JP7048151B2 - Motion judgment device, motion judgment method, and program - Google Patents

Description

The present invention relates to a motion determination device, a motion determination method, and a program.

The driver who drives the vehicle is required to safely operate the audio or the car navigation when it becomes necessary to operate the audio or the car navigation while driving. In recent years, in order to reduce the influence of an operation such as audio on a driving operation, a technique for performing an audio operation or the like according to a specific motion of the driver has been studied.

Patent Document 1 defines a behavior detection space and describes that the behavior such as the movement of a human hand or finger is recognized in the behavior detection space.

JP-A-2017-97608

The driver or passenger (hereinafter referred to as the driver, etc.) may unknowingly move his / her hand in the vehicle. In addition, the driver or the like may consciously move his / her hand to perform a motion operation. When such an operation unconsciously performed by the driver or the like and a motion operation are erroneously recognized, there is a problem that an operation or function different from the driver's intention is executed in the vehicle.

An object of the present disclosure is to provide a motion determination device, a motion determination method, and a program capable of distinguishing between an operation unconsciously performed by a driver or the like and a motion operation in view of the above-mentioned problems.

The motion determination device according to the first aspect of the present invention includes a motion analysis unit that specifies the motion of a specific part of the human body captured in the imaging area by using at least two or more axial movement amounts, and the above two or more motion analysis units. If the non-maximum movement amount of the movement amount does not exceed the threshold value, it is determined that the motion operation associated with the axial direction of the maximum movement amount has been performed, and the non-maximum movement amount exceeds the threshold value. , A motion determination unit for determining that no motion operation has been performed.

In the motion determination method according to the second aspect of the present invention, the movement of a specific part of the human body captured in the imaging area is specified by using at least two or more axial movement amounts, and among the two or more movement amounts. , If the non-maximum movement amount does not exceed the threshold value, it is determined that the motion operation associated with the axis direction of the maximum movement amount has been performed, and if the non-maximum movement amount exceeds the threshold value, the motion operation is performed. Judge that it has not been done.

The program according to the third aspect of the present invention specifies the movement of a specific part of the human body captured in the imaging area by using at least two or more axial movement amounts, and is the maximum of the two or more movement amounts. If the non-maximum movement amount does not exceed the threshold value, it is determined that the motion operation associated with the axial direction of the maximum movement amount has been performed, and if the non-maximum movement amount exceeds the threshold value, the motion operation is performed. Have the computer perform a decision that it is not.

INDUSTRIAL APPLICABILITY According to the present disclosure, it is possible to provide a motion determination device, a motion determination method, and a program that can distinguish between an operation unconsciously performed by a driver or the like and a motion operation.

It is a block diagram of the motion determination apparatus which concerns on Embodiment 1. FIG. It is a block diagram of the motion determination apparatus which concerns on Embodiment 2. FIG. It is a figure explaining the outline of the motion determination which concerns on Embodiment 2. FIG. It is a figure which shows the flow of the motion determination processing which concerns on Embodiment 2. It is a figure which shows the setting content of the threshold value which concerns on Embodiment 3. FIG.

(Embodiment 1)
Hereinafter, embodiments of the present invention will be described with reference to the drawings. A configuration example of the motion determination device 10 according to the first embodiment will be described with reference to FIG. 1. The motion determination device 10 may be a computer device operated by the processor executing a program stored in the memory. The motion determination device 10 may be a server device, a personal computer device, or the like.

The motion determination device 10 has a motion analysis unit 11 and a motion determination unit 12. The motion analysis unit 11 and the motion determination unit 12 may be software or modules whose processing is executed by the processor executing a program stored in the memory. Alternatively, the motion analysis unit 11 and the motion determination unit 12 may be hardware such as a circuit or a chip.

The motion analysis unit 11 identifies the motion of a specific part of the human body captured in the imaging area by using at least two or more axial movement amounts. The imaging area is an area that appears in an image captured by a camera. The specific part of the human body may be, for example, a finger, a hand, a head, a foot, or the like. The axis is, for example, a coordinate axis indicating two-dimensional or three-dimensional, and the respective axes are orthogonal to each other. Axial directions include, for example, positive and negative directions in each axis. The amount of movement may be paraphrased as, for example, the distance traveled. The amount of movement may be expressed in units such as centimeters, millimeters, or meters.

