Gesture determination device

Abstract

To provide a gesture determination device that makes it easier to determine an intended gesture.SOLUTION: A gesture determination device 1 includes: a gesture detection unit 2 that detects a first gesture; and a control unit 5 that calculates a feature amount of the first gesture detected by the gesture detection unit 2, compares the calculated feature amount with an initial threshold value Th, and determines that the first gesture is not a gesture to be determined, and updates, when a next second gesture is detected within a time threshold value T1, the initial threshold value Th using at least the feature amount of the first gesture that is not determined, in order to make it easier to determine the second gesture.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a gesture determination device. [Background technology]

[0002] As a conventional technique, an operation input device is known that performs gesture recognition by comparing input gesture data that is input with reference gesture data that is the basis for a plurality of gestures, thereby identifying the input gesture (for example, see Patent Document 1).

[0003] When no new gesture input is made within a certain time period after the end of a gesture input, this operation input device presumes that the intended control has been performed, and updates the reference gesture based on the input gesture at that time and the reference gesture. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2016-76061 A Summary of the Invention [Problem to be solved by the invention]

[0005] In a conventional operation input device, when a gesture input is made again before a certain time has elapsed since the end of the gesture input, the reference gesture is not updated. However, the gesture input made before the certain time has elapsed may be a retaken gesture input, and it is difficult to determine the gesture input intended by the operator.

[0006] SUMMARY OF THE PRESENT EMBODIMENT It is therefore an object of the present invention to provide a gesture determination device that makes it easier to determine an intended gesture. [Means for solving the problem]

[0007] One aspect of the present invention provides a gesture determination device including a detection unit that detects a first gesture, and a determination unit that calculates a feature amount of the first gesture detected by the detection unit, compares the calculated feature amount with a predetermined threshold value to determine that the first gesture is not a gesture to be determined, and then, if a subsequent second gesture is detected within a predetermined time, updates the predetermined threshold value using at least the feature amount of the first gesture that was not determined, in order to make it easier to determine the second gesture. Effect of the Invention

[0008] The present invention facilitates determining an intended gesture. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1(a) is a diagram showing an example of a vehicle, and FIG. 1(b) is an example of a block diagram of a gesture determination device. [Diagram 2] FIG. 2(a) is a diagram for explaining an example of a detection range, and FIG. 2(b) is a diagram for explaining an example of a sweeping gesture. [Diagram 3] FIG. 3(a) is a diagram showing an example of gesture determination using a threshold value before updating, and FIG. 3(b) is a diagram showing an example of gesture determination using a threshold value after updating. [Figure 4] FIG. 4(a) is a diagram for explaining an example of updating the initial threshold value, and FIG. 4(b) is a diagram showing an example of updating the update threshold value to a higher threshold value. [Diagram 5] FIG. 5 is a flowchart showing an example of the determination operation. [Figure 6] FIG. 6 is a flowchart showing an example of the threshold value update process. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] (Summary of the embodiment) The gesture determination device according to the embodiment is generally configured to include a detection unit that detects a first gesture, and a determination unit that calculates a feature amount of the first gesture detected by the detection unit, compares the calculated feature amount with a predetermined threshold value to determine that the first gesture is not a gesture to be determined, and then, if a subsequent second gesture is detected within a predetermined time, updates the predetermined threshold value using at least the feature amount of the undetermined first gesture in order to make it easier to determine the second gesture.

[0011] Since this gesture determination device updates the predetermined threshold value using the feature amount of a gesture that has not been determined, a gesture that has not been determined is more likely to be determined compared to a case in which this configuration is not adopted.

