CN103514437A - Three-dimensional hand gesture recognition device and three-dimensional hand gesture recognition method - Google Patents
Three-dimensional hand gesture recognition device and three-dimensional hand gesture recognition methodDownload PDFInfo
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Abstract
Description
Technical field
The present invention relates to Gesture Recognition, relate in particular to the recognition methods of a kind of three-dimension gesture recognition device three-dimension gesture.
Background technology
At present, gesture interaction technology has been widely used in field of human-computer interaction, prior art gesture interaction technology mainly comprises two-dimentional gesture identification and the identification of the camera three-dimension gesture based on infrared structure light based on single camera, and the latter is as the product kinect of Microsoft.In two-dimentional gesture identification operation based on single camera, there is no depth information, can only the simple two-dimentional gesture information of identification; It is higher that three-dimension gesture identification based on infrared structure light realizes cost, and performance accuracy has certain defect.
Therefore, prior art need to improve and development.
Summary of the invention
In view of above-mentioned the deficiencies in the prior art part, the present invention is for solving prior art defect and deficiency, a kind of three-dimension gesture identification equipment and gesture identification method based on common infrared camera proposed, can eliminate the interference of environment, improve the reliability of gesture identification, computation process is simple, realizes cost low.
The technical scheme that technical solution problem of the present invention adopts is as follows:
A recognition device, for gesture is identified, comprises two infrared cameras, image acquisition units, infrarede emitting diode, infrarede emitting diode driver element, arithmetic element and gesture identification unit; The camera lens of described two infrared cameras arranges upward, described image acquisition units is electrically connected to two infrared cameras, described infrarede emitting diode driver element is electrically connected to drive infrarede emitting diode luminous with infrarede emitting diode, described arithmetic element is electrically connected to image acquisition units, infrarede emitting diode driver element, gesture identification unit; Described arithmetic element is controlled the luminous images of gestures for two infrared camera picked-ups of infrarede emitting diode bias light is provided, described image acquisition units gathers images of gestures data by two infrared cameras, and images of gestures data are sent to arithmetic element process, arithmetic element sends to gesture identification unit to realize three-dimension gesture identification after obtaining images of gestures data.
Horizontal range between described two infrared cameras is 6cm.
The visual angle angle of described two infrared cameras is 60 °.
Described infrared diode is at least one.
The present invention also provides a kind of three-dimension gesture recognition methods, based on above-mentioned three-dimension gesture recognition device, realizes, and it is characterized in that, comprises the steps:
Left and right two infrared cameras are horizontally disposed with, and cam lens upward;
Described image acquisition units is obtained respectively two first gesture image, the second images of gestures in the angular field of view of infrared camera top by left and right two infrared cameras and is sent to arithmetic element;
Arithmetic element is carried out respectively image binaryzation processing by first gesture image, the second images of gestures;
Arithmetic element is carried out respectively Boundary extracting algorithm by the first gesture image after binary conversion treatment, the second images of gestures and is obtained the edge image of first gesture image, the edge image of the second images of gestures;
Arithmetic element realizes finger two-dimensional coordinate location according to the edge image of the edge image of first gesture image, the second images of gestures;
Arithmetic element becomes three-dimensional localization coordinate by the two-dimensional localization coordinate conversion of the two-dimensional localization coordinate of the edge image of first gesture image and the edge image of the second images of gestures, mates identification with the gesture model information being pre-stored within gesture identification unit.
As further improved plan, gesture operation scope is the common factor at the visual angle of two infrared cameras.
Described Binarization methods adopts common Threshold segmentation to realize.
Described Boundary extracting algorithm first adopts the erosion algorithm of 7 * 7 templates to remove spuious point, then uses 7 * 7 templates extensive palinspastic map that expands, then adopts former figure that the former figure recovering deducts this recovery image after 3 * 3 erosion algorithms to obtain edge image.
Described two dimension finger location adopts the edge contour image of whole hand in first and second images of gestures of search, angle in scanning hand contour curve, determine angle be acute angle and direction vertically upward be pad of finger, each finger tip position of orienting finger.
The described two-dimensional localization coordinate conversion by the two-dimensional localization coordinate of the edge image of first gesture image and the edge image of the second images of gestures becomes three-dimensional localization coordinate to realize by binocular vision algorithm.
Compared with prior art, the present invention has adopted two infrared cameras to obtain images of gestures to have solved two-dimentional gesture identification and do not have depth information to cause gesture identification inaccurate; Infrarede emitting diode illumination has solved the problem that visible ray disturbs, and the camera lens of infrared camera arranges upward, can reduce the interference of absorbing the image background arriving, unlike the images of gestures of prior art picked-up, tend to be subject to the interference of human body background, can realize by simple calculating the identification of complicated gesture, improve the accuracy rate of identification.
Accompanying drawing explanation
Fig. 1 is the theory structure block diagram of three-dimension gesture recognition device of the present invention.
