公开(公告)号：US20130343605A1

公开(公告)日：2013-12-26

申请号：US13899520

申请日：2013-05-21

申请人： Imimtek, Inc.

发明人： Carlo Dal Mutto ,  Britta Hummel ,  Michele Stoppa ,  Giulian Pasqualotto ,  Teresa Mao ,  Murali Giridhar

IPC分类号： G06K9/00

CPC分类号： G06K9/00355 ,  G06F21/32 ,  G06K9/00375

摘要： Systems and methods for tracking human hands using parts based template matching are described. One embodiment of the invention includes a processor, a reference camera and memory containing: a hand tracking application; and a finger template including an edge features template. In addition, the hand tracking application configures the processor to: detect at least one candidate finger in a frame of video data received from the reference camera, where each candidate finger is a grouping of pixels identified by searching the frame of video data for a grouping of pixels that have image gradient orientations that match the edge features of the finger template accounting for rotation and scaling differences; and verify the correct detection of a candidate finger by confirming that the colors of the pixels within the grouping of pixels identified as a candidate finger satisfy a skin color criterion.

摘要翻译： 描述了使用基于部分的模板匹配来跟踪人手的系统和方法。 本发明的一个实施例包括处理器，参考相机和存储器，其包含：手跟踪应用; 以及包括边缘特征模板的手指模板。 此外，手跟踪应用将处理器配置为：在从参考相机接收的视频数据的帧中检测至少一个候选手指，其中每个候选手指是通过搜索视频数据帧来识别的像素分组，用于分组 具有匹配手指模板的边缘特征的图像梯度取向的像素，其计算旋转和缩放差异; 并且通过确认识别为候选手指的像素分组内的像素的颜色满足皮肤颜色标准来验证候选手指的正确检测。

公开(公告)号：US20140119599A1

公开(公告)日：2014-05-01

申请号：US13915553

申请日：2013-06-11

申请人： Imimtek, Inc.

发明人： Carlo Dal Mutto ,  Britta Hummel ,  Michele Stoppa ,  Giridhar Murali ,  Teresa Mao ,  Giuliano Pasqualotta

IPC分类号： G06K9/00

CPC分类号： G06K9/00355 ,  G06F3/011 ,  G06F3/017 ,  G06F3/0304 ,  G06K9/00375 ,  G06K9/6202

摘要： Systems and methods for tracking human hands using parts based template matching within bounded regions are described. One embodiment of the invention includes a processor; an image capture system configured to capture multiple images of a scene; and memory containing a plurality of templates that are rotated and scaled versions of a finger template. A hand tracking application configures the processor to: obtain a reference frame of video data and an alternate frame of video data from the image capture system; identify corresponding pixels within the reference and alternate frames of video data; identify at least one bounded region within the reference frame of video data containing pixels having corresponding pixels in the alternate frame of video data satisfying a predetermined criterion; and detect at least one candidate finger within the at least one bounded region in the reference frame of video data.

摘要翻译： 描述了在有限区域内使用基于部分的模板匹配来跟踪人手的系统和方法。 本发明的一个实施例包括处理器; 被配置为捕获场景的多个图像的图像拍摄系统; 以及包含手指模板的旋转和缩放版本的多个模板的存储器。 手跟踪应用将处理器配置为：从图像捕获系统获得视频数据的参考帧和视频数据的替代帧; 识别视频数据的参考和交替帧内的相应像素; 识别包含满足预定标准的视频数据的交替帧中具有对应像素的像素的视频数据的参考帧内的至少一个有界区域; 并且检测视频数据的参考帧中的至少一个有界区域内的至少一个候选手指。

公开(公告)号：US20140211991A1

公开(公告)日：2014-07-31

申请号：US13900015

申请日：2013-05-22

申请人： IMIMTEK, INC.

发明人： Michele Stoppa ,  Britta Hummel ,  Carlo Dal Mutto ,  Giuliano Pasqualotto

IPC分类号： G06K9/00 ,  G06T7/20

CPC分类号： G06K9/00355 ,  G06T7/251 ,  G06T2207/30196

摘要： Systems and methods for initializing motion tracking of human hands are disclosed. One embodiment includes a processor; a reference camera; and memory containing: a hand tracking application; and a plurality of edge feature templates that are rotated and scaled versions of a base template. The hand tracking application configures the processor to: determine whether any pixels in a frame of video are part of a human hand, where a part of a human hand is identified by searching the frame of video data for a grouping of pixels that have image gradient orientations that match the edge features of one of the plurality of edge feature templates; track the motion of the part of the human hand visible in a sequence of frames of video; confirm that the tracked motion corresponds to an initialization gesture; and commence tracking the human hand as part of a gesture based interactive session.

