CN102999152A - Method and system for gesture recognition - Google Patents
Method and system for gesture recognition Download PDFInfo
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- CN102999152A CN102999152A CN2011101602902A CN201110160290A CN102999152A CN 102999152 A CN102999152 A CN 102999152A CN 2011101602902 A CN2011101602902 A CN 2011101602902A CN 201110160290 A CN201110160290 A CN 201110160290A CN 102999152 A CN102999152 A CN 102999152A
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Abstract
The invention relates to a method and a system for gesture recognition. The method comprises steps of transmitting a structure light plane through an infrared structure light transmitting unit; receiving an induced image formed by infrared light signals which are reflected by a user through an infrared structure light sensor; acquiring the depth information of the induced image through a depth image processing unit; selecting and recording the information, i.e., the hand motion track information, which is close to the infrared structure light transmitting unit of the depth information through a hand target following unit; and recognizing the hand motion track information through a gesture recognition unit and determining corresponding user gesture control commands. By the aid of the method and the system, the user dynamic hand gesture can be separated from a complex background, based on space direction dividing recognition, the gesture recognition is completed, the gesture modeling and learning process are not conducted in advance and the user experiment is improved.
Description
Technical field
The present invention relates to human-computer interaction technology, specifically, relate to a kind of gesture motion recognition methods and system.
Background technology
Human-computer interaction technology is very popular in recent years research field, mouse and keyboard etc. are traditional human-computer interaction devices, various novel man-machine interaction modes such as touch-control control, Sound control, gesture control occurred in recent years, improved aspect the naturality of experiencing the user and the friendly.Particularly be controlled to be the non-contact type human-machine interaction mode of representative with gesture, by various kinds of sensors equipment, real-time or finish identifying to hand motion within a short period of time, and be converted into the order that the host equipment such as computing machine can be identified, be present popular a kind of man-machine interaction mode.
The gesture motion recognition methods can be divided into the technology of based on data gloves and based on technology two classes of machine vision, the trickle action of hand can be responded to and identify to the mode of usage data gloves comparatively accurately, but need to wear special data glove, be mainly used at present the special application fields such as scientific research, meticulous control, robot.Trouble is used in this gesture motion recognition methods, and the user experiences very bad, and gesture motion is dumb.
And the method for carrying out gesture motion identification based on machine vision, then because require hand images is identified, thus require the hand range image sensor nearer, in order to obtain the image frame of enough identifying processings.Usually adopt color histogram take the color distribution statistics as foundation for the identification of hand, because skin color can separate with other parts easily, but this method has higher requirement for ambient lighting, clothes color etc.Identification for hand also has a kind of method, use exactly special color to stick on the ad-hoc location of finger, replace identification to hand by identifying special color lump image, can reduce to a certain extent like this workload that image is processed, but need to identify especially on hand the user, use also inconvenient.
Traditional gesture motion identifying needs a plurality of complex steps and the processes such as gesture modeling, Hand Gesture Segmentation, gesture analysis.Gesture identification can be subdivided into again static gesture identification and dynamic gesture is identified two classes, a point in the corresponding gesture model parameter space of static gesture, dynamic gesture is a track in the corresponding gesture model space then, therefore will relate to time and spatial context relation.Particularly for dynamic gesture, can there be the difference of speed difference, track difference, skill level etc. in different users when carrying out gesture motion, thereby cause gesture modeling track to cause nonlinear wave at time shaft, and the elimination of this nonlinear wave is very difficult and complicated, so traditional Dynamic Recognition rate based on two dimensional image is generally not high enough.
Summary of the invention
Fundamental purpose of the present invention is to overcome the deficiencies in the prior art part, discloses a kind of gesture motion recognition methods and system, adopts infrared depth image sensor and depth image treatment technology, greatly improves the dynamic gesture recognition efficiency, promotes the user and experiences.
The invention discloses a kind of gesture motion recognition methods, comprise the steps:
A is to user and place environment emitting structural optical plane thereof; The structured light signal acquisition sensed image of returning by optical sensor reception user and place Ambient thereof again; Then obtain depth information in the sensed image by the depth image processing unit;
B periodically selects and records the information of the most close structured light transmitter unit in the described depth information repeatedly, obtains the hand exercise trace information;
C identifies described hand exercise trace information by the gesture motion recognition unit, judges corresponding user's gesture motion control command.
Gesture motion recognition methods disclosed by the invention can also comprise:
D is converted to the control command that host equipment can be identified with described user's gesture motion control command.
In described step B, open and may further include: according to the time interval of setting, periodically the initial trace coordinate is kept in the coordinate data buffer memory array, again this initial trace coordinate being cut apart direction according to described XY plane divides into groups, and general's adjacent data cached removal on the same group, obtain the hand exercise trace information;
Then in described step C, order mates hand exercise trace information and gesture motion template according to group character again.
Gesture motion recognition methods disclosed by the invention also utilizes interpolation algorithm, as required to replenishing in the described hand exercise trace information because discontinuous the replenishing of integrated data that frame-skipping or collecting device error cause.