Fig. 2 is the perspective structure schematic diagram of three-dimension gesture recognition device specific embodiment of the present invention (two infrared cameras and infrarede emitting diode are only shown).
Fig. 3 is the visual angle structural representation of the infraluminescence camera of three-dimension gesture recognition device specific embodiment of the present invention.
Fig. 4 is the workflow diagram of three-dimension gesture recognition methods of the present invention.
Fig. 5 is the finger location structure schematic diagram of indication two dimension finger coordinate setting in Fig. 4.
Embodiment
For making object of the present invention, technical scheme and advantage clearer, clear and definite, referring to accompanying drawing, developing simultaneously, the present invention is described in more detail for embodiment.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
As shown in Figure 1, three-dimension gesture recognition device of the present invention comprises twoinfrared cameras infrarede emitting diode 41, infrarede emitting diode driver element 40,arithmetic element 30 andgesture identification unit 50.
Image acquisition units 20 shown in Fig. 1 is electrically connected to twoinfrared cameras infrarede emitting diode 41, and describedarithmetic element 30 is electrically connected to image acquisition units 20, infrarede emitting diode driver element 40,gesture identification unit 50; Described image acquisition units 20 gathers images of gestures data by twoinfrared cameras arithmetic element 30 process,arithmetic element 30 sends data to gestureidentification unit 50 and carries out pattern match and realize three-dimension gesture identification after obtaining images of gestures data and carrying out three-dimensional coordinate location.When two infrared cameras carry out image capture, described arithmetic element can, according to surround lighting, be controlled the luminous images of gestures for two infrared camera picked-ups of infraredeemitting diode 41 by infrarede emitting diode driver element 40 bias light is provided.
Particularly, the product of three-dimension gesture recognition device of the present invention is set to a box body, as shown in Figure 2, the building block of said apparatus is positioned in thisbox body 10, Fig. 2 only illustrates the setting position of two cameras and infrarede emitting diode, and remaining part, when forming specific product, can be that whole installation is on PCB, do not limit, only in order to the gesture identification principle of this device to be described herein.Twoinfrared cameras gesture recognition device 10, and its camera lens arranges upward.Fig. 3 shows the structure that two infrared cameras arrange, distance in two infrared camera horizontal directions is 6cm, the reasonable placement scope that meets general binocular vision, in figure, crossingregion 23, two infrared camera visual angles is object run region, be operand---the residing operating area of hand, in the scope in this object run region, can realize the identification of this device to gesture, according to the distance in two infrared cameras, 21,22 horizontal directions, the crossing angle in two infrared camera visual angles is 60 °.During work, the top that hand is placed on tobox body 10 operates, and can avoid like this camera to obtain the background interference of image, improves counting yield.
Shown in Fig. 4, be the processing flow chart of three-dimension gesture recognition methods embodiment of the present invention, it is based on binocular vision technology that the gesture in this three-dimension gesture recognition methods is extracted, and its method step is as follows:
S100, left and right two infrared cameras are horizontally disposed with, and cam lens upward;
S200, described image acquisition units is obtained respectively two first gesture image, the second images of gestures in the angular field of view of infrared camera top by left and right two infrared cameras and is sent to arithmetic element; First, second images of gestures described here refers to the images of gestures that left or right camera absorbs, and owing to being that two infrared cameras absorb respectively, distinguishes with first, second herein.Described two infrared cameras top angular field of view is that 60 ° of angular range are intersected at two infrared camera visual angles, and this scope is the object run region in Fig. 3, and during operation, hand is worked in this object run region.
S300, arithmetic element is carried out respectively image binaryzation processing by first gesture image, the second images of gestures; Described Binarization methods adopts common Threshold Segmentation Algorithm to realize.
S400, arithmetic element is carried out respectively Boundary extracting algorithm by the first gesture image after binary conversion treatment, the second images of gestures and is obtained the edge image of first gesture image, the edge image of the second images of gestures; Described Boundary extracting algorithm first adopts the erosion algorithm of 7 * 7 templates to remove spuious point, then uses 7 * 7 templates extensive palinspastic map that expands, then adopts extensive palinspastic map to deduct the figure of this extensive palinspastic map after 3 * 3 erosion algorithms to obtain edge image.
S500, arithmetic element realizes the coordinate setting of two dimension finger according to the edge image of the edge image of first gesture image, the second images of gestures; Described two dimension finger location adopts the edge contour image of whole hand in first and second images of gestures of search, angle in scanning hand contour curve, determine angle be acute angle and direction vertically upward be pad of finger, each finger tip position of orienting finger.Fig. 5 shows the profile diagram of the edge image of the first or second images of gestures, as shown in Figure 5, arithmetic element is by the edge contour image of the whole hand of search, scan the angle in hand contour curve, as A, B, the formed angle α of C point in figure, can orient the finger tip position of finger, to obtain two dimension finger coordinate.
