JP2011065652A - サインに基づくマンマシンインタラクション - Google Patents
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Abstract
【解決手段】人間の検出、人間のボディパーツ検出、手形状分析、軌道分析、向き決定、ジェスチャマッチング等を含む。形状及びジェスチャの多くの型が、コンピュータビジョンに基づく煩わしくない様式で認識される。多くのアプリケーションが、家電の遠隔制御、コンピュータ制御装置のマウスレス(及びタッチレス)操作、ゲーミング及び他方に命令を与えるための人間−ロボットコミュニケーションを含むこのサイン理解技術により実現可能となる。動的な検出ハードウェアが、ビデオレートでの深度画像のストリームを取得するために用いられ、深度画像のストリームは、情報抽出のために順次分析される。
【選択図】なし
Description
ャッタが閉じた後にのみカメラ102内のセンサに到達する。したがって、対応するオブジェクトに関しては信号が記録されない(したがって、ほとんどの背景のオブジェクトは記録されたシーンから消える)。深度検出カメラ102のこの特徴は、深度ウィンドウとして呼ばれる動作の幅(例えば、Dmin−Dmax)を提供する。一実施形態において、深度情報は、この動作の幅すなわち深度ウィンドウ内のオブジェクト(例えば、人間)に関してのみ記録される。深度ウィンドウを超えた他のオブジェクトは、深度データを生成しない。すなわち、シャッタが閉じた後に反射した信号がカメラに到達する。他の実施形態は、Dmax距離を超えたオブジェクトに関する深度値がゼロ深度から始まる周期的な深度値を用いる。この実施形態において、深度値の繰り返しに基づく画像データの前処理は、不要な背景関連データが消えることを保証する。この幅の特徴は、Dmaxを撮像された対象のすぐ後ろに設定することにより、背景雑音を消している(すなわち、Dmax深度を超えたオブジェクトの存在が効果的に消されている)。
この実施形態において、入力された画像データは、前処理されてシーン内の関心のある対象、例えば、人間を検出する(304)。一実施形態において、人間の胴体及び人間の頭の位置が識別される。いくつかの人間検出技術が用いられてもよい。例えば、一実施形態において、テンプレートを用いたグレー画像に基づく人間検出が用いられてもよい。テンプレートは、人間の形状に対応する、与えられたシーン画像のサブセット又は領域を抽出するために用いられる。
Σφj=λjφj
画像ベクトルxに関して、K次元射影計数ベクトルが、ωj=φj T(x−u)により計算される。
グセットは、ユーザに命令を提供して様々なポーズ角度でポーズをとらせるトレーニング期間において取得される。このように、ジェスチャ認識システムは、ユーザに対してカスタマイズされており、例えば、画像認識は認証目的のために用いられる。一実施形態において、グレースケール及び深度データ画像は、K−L分解が実行されるトレーニングセットとして用いられる。トレーニングアルゴリズムは、(図5に示される角度の任意の範囲内に割り当てられる)既知のポーズ角度を有するM個のトレーニング観測結果{x1,x2,…、xM}に基づいており、各観測結果画像xiは、N=K×Lの長さの列ベクトルとして表される。トレーニングアルゴリズムは、以下のステップを含む。
1.トレーニングフェーズ
入力:M次元画像空間における画像データ点{x1,x2,…、xM}
出力:
ステップ1:平均ベクトル
ステップ3:推定
各観測結果xiに関し、P次元固有空間に射影することができ、すなわち、
入力:ωi,
出力:yのポーズ
ステップ4:新規の観測結果yに関するポーズ推定
同様に、新規の観測結果は、P次元固有空間に射影される。
手検出手法の一実施形態は、前記した人間検出の結果を利用する。他の実施形態は、カメラまでの距離に関連するヒューリスティックに基づいてシーンの各フレーム内の手の位置を決定するために深度画像処理モジュールに依存しており、例えば、サインを行う手は、カメラに向かう人間のパーツに最接近する。
粗抽出
手が胴体よりもカメラに近い距離ある場合には、腕が深度差により抽出される。手が伸びている場合には、手は、顔及び胴体領域を消去した後に抽出される。このステップの結果が腕画像804である。同時に、顔及び胴体領域ボックスと当該領域情報とが、図7で前記したように識別されて記録される。例えば、図8に示されるシーンにおいて、候補画像データオブジェクトは、右手が図7の領域4 702dに位置することを示す。
続いて、粗抽出ステップで得られた腕画像から指先が検出される。そして、腕の不要なパーツは、アスペクト比により削除される。例えば、腕画像の幅又は高さが顔幅の1.5倍よりも大きい場合には、画像はこの点でトリミングされる。このステップの結果が掌画像806である。二つの手のジェスチャ画像に関して、二つの掌画像が同様に得られる。
一実施形態によると、本システムは、記憶された形状データに未知の対象候補形状にマッチングさせる方法を適用して、対象候補形状を識別する。考察の明確性のために、人間の手の形状は好ましい実施形態に関して考察されるが、同様の技術は、HCI、例えば、握手サイン又はオブジェクト、全体的なボディの位置、キック、パンチ等に関して用いられるあらゆる形状に適用可能である。
は、基本的に異なる向きの同一形状であることに留意されたい。