[0012] [Embodiment Mode] (Outline of gesture determination device 1) FIG. 1(a) is a diagram showing an example of a vehicle equipped with a gesture determination device according to an embodiment, and FIG. 1(b) is an example of a block diagram of the gesture determination device. FIG. 2(a) is a diagram for explaining an example of a detection range of the gesture determination device according to an embodiment, and FIG. 2(b) is a diagram for explaining an example of a brushing gesture. FIG. 3(a) is a diagram showing an example of a gesture determination by a threshold value before updating of the gesture determination device according to an embodiment, and FIG. 3(b) is a diagram showing an example of a gesture determination by a threshold value after updating. FIG. 4(a) is a diagram for explaining an example of updating the initial threshold value of the gesture determination device according to an embodiment, and FIG. 4(b) is a diagram showing an example of updating the updated threshold value to a higher threshold value. In FIG. 4(a), the upper graph explains an example of the relationship between the feature amount and the initial threshold value from time t1 to time t8, and the lower graph explains an example of the measurement of time by a timer function. FIG. 4(b) is a diagram showing an example of a gesture determination by a threshold value after updating of the initial threshold value from time t 10 ~time t 17The graphs in Fig. 4(a) show the time t on the horizontal axis, the feature amount (distance L) on the vertical axis of the upper graph, and the elapsed time T on the vertical axis of the lower graph. The graphs in Fig. 4(b) show the time t on the horizontal axis, and the feature amount (distance L) on the vertical axis.

[0013] In the drawings relating to the embodiments described below, the ratios and shapes of figures may differ from the actual ratios and shapes. In Fig. 1(b), the main information flows are indicated by arrows.

[0014] The gesture determination device 1 of the present embodiment is mounted on a vehicle 8, for example, and controls electronic devices 85 of the vehicle 8. Examples of the electronic devices 85 include a vehicle control device that performs overall vehicle settings and controls an automatic driving function, an air conditioning device that adjusts the temperature inside the vehicle, a navigation device that displays a map of the current location and provides guidance to a destination, a display device that displays images, a seat device that controls the position and inclination of the seat, and a music and video playback device that plays music and videos.

[0015] 1(a) and 1(b), the gesture determination device 1 is generally configured to include a gesture detection unit 2 as a detection unit that detects a first gesture, and a control unit 5 as a determination unit that calculates a feature amount of the first gesture detected by the gesture detection unit 2, compares the calculated feature amount with an initial threshold value Th as a predetermined threshold value to determine that the first gesture is not a gesture to be determined, and then updates the initial threshold value Th using at least the feature amount of the undetermined first gesture to make it easier to determine the second gesture if a next second gesture is detected within a time threshold value T1 as a predetermined time. The gesture determination device 1 has a storage unit 3 that accumulates the feature amount.

[0016] The gesture detection unit 2 of the present embodiment detects a waving gesture. The control unit 5 calculates the distance L of the waving as a feature, and if the calculated distance L is shorter than the initial threshold value Th and the gesture is not a waving gesture, and then detects the next waving gesture within the time threshold value T1, the control unit 5 updates the initial threshold value Th by lowering it using at least the distance L of the undetermined waving gesture in order to make it easier to determine the waving gesture.

[0017] The gesture detection unit 2 is not limited to the gesture of waving the hand, and may be configured to detect other gestures. The other gestures are, for example, a gesture of drawing a circle, a gesture of briefly waving the hand, a gesture of drawing a predetermined figure, and the like. The characteristic amount of the gesture of drawing a circle is, for example, the radius or diameter of the drawn circle, and the angle from the start point to the end point of the circle. The characteristic amount of the gesture of briefly waving the hand, that is, a flick, is, for example, the moving distance and moving speed of the hand. The characteristic amount of the gesture of drawing a predetermined figure is, for example, the amount of deviation from a model of the predetermined figure, and the like.

[0018] Further, other gestures include a pinch-in gesture with fingers apart, a pinch-out gesture with fingers closed, a gesture of moving the hand upward, a gesture of moving the hand downward, etc. In addition to the above-mentioned features, the feature amount can also be a line of sight, a face direction, a vector, etc., depending on the gesture.

[0019] The gesture may be made using a part of the operator's body or a tool. In this embodiment, a waving gesture using the operator's hand 9 will be described as an example, but is not limited to this. The gesture of waving the hand 9 is used, for example, for controlling scrolling an image displayed on the display device 81 in the waving direction.

[0020] Then, the control unit 5 generates gesture information S2, which is information about the determined gesture, and outputs it to the electronic device 85 connected via the communication unit 4. This communication unit 4 is configured to be able to mutually exchange signals and information with the electronic device 85.

