CN115826764B - Gesture control method and system based on thumb - Google Patents
Gesture control method and system based on thumb Download PDFInfo
- Publication number
- CN115826764B CN115826764B CN202310102791.8A CN202310102791A CN115826764B CN 115826764 B CN115826764 B CN 115826764B CN 202310102791 A CN202310102791 A CN 202310102791A CN 115826764 B CN115826764 B CN 115826764B
- Authority
- CN
- China
- Prior art keywords
- hand
- thumb
- gesture
- hand image
- image
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- User Interface Of Digital Computer (AREA)
Abstract
The invention provides a gesture control method and a gesture control system based on thumb, comprising the following steps: acquiring hand images of a user, and if all fingers except thumbs in the hand images reach preset conditions, taking the hand image at the first moment reaching the preset conditions as a first hand image; if the second position of the thumb in the second hand image is not corresponding to the first position relation of the thumb in the first hand image, the corresponding second hand image is taken as a third hand image, and the second moment is taken as a third moment; if the first gesture result is judged to have no time sequence judging condition, determining first command information corresponding to the first gesture result to control the XR equipment; determining a time period corresponding to the first gesture result according to the third moment, and if the time period is judged to have a second gesture result corresponding to the first gesture result; and generating a corresponding combined gesture result, and determining second command information corresponding to the combined gesture result to control the XR equipment.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to a thumb-based gesture control method and system.
Background
Gesture recognition can be viewed as a way of computationally solving human language, thereby generating human-machine interactions and achieving functional performance.
The realization of the current VR/AR/MR/XR and other technologies needs to be based on remote control equipment and a helmet to select corresponding scenes, so that a plurality of equipment are matched for use in the process of scene selection and man-machine interaction, and the input of control instructions to XR equipment can be conveniently realized through gesture recognition.
However, in the prior art, the finger of the user is inconvenient to perform a large-scale operation in some situations for various reasons, and only the thumb of the user may be capable of performing a small-scale activity. For example, a user holds a device with 4 fingers other than the thumb, or the user may have a disorder such as hemiplegia, so that only the thumb can be moved, and thus a method for gesture control according to the thumb is needed.
Disclosure of Invention
The embodiment of the invention provides a thumb-based gesture control method and a thumb-based gesture control system, which can be used for gesture control based on the action change of the thumb, and are easy for users with inconvenient hands to move in a large range to realize gesture control.
In a first aspect of an embodiment of the present invention, a thumb-based gesture control method is provided, including:
Acquiring hand images of a user based on an image acquisition device at the XR equipment, and taking the hand image at the first moment reaching the preset condition as a first hand image if all fingers except the thumbs in the hand image reach the preset condition;
continuously acquiring hand images of a user to obtain second hand images at a second moment, and taking the corresponding second hand images as third hand images and taking the second moment as third moment if judging that the second position of the thumb in the second hand images does not correspond to the first position relation of the thumb in the first hand images;
comparing the third hand image with the first hand image to obtain a first gesture result, and if the first gesture result is judged to have no time sequence judging condition, determining first command information corresponding to the first gesture result to control XR equipment;
if the first gesture result is judged to have a time sequence judging condition, determining a time period corresponding to the first gesture result according to the third moment, and if the time period is judged to have a second gesture result corresponding to the first gesture result;
and generating a corresponding combined gesture result according to the first gesture result and the second gesture result, and determining second command information corresponding to the combined gesture result to control the XR equipment.
Optionally, in one possible implementation manner of the first aspect, the method further includes:
the finger tip areas of the middle finger and the thumb of the hand are sleeved with a first color sleeve ring and a second color sleeve ring respectively in advance, and the first color sleeve ring and the second color sleeve ring are of different colors.
Optionally, in one possible implementation manner of the first aspect, the image capturing device at the XR device captures a hand image of a user, and if it is determined that all fingers except for thumbs in the hand image reach a preset condition, the hand image at a first moment when the preset condition is reached is used as the first hand image, including:
extracting an image center point of a hand image, and carrying out coordinate processing on the hand image according to the image center point to obtain coordinates of each pixel point in the hand image;
determining a hand region in the hand image according to the pixel value of each pixel point, and counting all the pixel points with the same ordinate in the hand region to obtain a first hand pixel point set, wherein each first hand pixel point set corresponds to one ordinate;
counting the number of the pixels in all the first hand-shaped pixel point sets to obtain the number of the first pixel points, and carrying out ascending order sequencing on all the first hand-shaped pixel point sets according to the ordinate to obtain a pixel point set sequence;
Comparing the number of first pixels of adjacent first hand-shaped pixel sets in the pixel set sequence in sequence, if the difference value of the number of the first pixels of the two adjacent first hand-shaped pixel sets is judged, and the quotient of dividing the difference value by the number of the first pixels of the first hand-shaped pixel sets with smaller number of the pixels is larger than a first preset proportion, taking the adjacent first hand-shaped pixel sets as second hand-shaped pixel sets, and determining the connecting line of the pixels corresponding to the second hand-shaped pixel sets as a dividing line between a palm and a thumb;
if the first color lantern ring is judged to be positioned at the first position of the palm, judging that all fingers except the thumb in the hand image reach the preset condition.
Optionally, in one possible implementation manner of the first aspect, if it is determined that the first color collar is located at the first position of the palm, determining that all fingers except the thumb in the hand image reach a preset condition includes:
counting all first hand-held pixel point sets from a first hand-held pixel point set to a second hand-held pixel point set initiated in the pixel point set sequence to obtain a first set subsequence;
Acquiring a first set number of first hand pixel point sets in the first set subsequence, determining a middle value in the first set number, and determining a corresponding third hand pixel point set according to the middle value;
counting the middle abscissa in the third hand pixel point set, and obtaining a first middle pixel point of the palm according to the middle abscissa and the ordinate corresponding to the third hand pixel point set;
constructing a first range area by taking the first middle pixel point as a circle center and a first preset value as a radius, and extracting coordinates of all pixel points in the first range area to obtain a fourth hand pixel point set;
and acquiring coordinates of pixel points of pixel values corresponding to the first color lantern ring in the hand image to obtain a fifth hand pixel point set, and judging that all fingers except the thumbs in the hand image reach preset conditions if the fifth hand pixel point set is judged to be completely contained by the fourth hand pixel point set.
