ultimate range
In conjunction between above-mentioned 2 adjacent salient points.
Step S634, repeats above-mentioned steps S632 to S633, until it is above-mentioned thirdly
Point in chain set, which is all detected, to be finished.
Step S635, the point of its maximum is obtained by iteration, then is maximum depression points, and
Thirdly chain set on the orderly hand profile of generation.
Step S64, using concavo-convex angle recognizer, foundation is associated with hand profile thirdly
Chain process of aggregation obtains including the 4th chain set of all finger tip points of hand；
Specifically, in preferred embodiment of the invention, as shown in fig. 7, in above-mentioned steps S64,
So-called concavo-convex angle recognizer includes：
Step S641, from top to bottom finds in thirdly chain set sequentially on hand profile
One salient point P1, and choose adjacent concave point P2 and concave point P3 from its front and rear 2 direction respectively.
Step S642, from concave point P2 to salient point P1, salient point P1 to concave point P2 make 2 arrow
Amount, calculates its angle in salient point P1 points, if its angle is less than the threshold value of setting, salient point P1 points
It is identified as fingertip area and is stored in above-mentioned 4th chain set.
Step S643, if the thirdly chain set on hand profile has not been detected also,
Repeat the above steps S641, to detect next candidate's salient point；Otherwise terminate.
Step S65, each finger for obtaining hand is recognized according to finger tip point, is then performed gesture and is known
Do not operate.
In the preferred embodiment of the present invention, in above-mentioned steps S65, it can calculate successively at above-mentioned 4th point
The distance of every 2 adjacent and non-adjacent finger tip points in chain set, and according to the different finger tips of distance determination
The corresponding finger in region.
Specifically, can be by adjacent 2 finger tip points distance most in a preferred embodiment of the invention
Big and non-adjacent 2 finger tip points are defined as thumb apart from most big-and-middle public finger tip point, with thumb phase
Adjacent and apart from maximum finger tip point is defined as forefinger, non-adjacent and true apart from maximum finger tip point with thumb
It is set to little finger, nearest finger tip point is defined as middle finger with forefinger；Left finger tip point is defined as unknown
Refer to.
In the preferred embodiment of the present invention, the default threshold value of above-mentioned sags and crests angle can be set
It is set to 40 °, then is can effectively solve the problem that using technical solution of the present invention present in traditional finger tip detection by mistake
Problem is sentenced, while reducing amount of calculation.
In the preferred embodiment of the present invention, for the identification of a gesture, know first according to above-mentioned steps
Do not go out the number of finger, and obtain the title of finger, and the direction vector of each finger and they between
Angle, and with above three condition formation one three layers of decision tree, finally according to above-mentioned three layers of decision tree
Realize the identification of gesture motion.
The present invention preferred embodiment in, above-mentioned three layers of decision tree be by sample carry out inductive learning,
Corresponding decision tree or decision rule are generated, then new data are classified according to decision tree or rule
A kind of sorting technique, in various sorting algorithms, decision tree is most intuitively a kind of.Three layers of decision tree
It is exactly the classification foundation by above three condition respectively as one layer of decision node in tree, so as to reach classification
Purpose.
The processing procedure that hand detection in the present invention and finger are recognized is that having depth image data each time
Carried out when input, if same object still exists in next frame depth image, and profile
When simply having been deformed with previous frame image, then all object properties will continue to quote old depth image
The characteristic point that frame analysis is drawn, can thus reduce program work amount, improve efficiency.
In the preferred embodiment of the present invention, gesture is identified according to above-mentioned three layers of decision tree
Process for example in identification the numeral gesture and gesture gesticulated " I love you "：
Identify that the current gesture motion of user is related to three fingers first, and obtain corresponding finger
Name is further to be recognized.
It can be known by advance training, " thumb, food used in I love you " in gesture
Refer to and little finger of toe, and gesticulate numeral and forefinger, middle finger and unknown have been used when for example gesticulating Arabic numerals " 3 "
Refer to, therefore directly can carry out the area of gesture motion by having used which root finger in the gesture motion
Point.
In another example, the same gesture motion for carrying out numeral is gesticulated, for example gesticulate Arabic numerals " 2 " and
Gesticulate Chinese figure " seven ", finger number and the finger name that two gestures are used are all identical, then can pass through
The vector angles of two gestures is distinguished：
For Arabic numerals " 2 ", user is when gesticulating, the direction vector folder of its two fingers
Angle must be an acute angle, and can realize a default threshold value less than us, now just can allow meter
Calculation machine identifies that this is Arabic numerals " 2 ".
For Chinese gesture " seven ", user is when gesticulating, the side of two finger
It is more than angle when gesticulating Arabic numerals " 2 " to vector angle, then can works as angle and be more than above-mentioned preset
Threshold value when, current gesture motion is identified as " seven ".
It is above-mentioned gesture motion to be identified also using three layers of decision tree in the preferred embodiment of the present invention
A variety of specific embodiments can be included, it is numerous to list herein, as long as being to utilize above three condition shape
Into three layers of decision tree the mode that gesture is identified is included in protection scope of the present invention.
The foregoing is only preferred embodiments of the present invention, not thereby limit embodiments of the present invention and
Protection domain, to those skilled in the art, should can appreciate that all utilization description of the invention
And the equivalent substitution made by diagramatic content and the scheme obtained by obvious change, it should include
Within the scope of the present invention.