[0021] (Configuration of gesture detection unit 2) The gesture detection unit 2 is, for example, an infrared sensor. As shown in FIG. 1(a), the gesture detection unit 2 is disposed in a center console 80 above a display device 81 of a vehicle 8. The gesture detection unit 2 may be, for example, a touch sensor disposed in the display device 81, an imaging device that captures an image, a TOF (Time of flight) distance sensor that measures the distance to an object, or a LiDAR (Laser Imaging Detection and Ranging). The gesture detection unit 2 may also detect a gesture made on the display device 81 configured as a touch panel.

[0022] 2(a), the gesture detection unit 2 has a detection range 20 in front of the display device 81. When the gesture detection unit 2 detects a detection target in the detection range 20, for example, as shown in FIG. 2(b), the gesture detection unit 2 generates detection information S1 with the position where the detection target is detected as a start point 21 and the position where the detection target is no longer detected as an end point 22, and outputs the detection information S1 to the control unit 5.

[0023] (Configuration of storage unit 3) The storage unit 3 is, for example, a hard disk drive (HDD), a solid state drive (SSD), a semiconductor memory, etc. As an example, the storage unit 3 of the present embodiment is configured as a semiconductor memory.

[0024] The storage unit 3 stores accumulated information 30 that accumulates distance L, which is a feature amount of the detected gesture. The storage unit 3 stores accumulated information 30 that the control unit 5 updates by the initial threshold Th and the updated threshold Th a When updating, as an example, a feature amount required for updating is output from the accumulated information 30.

[0025] (Configuration of control unit 5) The control unit 5 is a microcomputer including a CPU (Central Processing Unit) that performs calculations and processing on acquired data according to a stored program, a RAM (Random Access Memory) that is a semiconductor memory, and a ROM (Read Only Memory). The ROM stores, for example, a program for the control unit 5 to operate. The RAM is used as a storage area that temporarily stores calculation results, for example. The control unit 5 also has a means for generating a clock signal therein, and performs operations based on this clock signal while also executing a timer function that measures time. The storage unit 3 may be the RAM of the control unit 5.

[0026] The control unit 5 has a guaranteed threshold value that guarantees the update range 500 of the initial threshold value Th, and when the updated initial threshold value Th falls outside the update range 500, the control unit 5 updates the initial threshold value Th to a guaranteed threshold value. The guaranteed threshold value is the minimum threshold value Th shown in FIG. min This update range 500 is defined as a range including a minimum threshold Th min The range is from the initial threshold Th to the updated threshold Th a is updated to a value within this update range 500.

[0027] Here, there are some features, such as deviation from the model, that are better if their values ​​are small. In this case, the guaranteed threshold is the maximum threshold Th max The update range 500 is from the initial threshold Th to the maximum threshold Th max Until then.

[0028] Update threshold Th a Conditions that increase and decrease Below, we consider the update threshold Th when the feature amount is large. a The condition for increasing and the update threshold Th when the feature value is smalla An example of a condition for reducing is described below. A case where a larger feature amount is better is a case where a gesture is determined to be a feature amount equal to or greater than the initial threshold value Th. A case where a smaller feature amount is better is a case where a gesture is determined to be a feature amount equal to or less than the initial threshold value Th.

[0029] When the detected gesture is determined a predetermined number of times using the updated initial threshold value Th, the control unit 5 further updates the updated initial threshold value Th so that it is between the initial threshold value Th before the update and the updated initial threshold value Th but other than the updated initial threshold value Th.

[0030] Update threshold Th a The condition for increasing Th is that the feature amount is larger and the detected gesture is judged a predetermined number of times using the updated initial threshold value Th. a The condition for decreasing is that a smaller feature amount is preferable and the detected gesture is judged a predetermined number of times using the updated initial threshold value Th.

[0031] Specifically, the updated initial threshold Th is denoted by the updated threshold Th a Then, the control unit 5 uses the same update threshold value Th a If the gesture is judged and established N times (N is an integer equal to or greater than 1) using a Let Th be the initial threshold and Th be the updated threshold. a Between the update threshold Th a Update threshold Th a Then, the initial threshold Th and the updated threshold Th are updated. a The range between is a range in which a larger feature amount is better, and an example of the range is an update range 501 shown in FIG.

[0032] That is, the control unit 5 uses the same update threshold value Th aWhen a gesture is repeatedly determined to be valid using the above method, the threshold value is updated in order to prevent erroneous determination due to the gesture being easily determined.