Optionally, in one possible implementation manner of the first aspect, the image capturing device at the XR device captures a hand image of a user, and if it is determined that all fingers except for thumbs in the hand image reach a preset condition, the hand image at a first moment when the preset condition is reached is used as the first hand image, including:
Taking the hand image at the first moment reaching the preset condition as a first hand image, and acquiring coordinates of pixel points of pixel values corresponding to a second color lantern ring in the first hand image to obtain a first thumb pixel point set;
and determining middle pixel points in the first thumb pixel point set to obtain a first thumb reference pixel point, and taking the coordinates of the first thumb reference pixel point as first thumb reference coordinates.
Optionally, in one possible implementation manner of the first aspect, the continuously acquiring the hand image of the user to obtain the second hand image at the second moment, and if it is determined that the second position of the thumb in the second hand image does not correspond to the first position relationship of the thumb in the first hand image, taking the corresponding second hand image as the third hand image and taking the second moment as the third moment, includes:
continuously acquiring a hand image of a user to obtain a second hand image at a second moment, and acquiring coordinates of pixel points of pixel values corresponding to a second color lantern ring in the second hand image to obtain a second thumb pixel point set;
determining middle pixel points in the second thumb pixel point set to obtain second thumb reference pixel points, and taking coordinates of the second thumb reference pixel points as second thumb reference coordinates;
If the thumb moving distance of the first thumb reference coordinate and the second thumb reference coordinate is larger than the first preset distance, judging that the second position of the thumb in the second hand image does not correspond to the first position relation of the thumb in the first hand image;
the second hand image that does not correspond to the first hand image is set as a third hand image, and the second time is set as a third time.
Optionally, in one possible implementation manner of the first aspect, the comparing the third hand image with the first hand image to obtain a first gesture result, if it is determined that the first gesture result does not have a timing determining condition, determining first command information corresponding to the first gesture result to control the XR device includes:
acquiring a movement direction relation of the first thumb reference coordinate and the second thumb reference coordinate, and acquiring a corresponding first gesture result according to the movement direction relation and the movement direction relation;
judging a first preset gesture result corresponding to the first gesture result, and if the first preset gesture result does not have a corresponding time sequence judging condition, directly calling first command information corresponding to the first preset gesture result at the moment to control the XR equipment.
Optionally, in one possible implementation manner of the first aspect, if it is determined that the first gesture result has the timing determining condition, determining, according to the third time, a time period corresponding to the first gesture result, and if it is determined that the time period has the second gesture result corresponding to the first gesture result, the method includes:
if the first preset gesture result has a corresponding time sequence judging condition, calling a preset acquisition time corresponding to the first preset gesture result;
adding the third moment and the preset acquisition time to obtain a time period corresponding to the first gesture result, and acquiring a plurality of fourth hand images in the time period corresponding to the first gesture result;
if the plurality of third thumb reference coordinates in the plurality of fourth hand images are judged to have the same or corresponding movement direction relation with the first thumb reference coordinates and the second thumb reference coordinates, judging that a second gesture result corresponding to the first gesture result exists.
Optionally, in one possible implementation manner of the first aspect, the generating a corresponding combined gesture result according to the first gesture result and the second gesture result, determining second command information corresponding to the combined gesture result, and controlling the XR device includes:
Obtaining a combined gesture result according to the first gesture result and the second gesture result;
and retrieving a second preset gesture result and second command information corresponding to the combined gesture result, and controlling the XR equipment according to the second command information, wherein each second preset gesture result has the second command information corresponding to the second preset gesture result.
In a second aspect of embodiments of the present invention, there is provided a thumb-based gesture control system comprising:
the first acquisition module is used for acquiring hand images of a user based on an image acquisition device at the XR equipment, and if all fingers except the thumbs in the hand images are judged to reach preset conditions, the hand images at the first moment reaching the preset conditions are used as first hand images;
the second acquisition module is used for continuously acquiring the hand image of the user to obtain a second hand image at a second moment, and if the second position of the thumb in the second hand image is judged not to correspond to the first position relationship of the thumb in the first hand image, the corresponding second hand image is used as a third hand image, and the second moment is used as a third moment;
the comparison module is used for comparing the third hand image with the first hand image to obtain a first hand result, and if the first hand result is judged to have no time sequence judgment condition, the first command information corresponding to the first hand result is determined to control the XR equipment;
The judging module is used for determining a time period corresponding to the first gesture result according to the third moment if the first gesture result is judged to have a time sequence judging condition, and if the time period is judged to have a second gesture result corresponding to the first gesture result;
and the control module is used for generating a corresponding combined gesture result according to the first gesture result and the second gesture result, and determining second command information corresponding to the combined gesture result to control the XR equipment.
In a third aspect of embodiments of the present invention, there is provided a storage medium having stored therein a computer program for implementing the method of the first aspect and the various possible designs of the first aspect when the computer program is executed by a processor.
According to the thumb-based gesture control method and system, the hand images of the user can be acquired in real time, and the thumb and the other four fingers are respectively provided with different functions, namely, the position of the thumb is identified according to the corresponding strategy of gesture identification by waking up gesture identification through the position relation between the other four fingers and the palm, and when the thumb is used for controlling, different command information is generated according to different gesture results and time sequence relations, so that gesture changes at different moments can be combined when the gesture control is carried out, and further the diversity of the gesture control is improved.
According to the technical scheme provided by the invention, the hand image is subjected to coordinated processing, and the number of the first pixel points in the first hand pixel point set with the same ordinate is analyzed to determine the dividing line between the palm and the thumb, so that the hand image can be distinguished in different areas. According to the invention, whether the user needs to wake up the gesture recognition of the thumb or not can be judged according to the position of the first color lantern ring on the palm, and the wake-up mode has the advantages of simplicity, easiness in recognition and low error rate.