The motion determination unit 12 determines whether or not the non-maximum movement amount of the two or more movement amounts exceeds the threshold value. The motion determination unit 12 receives information regarding the amount of movement for each axis specified by the motion analysis unit 11. The motion determination unit 12 specifies the axial direction of the maximum movement amount and the axial direction of the movement amount that is not the maximum movement amount among the two or more movement amounts received. The threshold value is a predetermined value.

For example, the motion determination unit 12 may determine whether or not the movement amount showing the largest value among the movement amounts that are not the maximum movement amount, that is, the second largest movement amount exceeds the threshold value. .. When the second largest movement amount does not exceed the threshold value, the motion determination unit 12 determines that the motion operation associated with the axial direction of the maximum movement amount has been performed. When the second largest movement amount exceeds the threshold value, the motion determination unit 12 determines that the motion operation has not been performed.

The motion operation may be, for example, for a driver or the like in a vehicle to move a specific part of the human body in a predetermined direction or the like in order to operate a device or the like in the vehicle. The case where the second largest movement amount exceeds the threshold value is, for example, the case where the difference between the maximum movement amount and the second largest movement amount is small. In such a case, it is highly possible that the driver or the like has not performed the motion operation associated with the axial direction of the maximum movement amount. Therefore, when the second largest movement amount exceeds the threshold value, it is determined that the motion operation is not performed.

The case where the second largest movement amount does not exceed the threshold value is, for example, the case where the difference between the maximum movement amount and the second largest movement amount is large. In such a case, it is highly possible that the driver or the like intentionally performs the motion operation associated with the axial direction of the maximum movement amount. Therefore, when the second largest movement amount does not exceed the threshold value, it is determined that the motion operation associated with the axial direction of the maximum movement amount is performed.

As described above, the motion determination device 10 determines that the motion operation is not performed when the movement amount other than the maximum movement amount exceeds the threshold value. Further, the motion determination device 10 determines that the motion operation has been performed when the movement amount other than the maximum movement amount does not exceed the threshold value. The motion determination device 10 determines whether or not the motion operation is performed according to whether or not the movement amount that is not the maximum movement amount exceeds the threshold value, so that the operation is unconsciously performed by the driver or the like. , Can be distinguished from motion operations.

(Embodiment 2)
Subsequently, a configuration example of the motion determination device 10 according to the second embodiment will be described with reference to FIG. The motion determination device 10 has an external device interface 61, a processor 62, and a memory 63.

The external device interface 61 may include a baseband processor that performs digital baseband signal processing. Alternatively, the external device interface 61 may include a network interface card (NIC) compliant with the IEEE 802.3 series. Alternatively, the external device interface 61 may be a USB (Universal Serial Bus) interface, a Bluetooth (registered trademark) interface, a wireless LAN (Local Area Network) interface, or the like.

The external device interface 61 is connected to the TOF (Time Of Flight) camera 21 and the monitor 22. The TOF camera is a camera that can measure the distance to the image pickup target. In other words, the TOF camera can calculate the distance data to the image pickup target for each pixel. The image generated by the TOF camera 21 is referred to as a distance image.

The monitor 22 displays the image data output from the external device interface 61. For example, the monitor 22 may display the distance image data generated by the TOF camera 21. Alternatively, the monitor 22 may display the image data after processing or analyzing the distance image data in the motion determination device 10. For example, the monitor 22 may display the 3D point cloud data generated by 3D converting the distance image in the motion determination device 10.

The processor 62 reads software (computer program) from the memory 63, and performs the processing described below using a flowchart or the like. The processor 62 may be, for example, a microprocessor, an MPU (Micro Processing Unit), or a CPU (Central Processing Unit). The processor 62 may include a plurality of processors.