Claims (9)
1. a kind of gesture identification method based on center palm of the hand position, it is characterised in that comprise the following steps：
Step S1, the video data stream for being associated with user's whole body is obtained by an image collecting device, and
Processing obtains that the skeleton point information in each skeleton point of at least one user is respectively associated, with shape
Into the bone point model for being associated with least one user respectively；
Step S2, respectively according to each bone point model, it is determined that representing to make described at least one respectively
The palm of the hand positional information of the palm of the hand position of user, and the pushing pushing letter of the user is represented respectively
Breath；
Step S3, obtains the center of the picture frame in the video data stream, and will be described in
The corresponding gesture in the palm of the hand position of center confirms as gesture to be judged, and waits to judge by described
The palm of the hand position information confirming of gesture is object location information, by the hand of the gesture to be judged
Long message confirms as the pushing information of object；
Step S4, height of the palm of the hand apart from ground of the user is judged according to the object location information
Whether a default height threshold is more than：
If so, then continuing executing with the step S5；
If it is not, then exiting；
Step S5, judges to obtain the image of palm area, and split the image of the palm area
Cut and pre-processed, obtain corresponding hand mask and export；
Step S6, according to the result, identifies the fingertip area of hand, and according to the finger tip
The gesture of the user is identified the geometrical relationship in region.
2. gesture identification method as claimed in claim 1, it is characterised in that in the step S1,
Described image harvester is depth of field camera；
The video data is the depth of field video data for being associated with the whole body of the user.
3. gesture identification method as claimed in claim 2, it is characterised in that the step S1 includes：
Step S11, includes the whole body of background and the user using the collection of described image harvester
Depth image video data stream；
Step S12, the three of the pixel of the depth image for every frame that the video data stream is included
Tie up information and carry out spatial alternation, to obtain corresponding cloud information in real space；
Step S13, according to the corresponding described cloud information of each pixel, obtains each pixel
The distance between with the depth of field camera；
Step S14, respectively according to each corresponding distance of the pixel, processing obtains the bone
Point information.
4. gesture identification method as claimed in claim 1, it is characterised in that the step S2 includes：
Step S21, according to processing obtain be associated with each described skeleton point of the user described in
Skeleton point information, obtains the object location information of the user；
Step S22, according to processing obtain be associated with each described skeleton point of the user described in
Skeleton point information, the height information for obtaining the user is calculated according to following formula：
Wherein, H1Represent the height values of the user, H2The pixels tall numerical value of background is represented,
H3Pixels tall numerical value of the user in collected video image is represented, d represents described and used
The distance between person and the depth of field camera numerical value, θ represent the depth of field camera in the horizontal direction
Vertical angle numerical value；
Step S23, according to the corresponding relation of default Human Height and human body between pushing, obtains described
The pushing information of user.
5. gesture identification method as claimed in claim 1, it is characterised in that the step S5 includes：
Step S51, according to the object location information and the pushing information of the object, removes described use
The distance for all and palm of the hand position that the hand of person includes is more than the pixel of the pushing half
Information, and the information of all pixels included according to the hand after removal obtains hand data；
The hand data that processing is obtained are carried out at cluster by step S52 by K mean cluster algorithm
Reason, obtains the hand data after clustering processing；
Step S53, sets min cluster number, to carry out noise jamming pixel clusters to the hand data
Filtering is excluded, so as to obtain being associated with hand mask and the output of the hand data.
6. gesture identification method as claimed in claim 5, it is characterised in that the hand packet contains
Using the pushing half of the user as radius and with the palm of the hand position of the user
For in a spheric region in the center of circle.
7. gesture identification method as claimed in claim 1, it is characterised in that the step S6 includes：
Step S61, the edge for obtaining the hand mask is detected using Moore neighborhoods contour following algorithm
Profile, and obtain first chain set of all profile points included on the edge contour；
Step S62, is obtained on the hand profile of the hand mask using the detection of Graham scanning algorithms
Convex closure collection, and obtain include the second point chain set of all convex closures；
Step S63, using the maximum depression points scanning algorithm of profile, in the edge of the hand mask
Detection obtains the maximum depression between all salient points on the convex closure collection of profile and the hand profile
Point, and obtain the thirdly chain set of the sags and crests included on the hand profile；
Step S64, using concavo-convex angle recognizer, according to being associated with described the of the hand profile
3 chain process of aggregation obtain including the 4th chain set of all finger tip points of hand；
Step S65, each finger for obtaining hand is recognized according to the finger tip point, is then performed gesture and is known
Do not operate.
8. gesture identification method as claimed in claim 7, it is characterised in that in the step S65,
The step of gesture identification is operated is performed to specifically include：
Step S651, identification obtains the number of all fingers of hand；
Step S652, according to presupposed information judge to obtain the title of the every finger, direction vector with
And the angle between the adjacent finger and output；
Step S653, one or three layers of decision tree, and root are formed according to the information exported in the step S652
Gesture is identified according to three layers of decision tree.
9. gesture identification method as claimed in claim 5, it is characterised in that in the step S42,
K values in the K mean cluster algorithm are set as fixed numbers 2.
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