[0033] The control unit 5 also determines the update threshold value Th a The gesture is judged continuously using the initial threshold Th and the previously used updated threshold Th a If the feature value this time is closer to the initial threshold value Th than the previous time, the initial threshold value Th and the updated threshold value Th used last time are a Between the update threshold Th a Update threshold Th a may be further updated.

[0034] Note that the initial threshold Th and the previously used updated threshold Th a When the feature value is between the initial threshold value Th and the previous one, the feature value is closer to the initial threshold value Th than the previous one. a and the absolute value of the difference between the feature amount and the initial threshold value Th is smaller this time than the previous time.

[0035] When a larger feature amount is preferable, the control unit 5 sets the update threshold value Th a The gestures are judged continuously using the initial threshold Th and the previously used updated threshold Th a If the feature amount is greater than the previous one and the feature amount is between the threshold value Th a As a condition for increasing, the initial threshold Th and the updated threshold Th a Between the update threshold Th a Update threshold Th a Increase the

[0036] When it is preferable that the feature amount is small, the control unit 5 sets the update threshold value Th a The gestures are judged continuously using the initial threshold Th and the previously used updated threshold Th a If the feature amount is smaller than the previous one and the feature amount is between the threshold value Th aAs a condition for reducing a Between the update threshold Th a Update threshold Th a Reduces.

[0037] The control unit 5 also determines the update threshold value Th a If a gesture is judged consecutively from the second time onwards using a feature whose absolute difference is greater than that of the feature used to judge the first gesture using the initial threshold Th and the updated threshold Th used previously, a Between the update threshold Th a Update threshold Th a may be further updated.

[0038] When a larger feature amount is preferable, the control unit 5 sets the update threshold value Th a When a gesture is judged consecutively from the second time onwards with a feature value larger than the feature value used to judge the first gesture using the threshold Th a As a condition for increasing, the initial threshold Th and the previously used updated threshold Th a Between the update threshold Th a Update threshold Th a Increase the

[0039] When it is preferable that the feature amount is small, the control unit 5 sets the update threshold value Th a When a gesture is judged consecutively from the second time onwards with a feature value smaller than the feature value used to judge the first gesture using the updated threshold value Th a As a condition for decreasing a Between the update threshold Th a Update threshold Th a Reduces.

[0040] Furthermore, the control unit 5 sets the update threshold value Th aIf the feature amount of the gesture determined using is within a predetermined range including the initial threshold value Th, the updated threshold value Th a may be further updated to the initial threshold value Th. a The conditions for increasing and decreasing are the update threshold Th a In this case, the feature amount of the gesture determined using is within a predetermined range including the initial threshold value Th. The predetermined range including the initial threshold value Th is, for example, a range of ±20% of the initial threshold value Th, but is not limited to this.

[0041] Furthermore, the control unit 5 determines the update threshold value Th a If the feature of the gesture determined using the initial threshold Th can be used to determine the gesture, the updated threshold Th a may be further updated to the initial threshold value Th. a The conditions for increasing and decreasing are the update threshold Th a This is the case where the feature amount of the gesture determined using the initial threshold value Th is sufficient to determine the gesture.

[0042] When it is preferable that the feature amount is large, the control unit 5 updates these threshold values ​​Th a The control unit 5 may use a condition for increasing the update threshold value Th alone or in combination with a plurality of conditions. a The conditions for reducing the amount of the oxidized carbon may be used alone or in combination.

[0043] The control unit 5 sets the initial threshold value Th and the updated threshold value Th a , minimum threshold Th min The control unit 5 has threshold information 50 relating to the initial threshold Th, update threshold Th, and update range 500. The control unit 5 also has time information 51 relating to the time threshold T1, and a minimum value 52, which will be described later. The threshold information 50, time information 51, and minimum value 52 may be stored in the storage unit 3. When it is preferable that the feature amount is small, the control unit 5 sets the initial threshold Th, update threshold Th, a , maximum threshold Thmax , from the initial threshold Th to the maximum threshold Th max The update range 500 ranges from 0 to 100 .

[0044] The minimum value 52 is the lower limit of the feature amount. This minimum value 52 is set to eliminate noise. When the feature amount is equal to or less than the minimum value 52, the control unit 5 ends the operation without determining the gesture using the feature amount. Note that when a smaller feature amount is preferable, the control unit 5 has a maximum value as the upper limit of the feature amount.