When the position of the thumb is positioned and the gesture change of the thumb is judged, the position of the thumb is determined according to the second color lantern ring, and the first thumb reference coordinate is obtained, the corresponding second hand image is continuously acquired by the invention, when the position of the thumb in the second hand image is changed, the corresponding second thumb reference coordinate is determined according to the coordinate change of the thumb, and the corresponding first gesture result is obtained by combining the movement direction relation of the first thumb reference coordinate and the second thumb reference coordinate, so that the XR equipment can be controlled according to the change of the thumb.
According to the technical scheme provided by the invention, a plurality of identical or different actions can be combined according to different time sequences to obtain a combined gesture result, and the XR equipment is controlled according to the combined gesture result, so that more instruction control can be realized through the thumb, and the condition of single control caused by controlling only one thumb is avoided.
Drawings
FIG. 1 is a schematic gesture diagram of the technical scheme provided by the invention;
FIG. 2 is a flow chart of a first embodiment of a thumb-based gesture control method;
FIG. 3 is a flow chart of a second embodiment of a thumb-based gesture control method;
FIG. 4 is a block diagram of a first embodiment of a thumb-based gesture control system.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The terms "first," "second," "third," "fourth" and the like in the description and in the claims and in the above drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein.
It should be understood that, in various embodiments of the present invention, the sequence number of each process does not mean that the execution sequence of each process should be determined by its functions and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.
It should be understood that in the present invention, "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements that are expressly listed or inherent to such process, method, article, or apparatus.
It should be understood that in the present invention, "plurality" means two or more. "and/or" is merely an association relationship describing an association object, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship. "comprising A, B and C", "comprising A, B, C" means that all three of A, B, C comprise, "comprising A, B or C" means that one of the three comprises A, B, C, and "comprising A, B and/or C" means that any 1 or any 2 or 3 of the three comprises A, B, C.
It should be understood that in the present invention, "B corresponding to a", "a corresponding to B", or "B corresponding to a" means that B is associated with a, from which B can be determined. Determining B from a does not mean determining B from a alone, but may also determine B from a and/or other information. The matching of A and B is that the similarity of A and B is larger than or equal to a preset threshold value.
As used herein, "if" may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to detection" depending on the context.
The technical scheme of the invention is described in detail below by specific examples. The following embodiments may be combined with each other, and some embodiments may not be repeated for the same or similar concepts or processes.
In the application scenario of the present invention, the device includes an XR device and an image acquisition device disposed at the XR device, where the image acquisition device may be a device with an image acquisition function, such as a camera. Before the steps of the invention are carried out, the finger tip areas of the middle finger and the thumb of the user are respectively sleeved with a first color sleeve ring and a second color sleeve ring with corresponding colors. Wherein the first color collar and the second color collar are preferably provided in different colors, e.g. the first color collar is red, the second color collar is green, etc. The fingertip areas of the middle finger and thumb may be in different positions when a person makes different gestures. For example, in the gesture shown in fig. 1, at this time, the four fingers are in a contracted state, the middle finger area is located in the middle of the palm, the thumb area is located at the uppermost part, and at this time, according to the positional relationship between the first color collar and the second color collar relative to the palm and the positional relationship between the first color collar and the second color collar, the combined comparison can be performed, so that the gesture of the current user is obtained, and further, the gesture control is performed through the change of the thumb.
In an actual application scene, when the hands of the user are inconvenient to move, the user can only move the thumb, and the middle finger is in a contracted state at the moment, so that the reference positioning can be performed by combining the positions of the middle finger, and the gesture corresponding to the user is determined to control the XR equipment according to the change of different positions of the thumb.
The invention provides a gesture control method based on thumb, as shown in fig. 2, comprising the following steps:
step S1, acquiring hand images of a user based on an image acquisition device at the XR equipment, and taking the hand image at the first moment reaching the preset condition as a first hand image if all fingers except the thumbs in the hand image reach the preset condition. According to the technical scheme provided by the invention, the hand image of the user is acquired through the image acquisition device, and the hand image of the user at the moment can be empty, namely the user does not lift the arm to the front of the chest. The method analyzes the acquired hand images, judges that the user wakes up gesture control when judging that fingers except all thumbs reach preset conditions, namely, the user needs to realize gesture control through the thumbs, and takes the hand image at the first moment reaching the preset conditions as the first hand image.
In one possible implementation manner, the step S1 includes:
and S11, extracting an image center point of the hand image, and carrying out coordinate processing on the hand image according to the image center point to obtain coordinates of each pixel point in the hand image. According to the technical scheme provided by the invention, the hand image is subjected to the coordinate processing, so that each pixel point in the hand image has the corresponding coordinate. In the process of the coordinate processing, a three-dimensional coordinate or a two-dimensional coordinate can be constructed,
step S12, determining a hand region in the hand image according to the pixel value of each pixel, and counting all the pixels with the same ordinate in the hand region to obtain a first hand pixel set, wherein each first hand pixel set corresponds to one ordinate. According to the invention, the hand region in the hand image is determined according to the pixel values of the pixel points, generally, the palm of the human body is yellow, for example, the yellow region of the RGB value is R value (227-255), G value (153-255) and B value (0-179), the yellow region of the RGB value can be adjusted according to different use scenes, for example, the skin color of the human body can be different, and the corresponding pixel value region for determining the hand region in the hand image can be different, for example, black people can be black, and white people can be white. The invention is not limited in any way with respect to determining the pixel values of the hand regions in the hand image. After the hand area is determined, all the pixels with the same ordinate in the hand area are counted to obtain first hand pixel point sets, and each first hand pixel point set corresponds to one ordinate.
When the invention counts the hand area, the outline formed by the pixel points positioned in the yellow area can be judged, and the outline of the hand area is obtained according to the outline, and the outline of the hand area is the pixel points in the yellow area at the moment, but the central part of the outline may not be the yellow area. Since the first color collar and the second color collar are respectively provided, it should be noted that the pixel regions corresponding to the first color collar and the second color collar are also regarded as the hand region, and the manner can enable the color regions corresponding to the first color collar, the second color collar and the hand to be formed into the completed hand region.