摘要翻译： 公开了用于初始化人手的运动跟踪的系统和方法。 一个实施例包括处理器; 参考相机; 和记忆包含：手跟踪应用程序; 以及基本模板的旋转和缩放版本的多个边缘特征模板。 手跟踪应用将处理器配置为：确定视频帧中的任何像素是否是人的手的一部分，其中通过搜索具有图像梯度的像素组的视频数据的帧来识别人的手的一部分 与所述多个边缘特征模板之一的边缘特征相匹配的取向; 跟踪视频的一系列帧中可见的人类手部的运动; 确认跟踪运动对应于初始化手势; 并开始跟踪人手作为基于手势的交互式会话的一部分。

公开(公告)号：US20130343606A1

公开(公告)日：2013-12-26

申请号：US13899536

申请日：2013-05-21

申请人： Imimtek, Inc.

发明人： Carlo Dal Mutto ,  Britta Hummel ,  Michele Stoppa ,  Giulian Pasqualotto ,  Teresa Mao ,  Murali Giridhar

IPC分类号： G06K9/00

CPC分类号： G06K9/00355 ,  G06F21/32 ,  G06K9/00375

摘要： Systems and methods for tracking human hands by performing parts based template matching using images captured from multiple viewpoints are described. One embodiment of the invention includes a processor, a reference camera, an alternate view camera, and memory containing: a hand tracking application; and a plurality of edge feature templates that are rotated and scaled versions of a finger template that includes an edge features template. In addition, the hand tracking application configures the processor to: detect at least one candidate finger in a reference frame, where each candidate finger is a grouping of pixels identified by searching the reference frame for a grouping of pixels that have image gradient orientations that match one of the plurality of edge feature templates; and verify the correct detection of a candidate finger in the reference frame by locating a grouping of pixels in an alternate view frame that correspond to the candidate finger.

摘要翻译： 描述通过使用从多个视点捕获的图像执行基于零件的模板匹配来跟踪人手的系统和方法。 本发明的一个实施例包括处理器，参考相机，备用视图相机和存储器，其包含：手跟踪应用; 以及包括边缘特征模板的手指模板的旋转和缩放版本的多个边缘特征模板。 另外，手跟踪应用将处理器配置为：在参考帧中检测至少一个候选手指，其中每个候选手指是通过搜索参考帧而识别的像素分组，所述像素分组具有匹配的图像梯度取向 多个边缘特征模板之一; 并且通过将对应于候选手指的替代视图帧中的像素分组进行定位来验证参考帧中候选手指的正确检测。

公开(公告)号：US08615108B1

公开(公告)日：2013-12-24

申请号：US13948117

申请日：2013-07-22

申请人： Imimtek, Inc.

发明人： Michele Stoppa ,  Britta Hummel ,  Carlo Dal Mutto ,  Giuliano Pasqualotto

IPC分类号： G06K9/00 ,  G06K9/48 ,  G06K9/62

CPC分类号： G06K9/00355 ,  G06K9/4671

摘要： Systems and methods for initializing motion tracking of human hands within bounded regions are disclosed. One embodiment includes: a processor; reference and alternate view cameras; and memory containing a plurality of templates that are rotated and scaled versions of a base template. In addition, a hand tracking application configures the processor to: obtain reference and alternate view frames of video data; generate a depth map; identify at least one bounded region within the reference frame of video data containing pixels having distances from the reference camera that are within a specific range of distances; determine whether any of the pixels within the at least one bounded region are part of a human hand; track the motion of the part of the human hand in a sequence of frames of video data obtained from the reference camera; and confirm that the tracked motion corresponds to a predetermined initialization gesture.

摘要翻译： 公开了用于在有界区域内初始化人手的运动跟踪的系统和方法。 一个实施例包括：处理器; 参考和备用摄像机; 以及包含基本模板的旋转和缩放版本的多个模板的存储器。 此外，手跟踪应用将处理器配置为：获得视频数据的参考视频帧和备用视图帧; 生成深度图; 识别视频数据的参考帧内的至少一个有界区域，该视频数据中包含距参考摄像机距离在特定范围内的像素的像素; 确定所述至少一个有界区域内的任何像素是否是人的手的一部分; 以从参考相机获得的视频数据的帧序列跟踪人类手部的运动; 并确认跟踪运动对应于预定的初始化手势。

公开(公告)号：US20140211992A1

公开(公告)日：2014-07-31

申请号：US13915532

申请日：2013-06-11

申请人： IMIMTEK, INC.

发明人： Michele Stoppa ,  Britta Hummel ,  Carlo Dal Mutto ,  Giuliano Pasqualotto

IPC分类号： G06K9/00

CPC分类号： G06K9/00355 ,  G06K9/4671

摘要： Systems and methods for initializing motion tracking of human hands within bounded regions are disclosed. One embodiment includes: a processor; reference and alternate view cameras; and memory containing a plurality of templates that are rotated and scaled versions of a base template. In addition, a hand tracking application configures the processor to: obtain reference and alternate view frames of video data; generate a depth map; identify at least one bounded region within the reference frame of video data containing pixels having distances from the reference camera that are within a specific range of distances; determine whether any of the pixels within the at least one bounded region are part of a human hand; track the motion of the part of the human hand in a sequence of frames of video data obtained from the reference camera; and confirm that the tracked motion corresponds to a predetermined initialization gesture.