The memory 63 is composed of a combination of a volatile memory and a non-volatile memory. The memory 63 may include storage located away from the processor 62. In this case, the processor 62 may access the memory 63 via an I / O interface (not shown). The processor 62 is used to execute a function or process in the motion analysis unit 11 and the motion determination unit 12 of FIG. Further, the processor 62 may generate a 3D point cloud by 3D converting the distance image generated by the TOF camera 21.

The memory 63 is used to store software or software modules. The processor 62 reads out these software or software modules from the memory 63 and executes them.

Subsequently, the outline of the motion determination performed by the motion determination unit 12 will be described with reference to FIG. FIG. 3 shows a 3D point cloud generated by 3D conversion of a distance image generated by the TOF camera 21. The L-axis, W-axis, and H-axis are used as the 3D point cloud in FIG. The H axis is an axis perpendicular to the ground. The L axis is the axis in the traveling direction of the vehicle driven by the human body. The W axis is an axis perpendicular to the H axis and the L axis.

The L-axis, W-axis, and H-axis are orthogonal to each other. FIG. 3 shows a 3D point cloud including the driver in the vehicle. FIG. 3 shows a state in which the driver is holding the steering wheel. Further, the 3D point cloud in FIG. 3 is generated based on the captured data or the distance image taken from the left front of the driver.

The motion determination unit 12 detects the hand shown in the 3D point cloud and determines whether or not the motion operation using the hand is performed. For example, the motion determination unit 12 may determine whether or not a hand-based wiping motion is being performed. The paying motion is, for example, a motion in which the hand moves at a speed equal to or higher than a predetermined speed after the hand has stopped, and the hand has stopped again. The term "resting" includes not only the case where the hand is completely stationary but also the case where the movement of the hand becomes a speed equal to or lower than a predetermined speed.

Here, the payment motion associated with the + H direction is defined as an advance payment. The paying motion associated with the + H direction is a motion specified when the amount of movement of the hand in the + H direction is maximum as compared with other directions. -The payment motion associated with the H direction is defined as a subpayment. The payment motion associated with the + W direction is defined as right payment. -The payment motion associated with the W direction is defined as left payment. The payment motion associated with the + L direction is defined as prepayment. -Payment motion associated with the L direction is defined as postpay. The + H direction, the + W direction, and the + L direction indicate the arrow directions of the respective axes in FIG. Further, the −H direction, the −W direction, and the −L direction indicate directions opposite to the arrows of the respective axes in FIG.

Subsequently, the flow of the motion determination process according to the second embodiment will be described with reference to FIG. In FIG. 4, the motion determination device 10 determines whether or not a hand-paying motion has been performed.

First, the motion analysis unit 11 calculates the amount of movement in all directions when the movement of the hand is detected (S11). The omnidirectional direction includes the + H axis direction, the −H axis direction, the + W axis direction, the −W axis direction, the + L axis direction, and the −L axis direction. Further, for example, when there is movement in the + H-axis direction, the amount of movement in the −H-axis direction may be represented as a negative value or as 0. The motion analysis unit 11 calculates the amount of movement using the position where the hand was stationary before the movement and the position where the hand was stationary after the movement. Further, the paying motion is a motion in which the hand moves at a speed higher than a predetermined speed. Therefore, the motion analysis unit 11 does not have to calculate the movement amount when the movement speed of the hand does not exceed a predetermined speed.

Next, the motion analysis unit 11 specifies the maximum movement amount among the movement amounts in all directions (S12). Further, the motion analysis unit 11 also specifies the axial direction in which the maximum movement amount is calculated.

Next, the motion analysis unit 11 selects the axial direction to be analyzed (S13). The motion analysis unit 11 analyzes the amount of movement in each axial direction. At this time, the order of the axes for analysis may be predetermined. In this case, the motion analysis unit 11 selects the axial direction to be analyzed in a predetermined order.