And S13, counting the number of the pixels in all the first hand pixel sets to obtain the number of the first pixels, and carrying out ascending order sequencing on all the first hand pixel sets according to the ordinate to obtain a pixel set sequence. The invention counts the number of pixels in the first hand pixel set, and because the palm of the human hand is not regular, different levels have different lengths, for example, the lengths of the middle finger, the index finger and the thumb are different, so at this time, the invention counts the pixels with the same ordinate to obtain the first hand pixel set, and then carries out ascending order on all the first hand pixel sets according to the ordinate. As shown in the gesture of fig. 1, the first set of hand pixels formed by the four fingers other than the thumb and the palm with the same ordinate is much larger (more than 2 times) than the first set of hand pixels formed by the thumb. Therefore, at this time, the invention performs ascending order according to the first hand pixel set on the ordinate to obtain a pixel set sequence. In an actual scene, the position of the thumb is higher than the positions of the index finger and the middle finger, so that the ordinate of the pixel points corresponding to the thumb is larger than the ordinate of the pixel points corresponding to the index finger and the middle finger, and the first hand pixel point arranged at the front can be regarded as a collection of pixel points formed by combining the palm and the fingers.
Step S14, comparing the numbers of the first pixels of the adjacent first hand-shaped pixel sets in the pixel set sequence in turn, if the difference value of the numbers of the first pixels of the two adjacent first hand-shaped pixel sets is judged, and the quotient of dividing the difference value by the number of the first pixels of the first hand-shaped pixel set with smaller number of the pixels is larger than a first preset proportion, taking the adjacent first hand-shaped pixel set as a second hand-shaped pixel set, and determining the connecting line of the pixels corresponding to the second hand-shaped pixel set as a dividing line between the palm and the thumb. It can be understood that when the difference between the numbers of the first pixels of the adjacent first hand pixel sets is greater than a first preset ratio, it is proved that the pixel corresponding to the corresponding first hand pixel set is the boundary between the thumb and the palm area of the hand, at this time, the number of pixels in the first hand pixel set may be suddenly reduced, the first preset ratio may be preset, for example, the difference between the numbers of the first pixels of the first hand pixel set divided by the number of the first pixels of the first hand pixel set with fewer pixels is greater than or equal to 2, and then it is determined that the difference at this time is greater than the first preset ratio, at this time, the first preset ratio may be 2, at this time, the adjacent first hand pixel set may be used as the boundary between the palm and the thumb, and the connecting line of the pixels corresponding to the second hand pixel set may be used as the boundary between the palm and the thumb. In this way, the thumb and the palm can be divided. The second set of hand pixels may now be 2, one belonging to the thumb and the other belonging to the palm.
And step S15, if the first color lantern ring is judged to be positioned at the first position of the palm, judging that all fingers except the thumb in the hand image reach the preset condition. At this time, the four fingers except the thumb of the user can reach a contracted and contracted state, at this time, the first color collar is positioned at the first position of the palm, and the first position can be the middle area of the palm.
In one possible implementation manner, if the first color collar is determined to be located at the first position of the palm, the method determines that all fingers except the thumb in the hand image reach a preset condition, including:
and counting all first hand-held pixel point sets from a first hand-held pixel point set to a second hand-held pixel point set which are started in the pixel point set sequence, and obtaining a first set subsequence. In this way, after the palm and the thumb are divided, all first hand pixel point sets corresponding to the palm can be obtained, and corresponding first set subsequences can be obtained.
And acquiring the first set number of the first hand pixel point set in the first set subsequence, determining a middle value in the first set number, and determining a corresponding third hand pixel point set according to the middle value. By locating the intermediate value in the first set number, a plurality of relatively middle first hand pixel sets in the first hand pixel sets can be obtained, and the purpose of the scheme is to determine the center point of the hand. For example, the first number of sets is 15, the intermediate number may be 8, for example, the first number of sets is 16, and the intermediate number may be 8 or 9.
And counting the middle abscissa in the third hand pixel point set, and obtaining a first middle pixel point of the palm according to the middle abscissa and the ordinate corresponding to the third hand pixel point set. The present invention counts the middle abscissa in the third hand pixel set, for example, the abscissa in the third hand pixel set is 1 to 5, and then the middle abscissa at this time may be 3, for example, the abscissa in the third hand pixel set is 1 to 6, and then the middle abscissa at this time may be 2 and 3. At this time, the present invention determines a first middle pixel, for example, the middle number is 8, and the middle abscissa is 3, and then the first middle pixel is the ordinate (may be 8) of the 8 th first hand pixel set (i.e. the third hand pixel set), and the pixel corresponding to the abscissa 3 is the first middle pixel.
And constructing a first range area by taking the first middle pixel point as a circle center and a first preset value as a radius, and extracting coordinates of all the pixel points in the first range area to obtain a fourth hand pixel point set. The first middle pixel point can be regarded as the center point of the palm, so that the first range area can be constructed by taking the center point of the palm as the center of the circle and taking the first preset value as the radius, and the first range area can be regarded as the middle part of the palm. The coordinates of all the pixels in the first range area are extracted to obtain a fourth hand pixel set, namely all the pixels in the middle of the palm are extracted.
And acquiring coordinates of pixel points of pixel values corresponding to the first color lantern ring in the hand image to obtain a fifth hand pixel point set, and judging that all fingers except the thumbs in the hand image reach preset conditions if the fifth hand pixel point set is judged to be completely contained by the fourth hand pixel point set. At this time, the coordinates of the pixel points of the hand image corresponding to the pixel values of the first color lantern ring are extracted, the position of the first color lantern ring is determined in the mode, and a corresponding fifth hand pixel point set is obtained. When the fifth hand pixel point set is completely contained by the fourth hand pixel point set, the first color lantern ring is proved to be positioned in the middle of the palm, and the hands of the user are in a contracted and contracted state, so that the invention can cut off fingers except all thumbs to reach preset conditions.
It should be noted that the first preset value may be preset by a worker, and the first range area may be greater than 2 times the volume of the first color collar. In general, there is no contraction of the middle finger and the remaining fingers are elongated.