[0045] For example, the control unit 5 starts a timer function and measures time by counting up in accordance with the periodically acquired detection information S1, that is, by incrementing the count by +M, where M is, for example, a positive integer that changes depending on the timing of gesture determination.

[0046] - Updating the initial threshold value Th An example of updating the initial threshold value Th in the case where a larger feature amount is preferable will be described below with reference to FIG. 2(b) to FIG. 4(b).

[0047] As shown in Fig. 2(b), when the swept distance L is equal to or greater than the initial threshold value Th, the control unit 5 determines that a swept gesture has been made. In Fig. 4(a), since the distance L exceeds the initial threshold value Th at time t1, the control unit 5 determines that a gesture has been made.

[0048] Furthermore, as shown in Fig. 3(a), when the swept distance L is shorter than the initial threshold value Th, the control unit 5 does not determine that a gesture has been made. As shown in Fig. 4(a), at time t2, the feature amount is below the minimum value 52, so the control unit 5 does not determine that a gesture has been made, and at time t3, the distance L is smaller than the initial threshold value Th, so the control unit 5 does not determine that a gesture has been made.

[0049] At time t3 when the gesture is not determined, the control unit 5 stores the distance L at this time in the storage unit 3 as the accumulated information 30. Then, the control unit 5 starts counting using the timer function.

[0050] If the elapsed time T measured from time t3 is within the time threshold T1, the control unit 5 reads out the accumulated information 30 from the memory unit 3 and calculates the accumulated distance L a The initial threshold value Th is updated using the following equation, for example. Update threshold Th a =accumulation distance L a -α This α is a positive number. The update threshold Th a When performing an update to increase α, α becomes a negative value. This accumulation distance L a is, for example, the previous distance L, but is not limited to this.

[0051] In FIG. 4(a), the control unit 5 starts updating the update threshold value Th a The control unit 5 determines the gesture using the updated threshold value Th. As shown in FIG. 3B, the control unit 5 cannot determine the gesture (first gesture) with the initial threshold value Th because the distance L is short. a The gesture (second gesture) can be determined by using the above.

[0052] When the gesture is not continuously detected, the control unit 5 gradually updates the updated threshold value Th as shown in FIG. a In FIG. 4A, the control unit 5 determines whether the threshold value Th is smaller than the initial threshold value Th at time t6, but is updated multiple times. a A larger distance L determines that a gesture has been made.

[0053] The distance L, which is the feature at time t6, is calculated based on the updated threshold Th aIn the case where a gesture is not determined to have been made, the updated threshold value Th a In this way, the control unit 5 updates the initial threshold value Th in stages, so that the gesture can be more easily determined.

[0054] FIG. 4(b) shows the update threshold Th a The control unit 5 determines a gesture multiple times using the time t 10 , time t 12 and time t 14 In this case, the updated threshold Th is used instead of the initial threshold Th. a In such a case, the gesture may be judged using a threshold value lower than the original initial threshold value Th, increasing the possibility of erroneous judgment. Therefore, the control unit 5 may, for example, judge the gesture using the same updated threshold value Th a predetermined number of times. a If the gesture is determined to be valid using the updated threshold Th a is updated to a high threshold, i.e., a threshold that is difficult to judge.

[0055] In Fig. 4(b), the same update threshold Th a The control unit 5 uses, for example, a time t 15 In the update threshold Th a is updated to the initial threshold value Th. Note that the update is performed using the update threshold value Th a The update is performed in an update range 501 that is greater than or equal to the initial threshold Th.

[0056] As a modified example, the control unit 5 may accumulate feature amounts of a plurality of gestures that have not been determined within a predetermined period T2, and update the initial threshold value Th based on the accumulated feature amounts.

[0057] Accumulation distance L a may be calculated from a plurality of accumulated feature quantities. aFor example, the predetermined period T2 may be an average of a plurality of feature amounts, or a maximum or minimum feature amount among the plurality of feature amounts. This predetermined period T2 is stored in the control unit 5 as time information 51, for example. Note that the predetermined period T2 is, for example, one day, but is not limited to this.

