Human hand posture estimation method and device based on human hand structure guidance in depth image

A technology of depth image and attitude estimation, applied in the field of computer image processing and computer vision, which can solve the problems of lack of stability and achieve the effect of fast speed, small video memory usage and high precision

Active Publication Date: 2020-09-25
INST OF SOFTWARE - CHINESE ACAD OF SCI
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Problems solved by technology

[0006] The regression-based method models the human hand as sparse joint points. This kind of human hand does not have explicit constraints on the position of the joints. The concept of the neural network for the human hand model is driven by data, so it does not have sufficient stability.

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  • Human hand posture estimation method and device based on human hand structure guidance in depth image
  • Human hand posture estimation method and device based on human hand structure guidance in depth image

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Embodiment Construction

[0038] In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below through specific embodiments and accompanying drawings.

[0039] The present embodiment provides a method for estimating a hand pose based on a depth image, comprising the following steps:

[0040] 1. Segment the depth image to obtain the human hand area that eliminates the background.

[0041] 1.1) Data acquisition: The data format is a single depth map, which is collected by a depth camera.

[0042] 1.2) Hand segmentation: The hand area is obtained through the existing hand segmentation algorithm based on the depth map, and only the depth map of the hand area is reserved on the image, and the remaining areas are filled with 0.

[0043] 2. Sampling the depth image to obtain a point cloud, and normalizing the point cloud.

[0044] 2.1) Sampling: N points are collected by the farthest point sampling al...

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Abstract

The invention provides a human hand posture estimation method and device based on human hand structure guidance in a depth image. The method comprises the following steps: segmenting a depth image toobtain a background-eliminated human hand region; sampling the segmented depth images to obtain point clouds, and normalizing the point clouds; constructing a human hand standardized coordinate system; constructing a multi-stage point cloud network by utilizing the normalized point cloud and the constructed human hand standardized coordinate system, and performing posture-guided alignment on the point cloud in each stage; training a multi-stage point cloud network; and utilizing the trained multi-stage point cloud network to predict the joint position of the human hand. The invention providesa human hand posture estimation method guided by a human hand structure, and provides an estimation process from roughness to fineness from a palm to fingers. Practical use proves that the method hasthe advantages of high automation degree, high precision and high speed, and can meet professional or popular application requirements.

Description

technical field [0001] The invention belongs to the fields of computer vision and computer image processing, and in particular relates to a method and device for estimating human hand pose based on human hand structure guidance in depth images. Background technique [0002] Gesture operation has the advantages of no need for contact operation, small size, and more natural. The initial gesture recognition interaction mainly uses special equipment to directly obtain the spatial position of various parts of the human hand. A typical device is a data glove, which is composed of multiple sensor devices, through which the information of the hand can be input into the computer to calculate the gesture. This kind of equipment estimates the posture of the human hand more accurately, but the gloves themselves are expensive, need to be customized according to the size of the human hand, and are not convenient to carry. Later, optical markers were applied to human hand posture detecti...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/34G06N3/04G06T7/70
CPCG06T7/70G06V40/113G06V10/267G06N3/045
Inventor 邓小明左德鑫马翠霞王宏安
Owner INST OF SOFTWARE - CHINESE ACAD OF SCI
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