According to the technical scheme provided by the invention, in one possible implementation mode, the image acquisition device based on the XR equipment acquires hand images of a user, and if all fingers except for thumbs in the hand images are judged to reach preset conditions, the hand image at the first moment reaching the preset conditions is taken as a first hand image, and the method comprises the following steps:
and taking the hand image at the first moment reaching the preset condition as a first hand image, and acquiring coordinates of pixel points of pixel values corresponding to the second color lantern ring in the first hand image to obtain a first thumb pixel point set. According to the technical scheme provided by the invention, the hand image at the first moment reaching the preset condition is taken as the first hand image, and at the moment, the user wakes up the gesture recognition of the thumb through the positions of the four fingers. Therefore, at this time, the coordinates of the pixels of the first hand image corresponding to the pixel values of the first color collar are extracted, a first thumb pixel set is obtained, and the positions of the thumbs are obtained through the coordinates of the pixels of the first thumb pixel set.
And determining middle pixel points in the first thumb pixel point set to obtain a first thumb reference pixel point, and taking the coordinates of the first thumb reference pixel point as first thumb reference coordinates. The invention can obtain the middle pixel point in the first thumb pixel point set to obtain the first thumb reference pixel point, so that the position relation of the thumb relative to the middle finger and the palm can be reflected through the first thumb reference pixel point. When the first thumb reference pixel point is obtained, the method may correspond to the manner of determining the first middle pixel point. For example the first thumb-pixel set is as follows,
wherein the coordinates corresponding to the first thumb reference pixel point at this time can be
。
And S2, continuously acquiring hand images of the user to obtain second hand images at a second moment, and taking the corresponding second hand images as third hand images and taking the second moment as third moment if judging that the second position of the thumb in the second hand images does not correspond to the first position of the thumb in the first hand images. According to the technical scheme provided by the invention, the second hand image at the second moment is continuously acquired by taking the hand image, because one image cannot reflect the trend of the change of the hand gesture, if the second position of the thumb in the second hand image is judged not to correspond to the first position of the thumb in the first hand image, the gesture is proved to be changed, and at the moment, the corresponding second hand image is taken as the third hand image, the second moment is taken as the third moment, and the gesture change of the user can be obtained according to the third hand image and the first hand image.
In one possible implementation manner, the step S2 includes:
and continuously acquiring the hand image of the user to obtain a second hand image at a second moment, and acquiring coordinates of pixel points of the second hand image, which correspond to the pixel values of the second color lantern ring, to obtain a second thumb pixel point set. The invention can continuously acquire the hand image to obtain a second hand image at a second moment, and determine the coordinates of the pixel points of the second hand image corresponding to the pixel values of the second color lantern ring to obtain a corresponding second thumb pixel point set.
And determining middle pixel points in the second thumb pixel point set to obtain second thumb reference pixel points, and taking coordinates of the second thumb reference pixel points as second thumb reference coordinates. When the second thumb reference pixel point is determined, the method can be the same as the obtaining mode of the first thumb reference pixel point, and the coordinate of the second thumb reference pixel point is taken as the second thumb reference coordinate, so that the relative position of the thumb in the second hand image can be reflected through the second thumb reference coordinate.
If the thumb moving distance of the first thumb reference coordinate and the second thumb reference coordinate is larger than the first preset distance, judging that the second position of the thumb in the second hand image does not correspond to the first position relation of the thumb in the first hand image. At this time, the present invention will make the first thumb reference coordinate and the second thumb reference coordinate, if the first thumb reference coordinate and the second thumb reference coordinate have not changed or the thumb moving distance is smaller than or equal to the first preset distance, then the gesture may not be changed. If the thumb movement distance is greater than the first preset distance, then the second hand image is positionally changed relative to the thumb in the first hand image.
The second hand image that does not correspond to the first hand image is set as a third hand image, and the second time is set as a third time. At this time, the present invention can be regarded as that the gesture has changed, and at this time, it is necessary to analyze in combination with the first hand image and the third hand image to determine the gesture change.
And S3, comparing the third hand image with the first hand image to obtain a first hand result, and if the first hand result is judged to have no time sequence judging condition, determining first command information corresponding to the first hand result to control the XR equipment. The first gesture result can be obtained by comparing the third hand image and the first hand image, wherein the first gesture result can be that the thumb moves from top to bottom, from bottom to top and the like, and the specific form of the first gesture result is not limited in any way. Under one possible scenario, if the thumb moves from top to bottom, it may correspond to one instruction at a time, and if it moves twice, it is determined whether or not there is a corresponding timing determination condition for one instruction if it moves at a time. In the scenario that the movement may correspond to another instruction twice, it may be regarded as having a corresponding timing judgment condition, for example, within 1.2 seconds, the movement from top to bottom corresponds to another instruction twice.
It should be noted that, when the thumb has a reset action as each action, after one of the first gesture results is identified, the invention does not collect other gesture results (for example, reset) which are new and do not correspond to the first gesture result in a preset period of time, so that after one first gesture result is generated, the invention only collects other gesture results related to the first gesture result.
For example, if the time sequence judging condition does not exist in the first gesture result corresponding to the movement of the thumb from bottom to top, the first command information corresponding to the first gesture result is directly determined to control the XR device, for example, the display interface of the XR device is scrolled upwards, moved upwards, and the like.
In one possible implementation manner, the step S3 includes:
and acquiring a movement direction relation of the first thumb reference coordinate and the second thumb reference coordinate, and obtaining a corresponding first gesture result according to the movement direction relation and the movement direction relation. The present invention obtains a movement direction relationship between the first thumb reference coordinate and the second thumb reference coordinate, and the movement direction relationship may be a forward movement or a reverse movement, for example, the value of the second thumb reference coordinate is reduced compared with the value of the first thumb reference coordinate (the ordinate is reduced), and the movement direction relationship may be regarded as a reverse movement, that is, the thumb is moved downwards. The movement direction relationship at this time can be regarded as forward movement, i.e., upward movement of the thumb, when the value of the second thumb reference coordinate is increased (ordinate is increased) as compared to the value of the first thumb reference coordinate.