始点のx/y座標:(7,19)
終点のx/y座標:(44,18)
全体の幅 :9.7642
スリムな幅 :7.8002
指の幅 :30
一実施形態において、手の形状は、異なるジェスチャに関する様々な手の形状を含む記憶されたデータセットを基準として分析される。例えば、図10は、一実施形態に係るサインの記録すなわちプロファイルのセットと対応する画像の手のパターンとを示す。サインプロファイルは、サインの定義と追加的なサイン識別データ、例えば、開始及び終了領域、動き等とを有するデータレコード1002を含んでいる。さらに、サインレコード1002は、手話に関連する一以上の手の形状の画像を含む画像ファイル1004を含む又は提示する。例えば、サインレコード1002a〜1002eは、対応する画像1004a〜1004eを提示する。しかし、数字の2を表すサインに関して、サインレコード1002bは、二つの画像パターン1004b(1),1004b(2)を提示しており、これらは、同等なものとして許容可能なマッチング画像パターンを提供する。さらに、動き及び形状変化を必要とする他のもっと複雑なサインは、サインに関連して初期、中間及び最終画像パターンに関連する画像のセットを提示し、例えば、「ついてこい」サイン1002fは画像レコード1004fにおいて3つの画像を提示し、画像レコード1004fは、1004f(1),1004f(2),1004f(3)を含んでいる。
例えば、サインレコード1102は、指の数と関連している。指計数アルゴリズムが候補画像における指の数を決定した後、指の数に関連したレコードとのみ比較される。
図11(A)〜図11(C)に参照すると、一実施形態に係る画像と手形状マッチング技術に基づいて骨格を表す、対応する処理された画像データとが示されている。一実施形態において、前処理が対象の手に対応する画像データを提供した後、人間−機械ジェスチャ認識システムは、手の画像データを分析する。この実施形態において、骨格マッチング技術に基づく手形状分析は、以下のステップを含んでいる。
図11(A)に示す掌画像は、バイナリ画像を得るための閾値であり、バイナリ画像のエッジは、従来の骨格生成技術により平滑化されて小さい枝に低減される。このステップの結果が、図11(B)に示される骨格である。
される指骨格を生成する閾値よりも長いユークリッド距離を有する終点及び交点対である。
一実施形態によると、骨格における全ての経路に関して、経路の長さ、width-1、width-2が決定され、width-1及びwidth-2は、例えば、指候補のそれぞれの全体の幅及び細い幅である。さらに、一実施形態において、測定された特性に基づいて、経路が指に相当するか以下かについて判定される。このステップの結果が、指の数を含み、データ構造が各指についての有意なデータを記録するために用いられる。例えば、候補指又はジェスチャに関する候補画像データ構造における指情報セクションは、指情報を記録するために用いられる。
一実施形態において、初期に取得されたシーンからの候補対象手の画像を用いて。本システムは、手すなわち掌に関する基本情報を抽出する。この情報は、他のモノ、領域、領域ボックス、向きの角度、顔ボックス、胴体ボックス、掌中心、平均深度値、掌から胴体中心までの距離、掌から顔中心までの距離を含む。この情報は、画像処理技術を通じて決定され、候補画像データオブジェクトに収集される。候補画像データオブジェクトは、前ステップで収集された追加的な情報、例えば、ボディ、頭、手の前処理の位置等を含む。
一実施形態において、候補画像データオブジェクトは、サイン又はジェスチャマッチングのために続いて用いられる、決定された掌データを記録するための掌情報セクションを含む。
一実施形態において、一以上の形状が、ジェスチャを定義するための軌道に関連している。例えば、一実施形態において、手は、手に関連する時間情報を有する3D空間における曲線すなわち軌道を生成するように空間内で動く。図12は、一実施形態に係る手の3次元画像の線チャートのサンプルを示す。一実施形態において、ジェスチャマッチング処理は、軌道情報を含む。しかし、マッチングを簡略化するために、軌道情報は、X方向の動き、Y方向の動き及びZ方向の動きの三つのパーツに分割される。X及びYは、画像平面における手の水平及び鉛直座標であり、Zはカメラシステムまでの距離を示す手の平均
深度値により表される。
」1301b、「押して戻って押して戻るパターン」1301cのようなパターンに対応している。曲線1301は、FFTを用いて円滑化され、円滑化前よりも局所的なノイズを低減されている。
一実施形態において、手の向きも取得される。例えば、図14(C)に示すように、指の向きは、いくつかのジェスチャ又はサイン、例えば、サムアップとサムダウンのジェスチャ、に関して関連性を有している。したがって、一実施形態において、一旦関連性を有する手の形状、例えば、スタートの手の形状とサムアップジェスチャ、が決定されると、対象候補画像形状に対する手の向きが取得される。図15は、一実施形態に係る「サムアップ」の手のパターンに関する手の向きの分析結果の曲線/画像図を示す。手の向きの情報は、手の形状に関する領域の主軸を分析することにより取得される。例えば、前記した骨格分析に基づいて、腕及び手の主軸が用いられ、頭、胴体又は初期位置に関して測定された角度変化が画像データから得られる。