[0058] An example of the operation of the gesture determination device 1 of this embodiment will be described below with reference to the flowcharts of Figures 5 and 6. This flowchart shows an example of the operation of the gesture determination device 1 in the case where a larger feature amount is preferable.

[0059] (operation) When a gesture is detected If "Yes" in step 1 is established, that is, if the gesture detection unit 2 detects a gesture (Step 1: Yes), the control unit 5 checks whether the timer flag is on, that is, whether time is being measured.

[0060] When the timer flag is off, that is, when time measurement is not being performed (Step 2: No), the control unit 5 a is used to determine if a gesture has been made.

[0061] The control unit 5 calculates the distance L, which is a characteristic quantity, based on the detection information S1, and if the distance L is greater than the initial threshold value Th (Step 3: Yes), it turns off the timer flag, i.e., stops measuring time (Step 4), and outputs gesture information S2 indicating that a gesture has been made (Step 5).

[0062] Next, the control unit 5 performs a process of reviewing the threshold value used in the gesture judgment (Step 6). Specifically, when the threshold value used in the judgment is the initial threshold value Th, the control unit 5 uses the initial threshold value Th for the next judgment. Also, when the threshold value used in the judgment is the updated threshold value Th, the control unit 5 performs a process of reviewing the threshold value used in the gesture judgment (Step 6). a and the update threshold Th a If the condition for increasing the update threshold Th aWhen a gesture is detected N times (where N is an integer equal to or greater than 1) using a Let Th be the initial threshold and Th be the updated threshold. a Between the update threshold Th a Update threshold Th a The update threshold Th a The condition for increasing may be other conditions.

[0063] - If the time measured since the previous judgment exceeds the time threshold T1 If the timer flag is on in step 2, that is, if time measurement is being performed (Step 2: Yes), the control unit 5 increments the timer (Step 7).

[0064] If the measured time is not within the time threshold T1, that is, if the measured time exceeds the time threshold T1 (Step 8: No), that is, if it is estimated that the gesture is not a repeated gesture, the control unit 5 resets the timer (Step 9). Then, the control unit 5 advances the process to Step 3.

[0065] When updating the initial threshold value Th If the timer flag is on (Step 2: Yes), the timer counts up (Step 7), and the measured time is within the time threshold T1 (Step 8: Yes), that is, if it is estimated that the gesture is a repeat, the control unit 5 checks whether the calculated feature value is greater than the minimum value 52.

[0066] If the calculated feature amount is greater than the minimum value 52 (Step 10: Yes), the control unit 5 performs a threshold update process (Step 11). This threshold update process will be described later. If the feature amount is equal to or less than the minimum value 52 (Step 10: No), the control unit 5 determines that determination is impossible due to noise and proceeds to step 1.

[0067] The control unit 5 updates the updated threshold value Th a is the minimum threshold Thmin If it is smaller than (Step 12: Yes), the update threshold Th a The minimum threshold Th min (Step 13), and proceed to Step 3 to set the minimum threshold value Th min The update threshold Th a The gesture is judged using

[0068] The control unit 5 also updates the updated threshold value Th a is the minimum threshold Th min If it is equal to or greater than the threshold value (Step 12: No), the process proceeds to Step 3 and the updated threshold value Th a The gesture is judged using

[0069] If the gesture is not detected If a gesture is not determined in step 3 (Step 3: No), the control unit 5 stores the distance L, which is a feature, in the memory unit 3 (Step 14), turns on the timer flag, i.e., starts measuring time (Step 15), and proceeds to step 1.

[0070] Step 11: Threshold update process The control unit 5 determines the update threshold value Th a If the condition for increasing is not satisfied (Step 20: No), the previous stored feature amount is obtained from the storage unit 3 (Step 21).

[0071] The control unit 5 uses the acquired feature amount to update the threshold value Th a is further updated (Step 22), and the process proceeds to Step 12.

[0072] Here, the control unit 5 determines the updated threshold value Th a If the condition for increasing the update threshold Th is satisfied (Step 20: Yes), a is increased by a predetermined amount (Step 23), and the process proceeds to Step 3.