Next, the motion analysis unit 11 determines whether or not the axial direction selected in step S13 is the axial direction of the maximum movement amount (S14). When the motion analysis unit 11 determines that the selected axial direction is the axial direction of the maximum movement amount, the motion analysis unit 11 executes the process of step S16. When the motion analysis unit 11 determines that the selected axial direction is not the axial direction of the maximum movement amount, the motion analysis unit 11 executes the process of step S15. In step S15, the motion analysis unit 11 determines whether or not the following determination formula 1 is satisfied. For the determination formula 1, distance / maxdistance> threshold is used. distance indicates the amount of movement in the selected axial direction. maxdistance indicates the maximum movement amount specified in step S12. threshold indicates a predetermined threshold. The threshold is, for example, a value of 0 or more and less than 1. The motion analysis unit 11 may store the determination result in, for example, a memory 63 or the like. Satisfying the determination formula 1 means that the difference between the selected axial movement amount and the maximum movement amount is smaller than that in the case where the determination formula 1 is not satisfied.

Next, the motion analysis unit 11 determines whether or not all the axial directions have been selected (S16). The fact that the motion analysis unit 11 selects all the axial directions means that all the axial directions have been analyzed. The analysis is, for example, performing the processes shown in steps S14 and S15.

When all the axial directions are not selected, the motion analysis unit 11 repeats the processes after step S13. The motion analysis unit 11 selects an axial direction that has not yet been selected in step S13. When the motion analysis unit 11 determines that all the axial directions have been selected, the motion determination unit 12 determines whether or not there is an axial direction satisfying the determination formula 1 (S17).

When the motion determination unit 12 determines that there is an axial direction satisfying the determination formula 1, the motion determination unit 12 determines that the hand movement is not a pay motion (S18). When the motion determination unit 12 determines that there is no axial direction satisfying the determination formula 1, the motion of the hand is determined to be a paying motion associated with the axial direction of the maximum movement amount (S19).

The existence of an axial direction satisfying the determination formula 1 indicates that the movement of the hand in the axial direction different from the axial direction of the maximum movement amount is large. When the driver makes a paying motion, be conscious of moving his / her hand in one of the axial directions. Therefore, if the movement of the hand in the axial direction different from the axial direction of the maximum movement amount is large, it is highly possible that the driver is not performing the paying motion. Therefore, when there is an axial direction satisfying the determination formula 1, the motion determination unit 12 determines that the motion is not a paying motion. Further, in the determination formula 1, the larger the threshold, the greater the degree of freedom in motion operation. Increasing the degree of freedom in motion operation means that the range of hand movements determined to be pay motions is widened.

Further, in step S15, the motion analysis unit 11 determines whether or not the determination formula 1 is satisfied, but a different determination formula may be used. For example, the motion analysis unit 11 may determine whether or not distance> threshold (determination formula 2) is satisfied. In the determination formula 2, the larger the threshold, the lower the possibility of satisfying the determination formula 2. Therefore, in the determination formula 2, the larger the threshold, the greater the degree of freedom in motion operation.

Further, in step S17, the motion determination unit 12 determines that the movement of the hand is not a paying motion when there is at least one axial direction satisfying the determination formula 1. However, the number in the axial direction satisfying the determination formula 1 when determining that the motion is not a payment motion is not limited to 1. The number of axial directions satisfying the determination formula 1 when determining that the motion is not a paying motion may be 2 or more.

As described above, the motion determination device 10 according to the second embodiment calculates the movement amount in all the axial directions with respect to the movement of the hand, and determines whether or not the determination formula 1 is satisfied for each axial direction. can do. From this, the motion determination device 10 can distinguish whether the driver or the like intentionally executed the payment motion or the movement of the hand was natural.

(Embodiment 3)
Subsequently, the motion determination process according to the third embodiment will be described with reference to FIG. Here, a case where the driver who is driving performs a paying motion while holding the steering wheel will be described. It is assumed that the driver moves his / her hand in a circular motion around the elbow or shoulder when performing a paying motion from the situation where the driver is holding the steering wheel. Therefore, for example, when the driver performs a top-paying motion from the situation where he / she is holding the steering wheel, it is assumed that the amount of movement in the −L direction as well as the amount of movement in the + H direction in FIG. 3 increases.