候補画像すなわち対象のフレームの一連の情報が一以上のデータオブジェクト内に収集された後、ジェスチャマッチング処理が認識システムに提供されたサイン又はジェスチャを決定するために適用される。一実施形態において、手の形状の情報及び軌道情報は、画像データにより表されるサイン又はジェスチャを分類するために用いられる候補画像データオブジェクト内に記録される。候補データオブジェクト内に収集された特徴情報は、分析され、記憶されたパターンに関連する情報を含む記憶されたジェスチャ/サインと比較される。ジェスチャ又はサインプロファイル内の情報は、候補データオブジェクト内の情報に対して比較、マッチング又はフィルタリングするために用いられる。例えば、一実施形態において、ジェスチャプロファイルは、データオブジェクト内のn個の特性のセットとして表され、例えば、5個の特性値のペアは、G=<形状、位置、軌道、向き、速さ>の形態を有するジェスチャ「G」を表すために用いられ、各ジェスチャに関して、これらの特性に関する値のユニークな組み合わせがジェスチャを定義する。
(1608)。一旦候補ジェスチャフレームの軌道が決定されると、前記したように記憶された軌道パターンとマッチングされる(1610)。一旦形状、位置及び軌道が決定されると、ジェスチャマッチング処理が、さらに以下に説明されるように、候補画像データオブジェクトに基づいて行われる(1612)。出力されるジェスチャが、ジェスチャデータベースから決定される(1614)。
0−静止;1−減少;2−増加
1*−まず減少し、周期的に増加/減少の動き
2*−まず増加し、周期的に減少/増加の動き
掌の位置の軌道、始めの位置、終わりの位置及び最もよくある位置をチェックする。位置の定義を見るために図1を参照されたい。いくつかのジェスチャは指の長さの変化、例えば40のみを有するので、平均指長さの変化をチェックする。
発話の使用は、ロボットへ命令を与える良い手法である。実際にはしかし、現在の発話認識は、ロボットとのコミュニケーションをとるための手法としては望ましくない制限を有している。環境及びロボット由来のノイズにより、(ユーザがロボットから数メートルだけ離れている場合であっても、)人間であるユーザにより生成された音声信号がロボット認識のために有効な程度にクリアではないことがある。
に解釈されることが可能なように提供される。さらに、「もし」「それから」「間」のような任意の記憶された言語を追加することにより、「もしスミス氏が来たら、それから私を呼びなさい」のような文を作ることができる。
Claims (4)
- コンピュータ処理に基づきマンマシンインタラクションを実現するための方法であって、各画像ピクセルに関連し、対象からデジタル画像を取得するカメラまでの距離に対応する深度データを備える、手を有する対象のデジタル画像を受信するステップと、
前記画像ピクセルのそれぞれに関連する前記深度データに基づいて、前記画像ピクセル内における前記対象の手の位置を決定するステップと、
前記手の位置の画像ピクセルデータから前記手の骨格表現を生成するステップであって、前記手の第一の骨格表現の特性を決定するステップと、決定された特性に対して規則を適用することによって前記第一の骨格表現における線分の少なくとも一つを消去し、それによって第二の骨格表現を生成するステップと、
を含み、
前記手の骨格表現を生成するステップは、
前記手の第一の骨格表現における線分の端点及び交点を決定するステップを含むステップと、
前記線分の端点から交点までの距離を決定するステップと、
前記距離と、指の最小距離を特徴付ける距離閾値と、を比較するステップと、
前記距離閾値との比較に基づいて前記第一の骨格表現における線分を消去することによって誤った指骨格線分を消去し、それによって第二の骨格表現を生成するステップと、
を含むことを特徴とするコンピュータ処理に基づきマンマシンインタラクションを実現するための方法。 - 前記第二の骨格表現から少なくとも指の数を含む一以上の手の特性を決定するステップと、
決定された手の特性と記憶された手の特性プロファイルとを比較することによって手のサインを認識するステップと、
をさらに含むことを特徴とする請求項1に記載のコンピュータ処理に基づきマンマシンインタラクションを実現するための方法。 - 前記手の特性プロファイルは、面積と、指の数と、前記対象の胴体に対する位置と、を含む特性を記述する掌オブジェクトを含む
ことを特徴とする請求項2に記載のコンピュータ処理に基づきマンマシンインタラクションを実現するための方法。 - 前記第二の骨格表現から一以上の手の特性を決定するステップは、前記第二の骨格表現における骨格線分の向きを決定するステップをさらに含むことを特徴とする請求項2に記載のコンピュータ処理に基づきマンマシンインタラクションを実現するための方法。
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US20050271279A1 (en) | 2005-12-08 |
WO2005114556A2 (en) | 2005-12-01 |
JP4972201B2 (ja) | 2012-07-11 |
US7308112B2 (en) | 2007-12-11 |
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