Judging a first preset gesture result corresponding to the first gesture result, and if the first preset gesture result does not have a corresponding time sequence judging condition, directly calling first command information corresponding to the first preset gesture result at the moment to control the XR equipment. At this time, the present invention obtains the first preset gesture result corresponding to the first gesture result, if the first preset gesture result at this time does not have the corresponding time sequence judgment condition, as mentioned above, the thumb moves upward, and the corresponding first preset gesture result at this time does not have the set time sequence judgment condition, that is, the thumb moves upward only corresponding to one first command information, so at this time, the present invention controls the XR device according to the first command information.
And S4, if the first gesture result is judged to have a time sequence judging condition, determining a time period corresponding to the first gesture result according to the third moment, and if the time period is judged to have a second gesture result corresponding to the first gesture result. At this time, the corresponding first gesture result may have a combined gesture corresponding to the first gesture result, and at this time, the present invention determines a time period corresponding to the first gesture result according to the third time, and if there is a second gesture result corresponding to the first gesture result in the time period corresponding to the first gesture result, a subsequent instruction generating step is performed at this time. The second gesture result may be the same gesture result as the first gesture result, and may be a different gesture result.
In one possible implementation manner, the step S4 includes:
and if the first preset gesture result has a corresponding time sequence judging condition, calling a preset acquisition time corresponding to the first preset gesture result. Different first preset gesture results may correspond to different time sequence judging conditions, the time sequence judging conditions may also be null, the preset acquiring time corresponding to each first preset gesture result may be determined, and the preset acquiring time may be 0.8 seconds, 1 second, 1.2 seconds, and the like.
And adding the third moment and the preset acquisition time to obtain a time period corresponding to the first gesture result, and acquiring a plurality of fourth hand images in the time period corresponding to the first gesture result. According to the invention, a time period corresponding to the first gesture result is obtained according to the third moment and the preset acquisition time, for example, the current time is 16:42:27, the preset acquisition time is 1 second, the time period at this time is 16:42:27 to 16:42:28, and at this time, the invention acquires a plurality of fourth hand images in the time period corresponding to the first gesture result.
If the plurality of third thumb reference coordinates in the plurality of fourth hand images are judged to have the same or corresponding movement direction relation with the first thumb reference coordinates and the second thumb reference coordinates, judging that a second gesture result corresponding to the first gesture result exists. The invention can determine a plurality of third thumb reference coordinates in the fourth hand image in the time period corresponding to the first gesture result, and according to the third thumb reference coordinates, but the moving direction relation in a plurality of low-cost fourth hand images, if the moving direction relation in the fourth hand image is the same as and corresponding to the first thumb reference coordinates and the second thumb reference coordinates, the same and corresponding moving direction relation is used as the second gesture result.
And S5, generating a corresponding combined gesture result according to the first gesture result and the second gesture result, and determining second command information corresponding to the combined gesture result to control the XR equipment. The method and the device can combine the first gesture result and the second gesture result to generate corresponding combined gesture results, namely, for example, the thumb moves up and down twice continuously, which can be regarded as a praise instruction, namely, praise control is performed on the XR device according to the second command information corresponding to the praise instruction.
In one possible implementation manner, the step S4 includes:
and obtaining a combined gesture result according to the first gesture result and the second gesture result. The invention can obtain the combined gesture result from the first gesture result and the second gesture result, namely, the movement relationship of two continuous thumbs from top to bottom is used as the combined gesture result.
And retrieving a second preset gesture result and second command information corresponding to the combined gesture result, and controlling the XR equipment according to the second command information, wherein each second preset gesture result has the second command information corresponding to the second preset gesture result. It can be understood that, in the present invention, a corresponding second preset gesture result and second command information are set for each combined gesture result, and at this time, corresponding control is performed on the XR device according to the second command information.
In order to implement the thumb-based gesture control method provided by the invention, the invention also provides a thumb-based gesture control system, as shown in fig. 4, which comprises:
the first acquisition module is used for acquiring hand images of a user based on an image acquisition device at the XR equipment, and if all fingers except the thumbs in the hand images are judged to reach preset conditions, the hand images at the first moment reaching the preset conditions are used as first hand images;
the second acquisition module is used for continuously acquiring the hand image of the user to obtain a second hand image at a second moment, and if the second position of the thumb in the second hand image is judged not to correspond to the first position relationship of the thumb in the first hand image, the corresponding second hand image is used as a third hand image, and the second moment is used as a third moment;
the comparison module is used for comparing the third hand image with the first hand image to obtain a first hand result, and if the first hand result is judged to have no time sequence judgment condition, the first command information corresponding to the first hand result is determined to control the XR equipment;
the judging module is used for determining a time period corresponding to the first gesture result according to the third moment if the first gesture result is judged to have a time sequence judging condition, and if the time period is judged to have a second gesture result corresponding to the first gesture result;
And the control module is used for generating a corresponding combined gesture result according to the first gesture result and the second gesture result, and determining second command information corresponding to the combined gesture result to control the XR equipment.
The present invention also provides a storage medium having stored therein a computer program for implementing the methods provided by the various embodiments described above when executed by a processor.
The storage medium may be a computer storage medium or a communication medium. Communication media includes any medium that facilitates transfer of a computer program from one place to another. Computer storage media can be any available media that can be accessed by a general purpose or special purpose computer. For example, a storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an application specific integrated circuit (Application Specific Integrated Circuits, ASIC for short). In addition, the ASIC may reside in a user device. The processor and the storage medium may reside as discrete components in a communication device. The storage medium may be read-only memory (ROM), random-access memory (RAM), CD-ROMs, magnetic tape, floppy disk, optical data storage device, etc.
The present invention also provides a program product comprising execution instructions stored in a storage medium. The at least one processor of the device may read the execution instructions from the storage medium, the execution instructions being executed by the at least one processor to cause the device to implement the methods provided by the various embodiments described above.