摘要翻译： 公开了用于在有界区域内初始化人手的运动跟踪的系统和方法。 一个实施例包括：处理器; 参考和备用摄像机; 以及包含基本模板的旋转和缩放版本的多个模板的存储器。 此外，手跟踪应用将处理器配置为：获得视频数据的参考视频帧和备用视图帧; 生成深度图; 识别视频数据的参考帧内的至少一个有界区域，该视频数据中包含距参考摄像机距离在特定范围内的像素的像素; 确定所述至少一个有界区域内的任何像素是否是人的手的一部分; 以从参考相机获得的视频数据的帧序列跟踪人类手部的运动; 并确认跟踪运动对应于预定的初始化手势。

公开(公告)号：US08655021B2

公开(公告)日：2014-02-18

申请号：US13942662

申请日：2013-07-15

申请人： Imimtek, Inc.

发明人： Carlo Dal Mutto ,  Britta Hummel ,  Michele Stoppa ,  Giridhar Murali ,  Teresa Mao ,  Giuliano Pasqualotto

IPC分类号： G06K9/00 ,  G06K9/32

CPC分类号： G06K9/00355 ,  G06F21/32 ,  G06K9/00375

摘要： Systems and methods for tracking human hands by performing parts based template matching using images captured from multiple viewpoints are described. One embodiment includes a processor, a reference camera, an alternate view camera, and memory containing: a hand tracking application; and a plurality of edge feature templates that are rotated and scaled versions of a finger template that includes an edge features template. In addition, the hand tracking application configures the processor to: detect at least one candidate finger in a reference frame, where each candidate finger is a grouping of pixels identified by searching the reference frame for a grouping of pixels that have image gradient orientations that match one of the plurality of edge feature templates; and verify the correct detection of a candidate finger in the reference frame by locating a grouping of pixels in an alternate view frame that correspond to the candidate finger.

摘要翻译： 描述通过使用从多个视点捕获的图像执行基于零件的模板匹配来跟踪人手的系统和方法。 一个实施例包括处理器，参考相机，备用视图相机和存储器，其包含：手跟踪应用; 以及包括边缘特征模板的手指模板的旋转和缩放版本的多个边缘特征模板。 另外，手跟踪应用将处理器配置为：在参考帧中检测至少一个候选手指，其中每个候选手指是通过搜索参考帧而识别的像素分组，所述像素分组具有匹配的图像梯度取向 多个边缘特征模板之一; 并且通过将对应于候选手指的替代视图帧中的像素分组进行定位来验证参考帧中候选手指的正确检测。

公开(公告)号：US20130343610A1

公开(公告)日：2013-12-26

申请号：US13942662

申请日：2013-07-15

申请人： Imimtek, Inc.

发明人： Carlo Dal Mutto ,  Britta Hummel ,  Michele Stoppa ,  Giridhar Murali ,  Teresa Mao ,  Giuliano Pasqualotto

IPC分类号： G06K9/00

CPC分类号： G06K9/00355 ,  G06F21/32 ,  G06K9/00375

摘要： Systems and methods for tracking human hands by performing parts based template matching using images captured from multiple viewpoints are described. One embodiment includes a processor, a reference camera, an alternate view camera, and memory containing: a hand tracking application; and a plurality of edge feature templates that are rotated and scaled versions of a finger template that includes an edge features template. In addition, the hand tracking application configures the processor to: detect at least one candidate finger in a reference frame, where each candidate finger is a grouping of pixels identified by searching the reference frame for a grouping of pixels that have image gradient orientations that match one of the plurality of edge feature templates; and verify the correct detection of a candidate finger in the reference frame by locating a grouping of pixels in an alternate view frame that correspond to the candidate finger.

摘要翻译： 描述通过使用从多个视点捕获的图像执行基于零件的模板匹配来跟踪人手的系统和方法。 一个实施例包括处理器，参考相机，备用视图相机和存储器，其包含：手跟踪应用; 以及包括边缘特征模板的手指模板的旋转和缩放版本的多个边缘特征模板。 另外，手跟踪应用将处理器配置为：在参考帧中检测至少一个候选手指，其中每个候选手指是通过搜索参考帧而识别的像素分组，所述像素分组具有匹配的图像梯度取向 多个边缘特征模板之一; 并且通过将对应于候选手指的替代视图帧中的像素分组进行定位来验证参考帧中候选手指的正确检测。