[0073] (Effects of the embodiment) The gesture determination device 1 according to the present embodiment can make it easier to determine an intended gesture. Specifically, when a gesture is not determined, the gesture determination device 1 uses the accumulated feature amount to determine an updated threshold value Th that is easier to determine from the initial threshold value Th. a , the gesture intended by the operator is more easily determined than in a case where this configuration is not adopted. a Even if it is not judged using the updated threshold value Th a is updated, it becomes easier to make a judgment compared to a case where this configuration is not adopted.

[0074] The gesture determination device 1 uses the previous feature amount to determine the initial threshold value Th and the updated threshold value Th a Since the value of the time stamp is updated, even if the operator repeats a gesture similar to the previous one, it is easier to make a judgment, compared to a case where this configuration is not adopted, and it is possible to make a judgment suited to the operator.

[0075] The gesture determination device 1 uses the accumulated feature amount to determine the initial threshold value Th and the updated threshold value Th a This makes it easier for not only the specific operator but also other operators to determine the value.

[0076] The gesture determination device 1 determines an update threshold value Th a is the minimum threshold Th min Since the detection result is not lower than 100%, erroneous determination can be suppressed compared to a case in which this configuration is not adopted.

[0077] The gesture determination device 1 determines an update threshold value Th a If the condition to increase or decrease is met, the update threshold Th a Update the value of the threshold Th a and the initial threshold Th and the updated threshold Th a Since the updated threshold value can be reviewed at any time, erroneous determinations that may occur due to the tendency of a gesture to be determined can be more effectively suppressed compared to the case where the same updated threshold value is continuously used.

[0078] Although several embodiments and modifications of the present invention have been described above, these embodiments and modifications are merely examples and do not limit the invention according to the claims. These new embodiments and modifications can be implemented in various other forms, and various omissions, substitutions, updates, etc. can be made without departing from the gist of the present invention. In addition, not all combinations of features described in these embodiments and modifications are necessarily essential to the means for solving the problems of the invention. Furthermore, these embodiments and modifications are included in the scope and gist of the invention, and are included in the scope of the invention and its equivalents described in the claims. [Explanation of symbols]

[0079] 1...gesture determination device, 2...gesture detection unit, 5...control unit, 52...minimum value, L...distance, Th...initial threshold value, Th a … Update threshold, Th max …Maximum threshold, Th min …Minimum threshold

Claims

1. A detection unit that detects a first gesture; a determination unit that calculates a feature amount of the first gesture detected by the detection unit, compares the calculated feature amount with a predetermined threshold value to determine that the first gesture is not a gesture to be determined, and then updates the predetermined threshold value using at least the feature amount of the first gesture that has not been determined, in order to make it easier to determine the second gesture, if a subsequent second gesture is detected within a predetermined time; A gesture determination device comprising:

2. the determination unit accumulates the feature amounts of a plurality of gestures that have not been determined within a predetermined period, and updates the predetermined threshold value based on the accumulated feature amounts. The gesture determination device according to claim 1 .

3. the determination unit has a guarantee threshold value that guarantees an update range of the predetermined threshold value, and when the updated predetermined threshold value falls outside the update range, the determination unit updates the predetermined threshold value to the guarantee threshold value. The gesture determination device according to claim 2 .

4. When the detected gesture is determined a predetermined number of times using the updated predetermined threshold, the determination unit further updates the updated predetermined threshold to be between the predetermined threshold before the update and the updated predetermined threshold and other than the updated predetermined threshold. The gesture determination device according to claim 1 .

5. the determination unit, when a gesture is continuously determined using the updated predetermined threshold, and the feature amount of the current feature amount is closer to the pre-update predetermined threshold amount than the previous feature amount and is between the pre-update predetermined threshold amount and the previously used updated predetermined threshold amount, further updates the updated predetermined threshold amount to be between the pre-update predetermined threshold amount and the previously used updated predetermined threshold amount but other than the updated predetermined threshold amount. The gesture determination device according to claim 1 .

6. The detection unit detects a hand-waving gesture, the determination unit calculates a distance of the hand waving as the feature amount, and when the calculated distance is shorter than the predetermined threshold and the gesture is determined not to be a hand waving gesture, if a next hand waving gesture is detected within the predetermined time, the determination unit updates the predetermined threshold by lowering the predetermined threshold using at least the distance of the hand waving gesture that was not determined, in order to make it easier to determine the hand waving gesture. The gesture determination device according to claim 1 .

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