S600, arithmetic element converts the two-dimensional localization coordinate associative operation of the two-dimensional localization coordinate of first gesture image and the second images of gestures to three-dimensional localization coordinate, mates identification with the gesture model information that is pre-stored within gesture identification unit.Particularly, described two-dimensional localization coordinate is according to the edge image of the first or second images of gestures, to obtain the profile coordinate of hand, become three-dimensional localization coordinate to realize by binocular vision method the two-dimensional localization coordinate conversion of the two-dimensional localization coordinate of first gesture image and the second images of gestures, binocular vision algorithm is prior art, does not repeat herein.
Adopt apparatus of the present invention and method can solve the interference of visible ray to image, hand operates the interference that also can effectively reduce background above device, gesture identifying device unlike prior art, human body can have interference to the image of picked-up before camera, make computation process also will consider the interference of human body, solve the complexity that binocular vision is calculated, improved the reliability of gesture identification.
Should be understood that; the foregoing is only preferred embodiment of the present invention; be not sufficient to limit technical scheme of the present invention; for those of ordinary skills; within the spirit and principles in the present invention; can be increased and decreased according to the above description, replaced, converted or be improved, and all these increases and decreases, replace, conversion or improve after technical scheme, all should belong to the protection domain of claims of the present invention.
Claims (10)
1. a three-dimension gesture recognition device, for gesture is identified, is characterized in that, comprises two infrared cameras, image acquisition units, infrarede emitting diode, infrarede emitting diode driver element, arithmetic element and gesture identification unit; The camera lens of described two infrared cameras arranges upward, described image acquisition units is electrically connected to two infrared cameras, described infrarede emitting diode driver element is electrically connected to drive infrarede emitting diode luminous with infrarede emitting diode, described arithmetic element is electrically connected to image acquisition units, infrarede emitting diode driver element, gesture identification unit; Described arithmetic element is controlled the luminous images of gestures for two infrared camera picked-ups of infrarede emitting diode bias light is provided, described image acquisition units gathers images of gestures data by two infrared cameras, and images of gestures data are sent to arithmetic element process, arithmetic element sends to gesture identification unit to realize three-dimension gesture identification after obtaining images of gestures data.
2. three-dimension gesture recognition device according to claim 1, is characterized in that, the horizontal range between described two infrared cameras is 6cm.
3. three-dimension gesture recognition device according to claim 2, is characterized in that, the visual angle of described two infrared cameras is 60 °.
4. three-dimension gesture recognition device according to claim 1, is characterized in that, described infrared diode is at least one.
5. the three-dimension gesture recognition device based on described in claim 1 to 4 any one is realized a three-dimension gesture recognition methods, it is characterized in that, described method comprises the steps:
Left and right two infrared cameras are horizontally disposed with, and cam lens upward;
Described image acquisition units is obtained respectively two first gesture image, the second images of gestures in the angular field of view of infrared camera top by left and right two infrared cameras and is sent to arithmetic element;
Arithmetic element is carried out respectively image binaryzation processing by first gesture image, the second images of gestures;
Arithmetic element is carried out respectively Boundary extracting algorithm by the first gesture image after binary conversion treatment, the second images of gestures and is obtained the edge image of first gesture image, the edge image of the second images of gestures;
Arithmetic element realizes finger two-dimensional coordinate location according to the edge image of the edge image of first gesture image, the second images of gestures;
Arithmetic element becomes three-dimensional localization coordinate by the two-dimensional localization coordinate conversion of the two-dimensional localization coordinate of the edge image of first gesture image and the edge image of the second images of gestures, mates identification with the gesture model information being pre-stored within gesture identification unit.
6. three-dimension gesture recognition methods according to claim 5, is characterized in that, described two infrared cameras top angular field of view is that 60 ° of angular range are intersected at two infrared camera visual angles.
7. three-dimension gesture recognition methods according to claim 5, is characterized in that, described Binarization methods adopts common Threshold segmentation to realize.
8. three-dimension gesture recognition methods according to claim 5, it is characterized in that, described Boundary extracting algorithm first adopts the erosion algorithm of 7 * 7 templates to remove spuious point, then use 7 * 7 templates extensive palinspastic map that expands, then adopt extensive palinspastic map to deduct the figure of this extensive palinspastic map after 3 * 3 erosion algorithms to obtain edge image.
9. three-dimension gesture recognition methods according to claim 5, it is characterized in that, described two dimension finger location adopts the edge contour image of whole hand in first and second images of gestures of search, angle in scanning hand contour curve, determine angle be acute angle and direction vertically upward be pad of finger, each finger tip position of orienting finger.
10. three-dimension gesture recognition methods according to claim 5, it is characterized in that, the described two-dimensional localization coordinate conversion by the two-dimensional localization coordinate of the edge image of first gesture image and the edge image of the second images of gestures becomes three-dimensional localization coordinate to realize by binocular vision algorithm.
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