In the above embodiments of the terminal or the server, it should be understood that the processor may be a central processing unit (english: central Processing Unit, abbreviated as CPU), or may be other general purpose processors, digital signal processors (english: digital Signal Processor, abbreviated as DSP), application specific integrated circuits (english: application Specific Integrated Circuit, abbreviated as ASIC), or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present invention may be embodied directly in a hardware processor for execution, or in a combination of hardware and software modules in a processor for execution.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (10)
1. A thumb-based gesture control method, comprising:
acquiring hand images of a user based on an image acquisition device at the XR equipment, and taking the hand image at the first moment reaching the preset condition as a first hand image if all fingers except the thumbs in the hand image reach the preset condition;
continuously acquiring hand images of a user to obtain second hand images at a second moment, and taking the corresponding second hand images as third hand images and taking the second moment as third moment if judging that the second position of the thumb in the second hand images does not correspond to the first position relation of the thumb in the first hand images;
comparing the third hand image with the first hand image to obtain a first gesture result, and if the first gesture result is judged to have no time sequence judging condition, determining first command information corresponding to the first gesture result to control XR equipment;
if the first gesture result is judged to have a time sequence judging condition, determining a time period corresponding to the first gesture result according to the third moment, and if the time period is judged to have a second gesture result corresponding to the first gesture result;
And generating a corresponding combined gesture result according to the first gesture result and the second gesture result, and determining second command information corresponding to the combined gesture result to control the XR equipment.
2. The thumb-based gesture control method of claim 1, further comprising:
the finger tip areas of the middle finger and the thumb of the hand are sleeved with a first color sleeve ring and a second color sleeve ring respectively in advance, and the first color sleeve ring and the second color sleeve ring are of different colors.
3. The thumb-based gesture control method of claim 2, wherein,
the image acquisition device based on XR equipment department gathers user's hand image, if judge in the hand image that all fingers except thumb reach the condition of predetermineeing, regard the hand image of the first moment that reaches the condition of predetermineeing as first hand image, include:
extracting an image center point of a hand image, and carrying out coordinate processing on the hand image according to the image center point to obtain coordinates of each pixel point in the hand image;
determining a hand region in the hand image according to the pixel value of each pixel point, and counting all the pixel points with the same ordinate in the hand region to obtain a first hand pixel point set, wherein each first hand pixel point set corresponds to one ordinate;
Counting the number of the pixels in all the first hand-shaped pixel point sets to obtain the number of the first pixel points, and carrying out ascending order sequencing on all the first hand-shaped pixel point sets according to the ordinate to obtain a pixel point set sequence;
comparing the number of first pixels of adjacent first hand-shaped pixel sets in the pixel set sequence in sequence, if the difference value of the number of the first pixels of the two adjacent first hand-shaped pixel sets is judged, and the quotient of dividing the difference value by the number of the first pixels of the first hand-shaped pixel sets with smaller number of the pixels is larger than a first preset proportion, taking the adjacent first hand-shaped pixel sets as second hand-shaped pixel sets, and determining the connecting line of the pixels corresponding to the second hand-shaped pixel sets as a dividing line between a palm and a thumb;
if the first color lantern ring is judged to be positioned at the first position of the palm, judging that all fingers except the thumb in the hand image reach the preset condition.
4. The thumb-based gesture control method of claim 3 wherein,
if the first color collar is located at the first position of the palm, judging that all fingers except the thumb in the hand image reach a preset condition, including:
Counting all first hand-held pixel point sets from a first hand-held pixel point set to a second hand-held pixel point set initiated in the pixel point set sequence to obtain a first set subsequence;
acquiring a first set number of first hand pixel point sets in the first set subsequence, determining a middle value in the first set number, and determining a corresponding third hand pixel point set according to the middle value;
counting the middle abscissa in the third hand pixel point set, and obtaining a first middle pixel point of the palm according to the middle abscissa and the ordinate corresponding to the third hand pixel point set;
constructing a first range area by taking the first middle pixel point as a circle center and a first preset value as a radius, and extracting coordinates of all pixel points in the first range area to obtain a fourth hand pixel point set;
and acquiring coordinates of pixel points of pixel values corresponding to the first color lantern ring in the hand image to obtain a fifth hand pixel point set, and judging that all fingers except the thumbs in the hand image reach preset conditions if the fifth hand pixel point set is judged to be completely contained by the fourth hand pixel point set.
5. The thumb-based gesture control method of claim 3 wherein,
The image acquisition device based on XR equipment department gathers user's hand image, if judge in the hand image that all fingers except thumb reach the condition of predetermineeing, regard the hand image of the first moment that reaches the condition of predetermineeing as first hand image, include:
taking the hand image at the first moment reaching the preset condition as a first hand image, and acquiring coordinates of pixel points of pixel values corresponding to a second color lantern ring in the first hand image to obtain a first thumb pixel point set;
and determining middle pixel points in the first thumb pixel point set to obtain a first thumb reference pixel point, and taking the coordinates of the first thumb reference pixel point as first thumb reference coordinates.
6. The thumb-based gesture control method of claim 5 wherein,
the continuously acquiring the hand image of the user to obtain a second hand image at a second moment, and if the second position of the thumb in the second hand image is not corresponding to the first position relationship of the thumb in the first hand image, taking the corresponding second hand image as a third hand image and taking the second moment as a third moment, including:
continuously acquiring a hand image of a user to obtain a second hand image at a second moment, and acquiring coordinates of pixel points of pixel values corresponding to a second color lantern ring in the second hand image to obtain a second thumb pixel point set;
Determining middle pixel points in the second thumb pixel point set to obtain second thumb reference pixel points, and taking coordinates of the second thumb reference pixel points as second thumb reference coordinates;
if the thumb moving distance of the first thumb reference coordinate and the second thumb reference coordinate is larger than the first preset distance, judging that the second position of the thumb in the second hand image does not correspond to the first position relation of the thumb in the first hand image;
the second hand image that does not correspond to the first hand image is set as a third hand image, and the second time is set as a third time.
7. The thumb-based gesture control method of claim 6 wherein,
comparing the third hand image with the first hand image to obtain a first gesture result, and if it is determined that the first gesture result does not have a time sequence determination condition, determining first command information corresponding to the first gesture result to control the XR device, including:
acquiring a movement direction relation of the first thumb reference coordinate and the second thumb reference coordinate, and acquiring a corresponding first gesture result according to the movement direction relation and the movement direction relation;
Judging a first preset gesture result corresponding to the first gesture result, and if the first preset gesture result does not have a corresponding time sequence judging condition, directly calling first command information corresponding to the first preset gesture result at the moment to control the XR equipment.