Further, when the driver makes a prepaid motion from the situation where he / she is holding the steering wheel, it is assumed that the amount of movement in the −L direction as well as the amount of movement in the −H direction in FIG. 3 increases. Furthermore, when the driver makes a left-handed motion with his right hand from the situation where he is holding the steering wheel, it is expected that the amount of movement in the −L direction as well as the amount of movement in the −W direction in FIG. 3 will increase. .. Further, when the driver performs a left-handed motion with his / her left hand from the situation where he / she is holding the steering wheel, it is assumed that the amount of movement in the + L direction is large as well as the amount of movement in the −W direction in FIG. This is because when paying left with the left hand, the movement of licking the hand to the left and moving it forward is more natural than moving the hand in a circle centered on the elbow.

Further, when the driver performs a right-handed motion with his / her left hand from the situation where he / she is holding the steering wheel, it is assumed that the amount of movement in the −L direction as well as the amount of movement in the + W direction in FIG. 3 increases. Further, when the driver performs a right-handed motion with his / her right hand from the situation where he / she is holding the steering wheel, it is assumed that the amount of movement in the + L direction as well as the amount of movement in the + W direction in FIG. 3 increases.

Further, when the driver performs a prepaid motion from the situation of holding the steering wheel, it is assumed that the amount of movement in the −H direction is large as well as the amount of movement in the + L direction in FIG. This is because, for example, when the hand is moved to a position away from the body as in prepayment, the movement of moving the hand downward due to the influence of gravity becomes a natural movement. Furthermore, when the driver performs a postpaid motion from the situation of holding the steering wheel, it is assumed that the amount of movement in the + H direction is large as well as the amount of movement in the −L direction in FIG. This is because, when moving the hand to a position closer to the body, such as after-payment, for example, the movement of moving the hand to the position of the chest of the body or a position higher than the chest is a natural movement.

In this way, when the driver is holding the steering wheel and performing a paying motion, there is a direction in which the amount of movement is large in addition to the axial direction in which the amount of movement is maximum. Therefore, the motion analysis unit 11 sets the threshold value in the direction in which the movement amount is expected to be large in addition to the axis in which the movement amount is maximum to be larger than the threshold value in the other direction when performing each payment motion. May be good.

FIG. 5 shows that the maximum movement amount is in the + H direction, and the threshold value in the −L direction is made larger than that in the other directions when determining whether or not the motion of the upper payment is performed. It shows that the threshold value in the direction in which the amount of movement is expected to be large is made larger than in the other directions even for motions other than the upper payment motion.

In each paying motion, the hand movement determined to be a paying motion by making the threshold value in the direction in which the moving amount is expected to be large in addition to the axial direction in which the moving amount is maximum larger than in the other directions. The range of can be widened. That is, the driver can perform the paying motion without being aware of the direction of the hand when performing the paying motion more than necessary.

As described above, when determining each payment motion, a different threshold value may be used for each axis. This makes it possible to widen the range of hand movements that are determined to be payment motions.

In addition, the moving direction when the subject moves his / her hand may differ depending on the physique of the subject, the position of the seat, and the like. Therefore, the motion analysis unit 11 may determine the direction for changing the threshold value and the value of the threshold value for each target person who determines the payment motion.

In the above example, the program can be stored and supplied to the computer using various types of non-transitory computer readable medium. Non-temporary computer-readable media include various types of tangible storage media. Examples of non-temporary computer-readable media include magnetic recording media (eg, flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (eg, magneto-optical disks). Further, examples of non-temporary computer-readable media include CD-ROM (Read Only Memory), CD-R, and CD-R / W. Further, examples of non-temporary computer readable media include semiconductor memory. The semiconductor memory includes, for example, a mask ROM, a PROM (Programmable ROM), an EPROM (Erasable PROM), a flash ROM, and a RAM (Random Access Memory). The program may also be supplied to the computer by various types of transient computer readable medium. Examples of temporary computer readable media include electrical, optical, and electromagnetic waves. The temporary computer-readable medium can supply the program to the computer via a wired communication path such as an electric wire and an optical fiber, or a wireless communication path.

The present disclosure is not limited to the above embodiment, and can be appropriately modified without departing from the spirit. Further, the present disclosure may be carried out by appropriately combining the respective embodiments.

10 Motion judgment device 11 Motion analysis unit 12 Motion judgment unit 21 TOF camera 22 Monitor 61 External device interface 62 Processor 63 Memory

Claims (15)

A motion analysis unit that identifies the motion of a specific part of the human body in the imaging area using at least two or more axial movement amounts.
If the non-maximum movement amount does not exceed the threshold value among the two or more movement amounts, it is determined that the motion operation associated with the axial direction of the maximum movement amount has been performed, and the non-maximum movement amount sets the threshold value. If it exceeds, it is equipped with a motion determination unit that determines that no motion operation has been performed .
The motion analysis unit
The operation of the specific part using the H axis in the direction perpendicular to the ground, the L axis in the traveling direction of the vehicle driven by the human body, and the W axis in the direction perpendicular to the H axis and the L axis. Identify and
The motion determination unit is
A case where the movement of the hand is specified as the movement of the specific portion, and it is determined whether or not the motion operation in the H-axis direction or the W-axis direction is performed from the state where the hand is holding the steering wheel in the vehicle. , A motion determination device that sets the threshold value in the L-axis direction higher than the threshold value in the other axial directions . A motion analysis unit that identifies the motion of a specific part of the human body in the imaging area using at least two or more axial movement amounts.
If the non-maximum movement amount does not exceed the threshold value among the two or more movement amounts, it is determined that the motion operation associated with the axial direction of the maximum movement amount has been performed, and the non-maximum movement amount sets the threshold value. If it exceeds, it is equipped with a motion determination unit that determines that no motion operation has been performed.
The motion analysis unit
The operation of the specific part using the H axis in the direction perpendicular to the ground, the L axis in the traveling direction of the vehicle driven by the human body, and the W axis in the direction perpendicular to the H axis and the L axis. Identify and
The motion determination unit is
When the movement of the hand is specified as the movement of the specific portion and it is determined whether or not the motion operation in the L-axis direction is performed from the state where the hand is holding the steering wheel in the vehicle, the H-axis direction is used. A motion determination device that sets the threshold value of to be higher than the threshold value in the other axial directions . The motion determination unit is
The motion determination device according to claim 1 or 2 , wherein the threshold value set for each axis is compared with the movement amount. The motion determination unit is
When the movement of the hand is specified as the movement of the specific portion and it is determined whether or not the motion operation in the L-axis direction is performed from the state where the hand is holding the steering wheel in the vehicle, the H-axis direction is determined. The motion determination device according to claim 1 , wherein the threshold value of the above is set higher than the threshold value in the other axial direction. The motion determination unit is
1. 4. The motion determination device according to any one of 4. The movement of a specific part of the human body in the imaging area is identified using at least two or more axial movements.
If the non-maximum movement amount does not exceed the threshold value among the two or more movement amounts, it is determined that the motion operation associated with the axial direction of the maximum movement amount has been performed, and the non-maximum movement amount sets the threshold value. If it exceeds, it is determined that no motion operation has been performed, and it is determined that no motion operation has been performed.
In identifying the movement of the specific part
The operation of the specific part using the H axis in the direction perpendicular to the ground, the L axis in the traveling direction of the vehicle driven by the human body, and the W axis in the direction perpendicular to the H axis and the L axis. Identify and
When determining whether or not the motion operation has been performed,
A case where the movement of the hand is specified as the movement of the specific portion, and it is determined whether or not the motion operation in the H-axis direction or the W-axis direction is performed from the state where the hand is holding the steering wheel in the vehicle. , A motion determination method for setting the threshold value in the L-axis direction higher than the threshold value in the other axial directions . The movement of a specific part of the human body in the imaging area is identified using at least two or more axial movements.
If the non-maximum movement amount does not exceed the threshold value among the two or more movement amounts, it is determined that the motion operation associated with the axial direction of the maximum movement amount has been performed, and the non-maximum movement amount sets the threshold value. If it exceeds, it is determined that no motion operation has been performed, and it is determined that no motion operation has been performed.
In identifying the movement of the specific part
The operation of the specific part using the H axis in the direction perpendicular to the ground, the L axis in the traveling direction of the vehicle driven by the human body, and the W axis in the direction perpendicular to the H axis and the L axis. Identify and
When determining whether or not the motion operation has been performed,
When the movement of the hand is specified as the movement of the specific portion and it is determined whether or not the motion operation in the L-axis direction is performed from the state where the hand is holding the steering wheel in the vehicle, the H-axis direction is used. A motion judgment method in which the threshold value of is set higher than the threshold value in the other axial directions . When determining whether or not the motion operation has been performed,
The motion determination method according to claim 6 or 7 , wherein the threshold value set for each axis is compared with the movement amount. When determining whether or not the motion operation has been performed,
When the movement of the hand is specified as the movement of the specific portion and it is determined whether or not the motion operation in the L-axis direction is performed from the state where the hand is holding the steering wheel in the vehicle, the H-axis direction is determined. The motion determination method according to claim 6 , wherein the threshold value is set higher than the threshold value in the other axial direction. When determining whether or not the motion operation has been performed,
6 to claim 6 , wherein it is determined whether or not a paying motion operation indicating that the specific portion has moved in any of the two or more axial directions and then stopped at a predetermined speed has been performed. The motion determination method according to any one of 9 . The movement of a specific part of the human body in the imaging area is identified using at least two or more axial movements.
If the non-maximum movement amount does not exceed the threshold value among the two or more movement amounts, it is determined that the motion operation associated with the axial direction of the maximum movement amount has been performed, and the non-maximum movement amount sets the threshold value. If it exceeds, it is determined that no motion operation has been performed, and it is determined that no motion operation has been performed.
In identifying the movement of the specific part
The operation of the specific part using the H axis in the direction perpendicular to the ground, the L axis in the traveling direction of the vehicle driven by the human body, and the W axis in the direction perpendicular to the H axis and the L axis. Identify and
When determining whether or not the motion operation has been performed,
A case where the movement of the hand is specified as the movement of the specific portion, and it is determined whether or not the motion operation in the H-axis direction or the W-axis direction is performed from the state where the hand is holding the steering wheel in the vehicle. , A program that causes a computer to set the threshold value in the L-axis direction higher than the threshold value in the other axis directions . The movement of a specific part of the human body in the imaging area is identified using at least two or more axial movements.
If the non-maximum movement amount does not exceed the threshold value among the two or more movement amounts, it is determined that the motion operation associated with the axial direction of the maximum movement amount has been performed, and the non-maximum movement amount sets the threshold value. If it exceeds, it is determined that no motion operation has been performed, and it is determined that no motion operation has been performed.
In identifying the movement of the specific part
The operation of the specific part using the H axis in the direction perpendicular to the ground, the L axis in the traveling direction of the vehicle driven by the human body, and the W axis in the direction perpendicular to the H axis and the L axis. Identify and
When determining whether or not the motion operation has been performed,
When the movement of the hand is specified as the movement of the specific portion and it is determined whether or not the motion operation in the L-axis direction is performed from the state where the hand is holding the steering wheel in the vehicle, the H-axis direction is used. A program that causes a computer to set its threshold higher than other axial thresholds. When determining whether or not the motion operation has been performed,
The program according to claim 11 or 12 , wherein the threshold value set for each axis is compared with the movement amount. When determining whether or not the motion operation has been performed,
When the movement of the hand is specified as the movement of the specific portion and it is determined whether or not the motion operation in the L-axis direction is performed from the state where the hand is holding the steering wheel in the vehicle, the H-axis direction is determined. 11. The program of claim 11 , wherein the threshold value is set higher than the threshold value in the other axial direction. When determining whether or not the motion operation has been performed,
11.A. To determine whether or not a paying motion operation indicating that the specific portion has moved in any of the two or more axial directions and then stopped at a predetermined speed has been performed. The program according to any one of 14 .

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