The invention also discloses a kind of gesture motion recognition system, comprise central processor unit, be used for by software and the co-ordination of peripheral circuit control native system; Also comprise:
The structured light transmitter unit is used for to user position emitting structural optical plane;
Structured light sensor, the sensed image that the structured light signal that reflects for the reception user consists of;
The depth image processing unit is for the depth information that obtains sensed image;
Hand target following unit, the information for selecting and record the most close described structured light transmitter unit of described depth information is the hand exercise trace information;
The gesture motion recognition unit is used for identifying described hand exercise trace information, judges corresponding user's gesture motion control command.
Gesture motion recognition system disclosed by the invention can also comprise:
The control command converting unit is used for described user's gesture motion control command is converted to the control command that host equipment can be identified.
In gesture motion recognition system disclosed by the invention, also comprise the storer for storing coordinate data buffer storage array; Described hand target following unit periodically was kept at the initial trace coordinate in the described storer according to the time interval of setting.
A kind of gesture motion recognition methods disclosed by the invention and system, because adopt infrared depth image sensor and depth image treatment technology, so user's hand motion can be separated from complex background efficiently, and can carry out real-time hand exercise and follow the tracks of, and then by hand exercise track and the gesture identification template cut apart based on direction in space, finish the gesture motion identifying, do not need to carry out prior gesture modeling and study, thereby greatly improve the dynamic gesture recognition efficiency, promoted user's experience.
Description of drawings
Fig. 1 is the electrical structure block diagram of an embodiment of gesture motion recognition system of the present invention.
Fig. 2 is that schematic diagram is cut apart on the XY plane of using in the gesture motion recognition methods of the present invention.
Fig. 3 is the process flow diagram of an embodiment of dynamic gesture action identification method of the present invention.
Fig. 4 is the gesture template matches process flow diagram of an embodiment of dynamic gesture action identification method of the present invention.
Embodiment
Below in conjunction with the drawings and specific embodiments the present invention is described in further detail.
Gesture motion recognition methods of the present invention is based on infrared depth image sensor and depth image processing unit, the dynamic hand motion of user can be separated from complex background efficiently, and can carry out real-time hand exercise and follow the tracks of, and then by hand exercise track and the gesture identification template cut apart based on direction in space, finish the gesture motion identifying, do not need to carry out prior gesture modeling and study, thereby can avoid preferably the problem of existence in traditional gesture motion identification, greatly improve the dynamic gesture recognition efficiency.
Be illustrated in figure 1 as the electrical structure block diagram of an embodiment of gesture motion identification equipment of the present invention, its main composition comprises:
Infrared structure Optical Transmit Unit: the structured light plane that is used for having to the emission of user place direction coding.
Infrared structure optical sensor unit: be also referred to as infrared structure photoinduction unit, be used for the infrared structure light that reception and induction are returned via user place Ambient.
Depth image processing unit: according to the structure light coding know-why, by the structure light coding of contrast three-dimensional environment object and original planar structure light coding, obtain the depth information of scene in the structured light sensor visual range.
Hand target following unit: be used for following the tracks of user's hand target trajectory from environmental background.Ground is without loss of generality, we suppose that the user partly moves with respect to other scenes in practical service environment, in the present invention, we give tacit consent to user's hand motion scope and are limited to user's body the place ahead, and therefore the Moving Objects location of pixels nearest apart from the depth image sensor distance is user's hand object.So we only need to follow the tracks of in the continuous depth image Frame, the motion pixel target of degree of depth minimum can reach the effect of user's hand target following.Here, the depth image Frame is the depth image information of depth transducer identification and preservation, and each pixel is the distance value between corresponding target and the sensor.
Gesture motion recognition unit: be used for the user's hand exercise track following result according to hand target following unit, compare with the predetermined gesture motion template of cutting apart based on direction in space, and comparison result is sent to the control command converting unit as the gesture motion recognition result.
The control command converting unit: being used for specific gesture motion instruction transformation is the control command that host system can be identified, and is used for controlling the duty of gesture motion opertaing device of the present invention.
Be illustrated in figure 2 as the XY plane of using in the gesture motion recognition methods of the present invention and cut apart schematic diagram.Be without loss of generality, we take perpendicular to ground level with subscriber station cube to 30 centimeters of parallel distance users' XY plane as example, we are this XY plane, flatly stretch formed intersection point as coordinate origin so that the user is singlehanded, perpendicular to ground be Y-axis, be parallel to ground for X-axis; On this plane, be as the criterion according to X-axis, Y-axis, positive and negative oblique 45 degree cut-off rules through initial point, this plane is divided into 8 parts, from directly over beginning according to clockwise direction numbering respectively corresponding S1, S2, S3, S 4, S 5, S 6, S 7, S 8, amount to 8 zones.
Be illustrated in figure 3 as the process flow diagram of dynamic gesture action identification method of the present invention, as one embodiment of the present of invention, key step comprises:
1, the infrared structure Optical Transmit Unit is to the planar structure light of direction emission in user place through coding.
2, the reception of infrared structure optical sensor unit and induction are via the infrared structure light of user and Ambient thereof.
3, the depth image processing unit obtains the depth information of sensed image by structure light coding and the original plane structure light coding that contrasts the three-dimensional environment object, and is stored as continuous depth map picture frame according to the structure light coding know-why.
4, hand target following unit is by the result of continuous depth map picture frame, the motion pixel portion target of tracking depths minimum, i.e. user's gesture motion track.
5, the gesture motion recognition unit is compared identification user gesture motion according to the continuous gesture motion track of user and the default gesture motion template of cutting apart based on direction in space.
Here, the gesture motion template of cutting apart based on direction in space refers to, the ground that is without loss of generality defines different gesture motion templates, such as, the corresponding action template of waving left is { S2-S1-S8-S1}, called after M1 template; The corresponding action template of waving to the right is { S7-S8-S1-S2}, called after M2 template; Turn clockwise the action template for S7-S8-S1-S2-S3-S4-S5-S6}, called after M3 template, etc.
6, the action command that identifies of gesture motion recognition unit is sent to the control command converting unit, thereby is the control command that host system can be identified with specific gesture motion instruction transformation.
Be illustrated in figure 4 as the gesture template matches process flow diagram in the dynamic gesture action identification method of the present invention.As one embodiment of the present of invention, the process of gesture motion track and template contrast is as follows:
Within the time interval of setting, such as the trajectory coordinates of the processing of hand target following unit being placed in the coordinate data buffer memory array in per 30 milliseconds, because the resolution of depth image is generally very low, whole hand in depth image also with regard to the granularity of several pixels, the motion of hand is exactly the motion of corresponding a small amount of neighbor in range image sequence, and the initial trace coordinate in the coordinate data buffer memory array is the mean value of these several pixel correspondence positions.
Then above-mentioned initial trace coordinate being cut apart direction according to described XY plane divides into groups, and general's adjacent data cached removal on the same group, replenish because the integrated data that frame-skipping or collecting device error etc. cause is discontinuous as required again, generally adopt interpolation algorithm to replenish the discontinuous of smoothed data.
And then the group character of hand target trajectory and the gesture motion template that reality is obtained of order mate, and draws at last matching result.Thereby learn user's gesture motion control command according to template.
The present invention passes through based on infrared depth image sensor and depth image processing unit, the dynamic hand motion of user can be separated from complex background efficiently, and can carry out real-time hand exercise and follow the tracks of, and then by hand exercise track and the gesture identification template cut apart based on direction in space, finish the gesture motion identifying, do not need to carry out prior gesture modeling and learning process, thereby can avoid preferably the problem of the existence in traditional gesture motion identification, greatly improve the dynamic gesture recognition efficiency, promote the user and experience.
The above only is preferred embodiment of the present invention, not in order to limiting the present invention, all any modifications of doing within the spirit and principles in the present invention, is equal to and replaces and improvement etc., all should be included within protection scope of the present invention.
Claims (7)
1. a gesture motion recognition methods is characterized in that, comprises the steps:
A, to user and place environment emitting structural optical plane thereof; The structured light signal acquisition sensed image of returning by optical sensor reception user and place Ambient thereof again; Then obtain depth information in the sensed image by the depth image processing unit;
B, periodically repeatedly select and record the information of the most close structured light transmitter unit in the described depth information, obtain the hand exercise trace information;
C, identify described hand exercise trace information by the gesture motion recognition unit, judge corresponding user's gesture motion control command.
2. gesture motion recognition methods as claimed in claim 1 is characterized in that, also comprises:
D, described user's gesture motion control command is converted to the control command that host equipment can be identified.
3. gesture motion recognition methods as claimed in claim 2, it is characterized in that, in described step B, further comprise: according to the time interval of setting, periodically the initial trace coordinate is kept in the coordinate data buffer memory array, again this initial trace coordinate being cut apart direction according to described XY plane divides into groups, and general's adjacent data cached removal on the same group, obtain the hand exercise trace information;
In described step C, order mates hand exercise trace information and gesture motion template according to group character again.
4. gesture motion recognition methods as claimed in claim 3 is characterized in that, also utilizes interpolation algorithm, as required to replenishing in the described hand exercise trace information because discontinuous the replenishing of integrated data that frame-skipping or collecting device error cause.
5. a gesture motion recognition system comprises central processor unit, is used for by software and the co-ordination of peripheral circuit control native system; It is characterized in that, also comprise:
The structured light transmitter unit is used for to user position emitting structural optical plane;
Structured light sensor, the sensed image that the structured light signal that reflects for the reception user consists of;
The depth image processing unit is for the depth information that obtains sensed image;
Hand target following unit, the information for selecting and record the most close described structured light transmitter unit of described depth information is the hand exercise trace information;
The gesture motion recognition unit is used for identifying described hand exercise trace information, judges corresponding user's gesture motion control command.
6. system as claimed in claim 5 is characterized in that, also comprises:
The control command converting unit is used for described user's gesture motion control command is converted to the control command that host equipment can be identified.
7. system as claimed in claim 6 is characterized in that, also comprises the storer for storing coordinate data buffer storage array; Described hand target following unit periodically was kept at the initial trace coordinate in the described storer according to the time interval of setting.
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