8. The thumb-based gesture control method of claim 7 wherein,
and if the time sequence judging condition exists in the first gesture result, determining a time period corresponding to the first gesture result according to the third time, and if the time sequence judging condition exists in the judging time period, the time sequence judging method comprises the following steps:
if the first preset gesture result has a corresponding time sequence judging condition, calling a preset acquisition time corresponding to the first preset gesture result;
adding the third moment and the preset acquisition time to obtain a time period corresponding to the first gesture result, and acquiring a plurality of fourth hand images in the time period corresponding to the first gesture result;
if the plurality of third thumb reference coordinates in the plurality of fourth hand images are judged to have the same or corresponding movement direction relation with the first thumb reference coordinates and the second thumb reference coordinates, judging that a second gesture result corresponding to the first gesture result exists.
9. The thumb-based gesture control method of claim 8 wherein,
the generating a corresponding combined gesture result according to the first gesture result and the second gesture result, determining second command information corresponding to the combined gesture result, and controlling the XR device includes:
obtaining a combined gesture result according to the first gesture result and the second gesture result;
and retrieving a second preset gesture result and second command information corresponding to the combined gesture result, and controlling the XR equipment according to the second command information, wherein each second preset gesture result has the second command information corresponding to the second preset gesture result.
10. A thumb-based gesture control system, comprising:
the first acquisition module is used for acquiring hand images of a user based on an image acquisition device at the XR equipment, and if all fingers except the thumbs in the hand images are judged to reach preset conditions, the hand images at the first moment reaching the preset conditions are used as first hand images;
the second acquisition module is used for continuously acquiring the hand image of the user to obtain a second hand image at a second moment, and if the second position of the thumb in the second hand image is judged not to correspond to the first position relationship of the thumb in the first hand image, the corresponding second hand image is used as a third hand image, and the second moment is used as a third moment;
The comparison module is used for comparing the third hand image with the first hand image to obtain a first hand result, and if the first hand result is judged to have no time sequence judgment condition, the first command information corresponding to the first hand result is determined to control the XR equipment;
the judging module is used for determining a time period corresponding to the first gesture result according to the third moment if the first gesture result is judged to have a time sequence judging condition, and if the time period is judged to have a second gesture result corresponding to the first gesture result;
and the control module is used for generating a corresponding combined gesture result according to the first gesture result and the second gesture result, and determining second command information corresponding to the combined gesture result to control the XR equipment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310102791.8A CN115826764B (en) | 2023-02-13 | 2023-02-13 | Gesture control method and system based on thumb |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310102791.8A CN115826764B (en) | 2023-02-13 | 2023-02-13 | Gesture control method and system based on thumb |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115826764A CN115826764A (en) | 2023-03-21 |
| CN115826764B true CN115826764B (en) | 2023-04-25 |
Family
ID=85521036
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310102791.8A Active CN115826764B (en) | 2023-02-13 | 2023-02-13 | Gesture control method and system based on thumb |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115826764B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116761040B (en) * | 2023-08-22 | 2023-10-27 | 超级芯(江苏)智能科技有限公司 | VR cloud platform interaction method and interaction system |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104063059B (en) * | 2014-07-13 | 2017-01-04 | 华东理工大学 | A kind of real-time gesture recognition method based on finger segmentation |
| CN112613384B (en) * | 2020-12-18 | 2023-09-19 | 安徽鸿程光电有限公司 | Gesture recognition method, gesture recognition device and control method of interactive display equipment |
| CN113238650B (en) * | 2021-04-15 | 2023-04-07 | 青岛小鸟看看科技有限公司 | Gesture recognition and control method and device and virtual reality equipment |
| CN113282167B (en) * | 2021-05-08 | 2023-06-27 | 青岛小鸟看看科技有限公司 | Interaction method and device of head-mounted display equipment and head-mounted display equipment |
-
2023
- 2023-02-13 CN CN202310102791.8A patent/CN115826764B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN115826764A (en) | 2023-03-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8290210B2 (en) | Method and system for gesture recognition | |
| KR100947990B1 (en) | Gaze Tracking Apparatus and Method using Difference Image Entropy | |
| US8768006B2 (en) | Hand gesture recognition | |
| CN106547356B (en) | Intelligent interaction method and device | |
| US9785228B2 (en) | Detecting natural user-input engagement | |
| US20140161309A1 (en) | Gesture recognizing device and method for recognizing a gesture | |
| CN103353935A (en) | 3D dynamic gesture identification method for intelligent home system | |
| CN115826764B (en) | Gesture control method and system based on thumb | |
| WO2017047182A1 (en) | Information processing device, information processing method, and program | |
| CN109451634B (en) | Gesture-based electric lamp control method and intelligent electric lamp system thereof | |
| Qi et al. | Computer vision-based hand gesture recognition for human-robot interaction: a review | |
| JP2016224686A (en) | Information processing apparatus, control method thereof, program, and storage medium | |
| WO2021179830A1 (en) | Image composition guidance method and apparatus, and electronic device | |
| CN105335711A (en) | Fingertip detection method in complex environment | |
| CN106503619B (en) | Gesture recognition method based on BP neural network | |
| CN103092334A (en) | Virtual mouse driving device and virtual mouse simulation method | |
| US20140369559A1 (en) | Image recognition method and image recognition system | |
| Lai et al. | Real-time Hand Gesture Recognition System and Application. | |
| WO2023273372A1 (en) | Gesture recognition object determination method and apparatus | |
| WO2021258862A1 (en) | Typing method and apparatus, and device and storage medium | |
| Zahra et al. | Camera-based interactive wall display using hand gesture recognition | |
| CN111460858A (en) | Method and device for determining pointed point in image, storage medium and electronic equipment | |
| CN112149574A (en) | Accompanying robot-oriented intention flexible mapping method and device | |
| CN116301551A (en) | Touch identification method, touch identification device, electronic equipment and medium | |
| CN115951783A (en) | Computer man-machine interaction method based on gesture recognition |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |