,

3D Hand and Finger Recognition using Kinect

F. Trapero Cerezo
1

Universidad de Granada (UGR), pain

!"stract Finger and #and trac$ing are inc%uded in t#e &ie%d o& t#e #u'an(co'puter interaction (HC)). T#e goa% o& t#is *or$ is to descri"e a ro"ust and e&&icient 'et#od to trac$ t#e #and and t#e &ingers in rea% ti'e using t#e Kinect device. T#is device a%%o*s us to o"tain a dept# i'age, instead o& a nor'a% RG+ i'age, *#ic# gives us 'ore in&or'ation t#an a nor'a% ca'era. T#ese $ind o& i'ages are 'ore use&u% &or t#e trac$ing, and 'oreover *e can represent t#e re%evant points in a 3D space. T#e &ina% idea is to use t#e a%gorit#'s o& t#is paper to create i''ersive virtua% environ'ents app%ications. Categories and u",ect Descriptors (according to !C- CC ). )./.0 1)'age processing and co'puter vision2. cene !na%3sis4Trac$ing ).3.5 1Co'puter grap#ics2. T#ree(Di'ensiona% Grap#ics and Rea%is'46irtua% Rea%it3
can "e app%ied. -an3 o& t#e a%gorit#'s co''ented in t#is paper, #ave "een used &or #and recognition in nor'a% RG+ i'ages. T#ere are 'ain%3 t*o *a3s to dea% *it# t#is pro"%e'. T#e &irst one is to use a %arge a'ount o& #ands i'ages to train our s3ste' and tr3 to &ind correspondences *it# t#e'. T#e sec(ond option is to use so'e geo'etric properties o& our #ands, to &ind out so'e i'portant in&or'ation, %i$e *#ere are t#e &ingertips and t#e center o& t#e #and. T#e &irst appro:i'ation is discussed in 1 -C<1,

space, "ased on t#e dept# i'age t#at Kinect ot#er device) Hu'an(co'puter interaction (HC)), and in particu%ar #and and (or generates. &inger trac$ing, depends %arge%3 on p#3sica% devices. 7eop%e 1. )ntroduction
#ave *or$ed on t#is issue &or 3ears, "ut as tec#no%og3 advances, ne* devices and tec#ni8ues appears t#at a%%o* us 1.1. to acco'p%is# our o",ective in a 'ore e&&icient *a3.

7revious *or$

+e&ore #aving devices to get

)n order to contro% our co'puter *e use devices %i$e t#e a dept# i'age, a%gorit#'s o& 'ouse or t#e $e3"oard, "ut it see's unnatura% &or #and and &inger recognition #u'ans. 9e are used to interact *it# t#e *or%d *it# our *ere "ased on t#e o*n #ands, our "od3 or our voice. T#at is t#e reason t#at pig'entation o& t#e #and, as #and and &inger trac$ing #as "eco'e 'ore popu%ar, t#ese *e can see in 1-a%<32, to %ast 3ears. o &ar, i& *e *anted t#e co'puter to $no* *#ere our #and. +ut t#ese $ind o& #ands *ere, *e *ou%d #ave to *ear so'e specia% g%oves. a%gorit#' #as an o"vious T#is $ind o& devices are rea%%3 e:pensive, so t#e3 are on%3 pro"(%e', it depends on t#e used in "ig pro,ects o& virtua% rea%it3. Ho*ever, tec#no%og3 #and co%or. T#e a%gorit#' #ave advanced rea%%3 &ast, and no* co'puters can can on%3 "e used on one $ind ana%3ze i'ages and get t#e contour o& a #and in rea% ti'e.
o& pig'entation, %ig#t or dar$. 7rogress in t#is t3pe o& tec#no%ogies #as %ed to t#e cre( o, depend(ing on t#e ation o& devices %i$e Kinect. Kinect is a c#eap device *#ic# person, t#e a%gorit#' 'ust appeared in t#e %atest o& ;<1<, t#at #as a %ot o& potentia% &or "e c#anged. recognize t#e s#ape o& t#e

HC) app%ications. T#is device is co'pound "3 a nor'a% !n3*a3, a%gorit#'s ca'era and t*o in&rared ca'eras. Using t#e in&rared ca'( created &or t#is $ind o& eras, Kinect is a"%e to generate a dept# i'age. #and recogni(tion are sti%% T#is paper contains t#e 'et#ods needed to trac$use&u% &or dept# i'ages, severa% #ands and t#eir co'ponents (&ingertips and pa%') "ecause once 3ou #ave t#e s#ape o& t#e #and, in "ot# in a 3D cases, t#ese a%gorit#'s

C#e<02, and it can provide good resu%ts in 'ode%( "ased 3D #and trac$ing. T#e 'ain advantage o& t#is 'et#od is t#at *e can

F. Trapero Cerezo = 3D Hand and Finger Recognition using Kinect

*#ic# pi:e%s are *e

generate a 3D 'ode% o& t#e #and.going to ta$e into Ho*ever, to create t#is 'ode% *e needaccount, to carr3 on a #uge set o& #ands i'ages to train our t#e trac$ing. T#e s3s(te'. T#is is too e:pensiveKinect can catc# t#e co'putationa%%3, so it is rea%%3 di&(&icu%t todistance o& t#e ac#ieve a rea% ti'e #and recognition,points *#ic# are *#ic# is one o& our 'ain goa%s. +esidesvisi"%e to t#e t#e e&&icienc3, t#ere are ot#er is(suesca'era, "et*een t#e %i$e sca%a"i%it3, it is di&&icu%t t#at t#e va%ues 'inDist and para'eters %earned during t#e training,'a:Dist (Figure 1 ). suits to a %arge variet3 o& #and sizes. T#e ot#er option is to ca%cu%ate t#e "ase our c#oice contour and inside points o& t#e #and, using t#e pro:i'it3 and t#en to %oo$ &or in t#is points *#ic# to t#e Kinect. 9e are t#e candidates to "e a &ingertip or cou%d c#oose i& a t#e #and center. T#is 'et#od is 'ore pi:e% is near, "3 one e&&icient t#an t#e previous one, "ut t#e o& t#is 'et#od. gen(eration o& a 3D 'ode% #and is %ess accurate and di&&icu%t, due to it is on%3 !"so%ute dept#. ! possi"%e to o"tain t#e 3D coordinates o& pi:e% is near i& its re%evant points. Ho*ever, it provides us dept# is %esser *it# a good appro:i'ation o& t#e #and t#an a constant va%ue, t#at 'eans in a rea%%3 e&&icient *a3.

Figure 1. Re%ative dept# 'et#od representation

9e are going to

9e #ave c#osen t#e second option "ecause o& t#e e&&i(cienc3, so t#at gives us a 8uic$ and ro"ust 'et#od to trac$ 'ore t#an one #and in rea% ti'e. ;. 3ste' overvie* )n order to &ind t#e t#e &ingertips and t#e pa%' center, t#e progra' #ave to *a%$ troug# a%% t#ese steps.

t#at t#e pi:e% is "e( t*een 'inDist and a prede&ined va%ue *#ic# is greater t#an 'inDist and %esser t#an 'a:Dist.
Re%ative dept#. First o& a%%, *e ca%cu%ate t#e 'ini'u' dept#, and in "ase o& t#at dept# *e se%ect a 'a:i'u'

1. Generate near pi:e%s 'atri: 2. Decrease noise 3. C%assi&3 in contour or inside

pi:e%s

4. Di&&erentiate #ands and ca%cu%ate

t#eir contour

5. !%%ocate inside points 6. Find t#e center o& t#e pa%' 7. Find t#e &ingertips 8. !%%ocate points in a 3D space
)n t#is section *e are going to descri"e di&&erent *a3s to ac#ieve t#ese goa%s, and so'e 'odi&ications o& t#e 'ain a%(gorit#' to i'prove t#e e&&icienc3 o& t#e code. ;.1. Generate near pi:e%s 'atri: T#e &irst step *e need to acco'p%is# in order to start to *or$ *it# t#e dept# data, is to decide

"ecause it gives us enoug# de&inition to distinguis# t#e con(tour o& t#e #ands. T#is c#oice great%3 reduce t#e nu'"er o& operations, and conse8uent%3, it *i%% i'prove t#e e&&icienc3 o& t#e code. @nce *e #ave t#e dept# data, *e s#ou%d generate a 'atri: o& t#e corresponding size, *#ic# contains i& eac# pi:e% is c%ose enoug# or not, &o%%o*ing t#e criterion se%ected at t#e "eginning. T#is 'atri: *i%% %et us to access t#e dept# (&or e:a'p%e "3 adding a constant data in an easier *a3, va%ue to t#e 'in(i'u' dept#). o, i& t#e due to 'an3 o& t#e dept# is "et*een t#ese t*o va%ues, t#e a%gorit#'s need to pi:e% is near. T#is 'et#od a%%o* us to $no* t#e ad,acent #ave greater 'o("i%it3, "ecause it does pi:e%s o& a given one.

;.;. Decrease noise

T#is step is optiona%, "ut so'eti'es cou%d #e%p i& *e are too &ar &ro' t#e Kinect or t#ere too 'uc# noise. )t consists on app%3ing one or t*o 'orp#o%ogica% trans&or'ations used in

&ina% to t#e 'ini'u' dept# is d and *e add aset to &a%se t#e constant s to it, so ever3 point "et*een va%ues o& t#e "orders 'inDist and d>s *i%% "e accepted as o& t#e 'atri:. T#is near. *a3, *e #ave not to !&ter se%ecting a 'et#od, *e 'ustc#ec$ eac# ti'e i& a se%ect t#e reso%ution o& t#e dept# i'age. 'atri: access is out )t is possi"%e to se%ect it &ro' t#reeo& "ounds. T#at *i%% t#e di&&erent options 0<:?<, 3;<:;/< orincrease in t#e ?/<:/0<. T#e "est option is o"vi(ous%3e&&icienc3 a%gorit#', t#e ?/<:/0< reso%ution, "ut in order to contour and *e do not %ose i'prove t#e e&(&icienc3 o& t#e code, *e a%'ost in&or'ation. can c#oose t#e 3;<:;/< reso%ution,
sition t#e *#o%e ti'e. )n t#e Figure 1i'prove'ent

not &orce us to sta3 in t#e sa'e po(

@ne

is

F. Trapero Cerezo = 3D Hand and Finger Recognition using Kinect

pseudocode o& t#e arti&icia% vision, di%ation and erosion.a%gorit#' is s#o*n in T#ese tec#ni8ues are discussed in!%gorit#'1. 1-d7!A <?2. Aac# ti'e a point is
T#e di%ation and erosion are used added to t#e contour o& &or e:panding and con(tracting t#eone #and, t#at point is s#apes contained in a "inar3 i'age'ar$ed as visited. o, respective%3. )n t#is case, t#e #ands a&ter &inis#ing t#e contour are t#ese s#apes. +ot# 'et#odso& one #and, t#e app%3 a 'as$ + over a 'atri: !. app%ication %oo$s &or
!pp%3ing di%ation using a circ%e as t#eot#er contour point to 'as$ *i%% round t#e contour o& t#e #and, ca%(cu%ate t#e sorted and *i%% decrease t#e noise. +ut, i& t#e contour o& anot#er #and. di%ation is too strong *e can %ose t#e )& a%% t#e contour points s#ape o& so'e &ingers, so a&ter t#e#as "een visited, t#ere di%ation *e cou%d app%3 erosion *it# t#e are no 'ore #ands to sa'e 'as$. Di%ation is not t#e oppositeana%3ze. -ust ta$e into operation o& erosion, so t#e &ina% i'age account t#at cou%d "e *i%% contain a rounder s#ape *#ic#so'e noise t#at create preserves t#e sa'e size o& t#e &irst one. so'e s'a%% s#apes. )& T#ese 'et#ods are not cost e&&ective,t#e contour is so s'a%% t#e3 are on%3 needed in case t#at t#e a%gorit#' cannot &ind t#e &ingertips.
co'pared to t#e tota% nu'"er o& contour points, *e 'ust discard it.

!%gorit#' 1 Turt%e a%gorit#'

1: &unction
TURTEA!EG@R)TH -(start7oint, contour, va%id)

2: 3: 4: 5: 6:

curr7oint start7oint dir .F <

.F

%ast7oint .F 7oint( 1G 1) *#i%e True do i& curr7oint ?F %ast7oint t#en %ist.add (curren t7oint) %ast7oi nt .F current 7oint
contour 1curr7o int.H 2 1curr7o int.I2 . F Fa%se

7: 8:

;.3. C%assi&3 in contour or inside pi:e%s

9:

;.D. !%%ocate interior Fina%%3 *e #ave a "inar3 'atri: points *#ic# contains t#e s#ape o& t#e!t t#is point, *e #ave #ands. Aac# pi:e% in t#is 'atri: a%read3 ca%cu%ated t#e points out i& t#e pi:e% is part o& t#e #and (is va%id) or not. T#e va%idnu'"er o& #ands *e pi:e%s o& t#is 'atri: 'ust "e divided#ave, and t#eir contour. in contour or interior pi:e%s. ! pi:e% T#e ne:t step is to a%%o( is interior i& ever3 ad,acent pi:e% (up, do*n, %e&t and rig#t pi:e%s) are a%so va%id, and contour i& one o& its ad,acent pi:e%s are not va%id.
T#is in&or'ation s#ou%d "e stored in t*o di&&erent %ists, ot#er*ise *e #ave to go over t#e *#o%e 'atri: severa% ti'es, in order to ca%cu%ate t#e sorted contour and t#e pa%' center.

10: 11: 12:

e%se dir .F (dir > / 1)

1#

end i&

13: 14:

C# ange t#e direction i& dir F < t#en curr7oi nt.I .F curr7oi nt.I > 1 end i& i& dir F < t#en curr7oi nt.H .F curr7oi nt.H > 1 end i& i& dir F < t#en curr7oi nt.I .F curr7oi

;./. Di&&erentiate #ands and ca%cu%ate t#eir contour

)t see's t#at t#e contour is a%read3 ca%cu%ated, "ut *e need a sorted contour &or ca%cu%ating t#e &ingertips and to i'prove t#e e&&icienc3 o& t#e ca%cu%ation o& t#e center o& t#e pa%'. ! sorted contour 'eans t#at t#e contour 'ust "e a %ist o& points, in *#ic#, t#e previous and ne:t point o& eac# point in t#e %ist are ad,acent in t#e contour o& t#e #and, and t#e &irst and %ast point are a%so ad,acent.

15: 16: 17:

18: 19: 20:

T#e contour is app%3ing t#e Bturt%e e:p%ained in

ca%cu%ated a%gorit#'C

1-d7!A <?2. T#e

21: 22: 23: 24: 25: 26: 27: 28: 29: 30:

ca%cu%ate t#e container "o:. T#e container "o: end i& o& a &igure is de%i'ited i& dir F < t#en "3 t*o points. T#ese curr7oint.H .Ft*o points de%i'it t#e curr7oint.H 1 s'a%%est "o: *#ic# contains ever3 pi:e% o& end i& 1# Finis# i& co'est#e &igure.

nt.I 1

"ac$ to starting point 9e can ca%cu%ate t#e i& curr7oint F start7ointcontainer "o: using t#e t#en contour points, and *it# "rea$

t#e container "o: *e can c%assi&3 ver3 end i& 8uic$%3 i& a interior point end *#i%e is inside t#e container "o: and t#ere&ore in t#e return %ist &igure. T#ere are so'e end &unction pro"%e's *#en t#e container "o:es over%ap, and t#e sa'e cate eac# interior point into t#e current interior point is inside #and. @ne #euristic cou%d "e to'ore t#an one "o:. )n

t#is case, t#e pi:e% is *rong%3 c%assi(&ied. T#ese $ind o& errors does not a&&ect t#e &ina% resu%t, due to t#e o",ective o& c%assi&3 t#e interior points into t#e correct #and is to &ind t#e center o& t#e pa%', and t#e 'isc%assi&ied pi:e%s can never "e t#e center o& t#e pa%'.

;.?. Find t#e center o& t#e pa%'

T#e center o& t#e pa%' is one o& t#e points t#at gives us a %ot o& in&or'ation. T#is point indicates *#ere is t#e #and, and

F. Trapero Cerezo = 3D Hand and Finger Recognition using Kinect

T#is a%gorit#' Figure ;. Grap#ica% interpretation o&consu'e a %ot o& t#e ca%cu%ation o& t#e center o& t#eti'e, so *e 'ust pa%' i'prove its

t#e resu%ts are 8uite accepta"%e. )n t#e ;o"tained

&ro' 1 te2 *e can o"serve *#at are *e %oo$ing &or *#en *e use t#e a%gorit#'. T#e circ%e in t#e &igure is t#e "iggest one t#at t#e #and s#ape can contains, so t#e center o& t#at circ%e s#ou%d "e t#e center, and indeed it is t#e center. o'eti'es *e cou%d #ave pro"%e's i& t#e ar' is s#o*ed, and t#e a%gorit#' a%%ocate t#e center in t#e ar'. T#ere&ore *e #ave to "e care&u% and avoid s#o*ing t#e ar' as &ar as possi"%e, "3 &or e:a'p%e de%i'iting t#e para'eters e:p%ained in section ;.1.

e&&icienc3. 9e #ave done it in t*o *a3s. 9#i%e ca%cu%ating t#e 'ini'u' distance o& an interior point to ever3 contour point, i& t#e current 'ini'u' is %esser t#an t#e current 'a:i'u', *e can assure t#at t#is point is not t#e center, so t#ere is no need o& ca%cu%ating t#e distance to t#e rest o& contour points &or t#is interior point.
Due to in t#e %ist o& t#e interior and contour points, con( secutive points are near in t#e #and, *e can on%3 do t#e ca%cu%ations &or 1 in J consecutive points. Using a s'a%% va%ue o& J greater t#an 1, t#e error is neg%igi"%e and t#e e&( &icienc3 is i'prove "3 1FJ . !ctua%%3, *it# va%ues around 0
;

toget#er *it# t#e &ingertips, cou%d "e used &or ca%cu%ating ot#er re%evant in&or'ation *#ic#, &or e:a'p%e, cou%d #e%p us to identi&3 gestures.
T#e center o& t#e #and is, usua%%3, t#e center o& t#e "iggest circ%e t#at &its inside t#e contour o& t#e #and. )n order to &ind t#is point, *e ca%cu%ate t#e 'ini'u' distances &ro' eac# in(terior point to ever3 contour point, and &ro' t#ese distances *e se%ect t#e 'a:i'u'. T#e point t#at corresponds to t#at distance is t#e center o& t#e #and.

Figure 3. K(curvature !%gorit#'

and 7(i>$). )& t#e distance is greater in

7(i). )n t#is case t#e ang%e is around 3<L, so

t#e &irst case, it is &ingertip, in ot#er case is va%%e3.

-oreover to i'prove t#e e&&icienc3 *e introduce a #euris( tic. Aac# ti'e *e deduce t#at 7(i) is a &ingertip, t#e ne:t point *e s#ou%d dea% *it# is not 7(i>1), it s#ou%d "e 7(i>'), "ecause &ingertips are ;.5. Find t#e &ingertips not near to eac# T#e 'et#od used to &ind t#e &ingertips isot#er. T#e va%ue o& ' t#e $(curvature a%(gorit#'. T#e 'aindepends on t#e size idea is &or eac# point 7(i) o& t#e con(o& t#e contour o& t#e tour, get t#e 7(i($) and 7(i>$) points,#and, around a 1<K and using t#ese points generate t*oo& t#e nu'"er o& vectors and ca%cu%ate t#e 'ini'u'points o& t#e contour ang%e t#e3 &or'. T#e vector are &or'edsee's to "e "3 7(i($) ( 7(i) and 7(i>$) ( 7(i). )& t#e reasona"%e.
ang%e is %esser t#an an a va%ue, it is a &ingertip. T#e 'ore ro"ust va%ues &ound Using t#e Figure 3 *ere $F;; and a F /<. (o"tained &ro' 1T71<2) @ne o& t#e pro"%e's o& t#is a%gorit#' *e can under(stand is t#at it cou%d pro(duce so'e &a%se 'ore c%ear%3 #o* t#e positive in t#e va%%e3 "et*een t*oa%gorit#' *or$s. 9e &ingers, "ecause t#e3 #ave si'i%ar#ave t*o cases, t#e properties to t#e &ingers. To avoid t#is&irst one tr3 to ca%cu%ate &a%se positive, *e ca%cu%ate t#e distance t#e ang%e a t#at is "et*een t#e cen(ter o& t#e #and an t*o&or'ed "3 t#e %ines points, 7(i) and t#e 'idd%e point o& 7(i($) 7(i>$) ( 7(i) and 7(i($) (

t#e point 7(i) it cou%d "e a &ingertip. +ut, in t#e second case *e ca%cu%ate t#e ang%e " using #e %ines 7(:>$) ( 7(:) and 7(:($) ( 7(:), and t#e resu%ting an(g%e is e8ua% to 10<L 'ore or %ess, so t#e point 7(:) cannot a &ingertip. T#e va%ue o& $ in t#is sa'p%e is too s'a%%, and *e can &ind 'ore points t#an *e s#ou%d, so t#e idea is to &ind t#e va%ue $ t#at &its "etter *it# t#e rig#t side o& t#e &igure.

;.0. !%%ocate points in a 3D space

Aver3t#ing e:p%ained a"ove is used &or #and and &inger recognition in ;D space. +ut #o* can *e e:tend t#ese ;D points into 3DM T#e so%ution is rea%%3 si'p%e using Kinect, due to *e #ave t#e dept# o& eac# ;D point, so *e #ave on%3

F. Trapero Cerezo = 3D Hand and Finger Recognition using Kinect

Figure /. 3D Jor'a%ization

Figure D. Test app%ication e:a'p%e

too%s cou%d "e t#e "eginning o& a ne* era o& HC), in *#ic# *e *i%% contro% our co'puters using on%3 our #ands and our "od3.
) *ou%d %i$e to t#an$ Ru"On "ecause !gui%ar +ecerra, our *it#out

discussions a"out t#is topic ) did not co'e up *it# so'e ideas, and -igue% Pnge% Ro'ero Co"os, *#o #as #e%ped *it# so'e grap#ics.

center, it to nor'a%ize t#e va%ues and add t#e dept# pa%' osci%%ates around t#e data to eac# point. T#is *a3 *e #ave t#e &ingertips and t#e center o& t#e pa%' %ocated in rea% center "ecause o& t#e noise. a 3D space.
To nor'a%ize t#e points *e #ave decided to use 9e #ave used t#e t#e sa'e nor'a%ization t#at Kinect uses &or s$e%eton %i"rar3 to create a trac$ing, t#is nor'a%ization is s#o*n in t#e Figure /.stars#ip si'u%ator. T#is T#e data *e o"tain &ro' eac# point is a I and Hsi'u%ator uses t#e 3D va%ue contained in t#e "o: *#ose %e&t(upper corner position o& t#e #ands to is (<, <), and t#e rig#t(do*n corner is (*idt#, #eig#t). contro% t#e stars#ip in a 9idt# and #eig#t va%ues depends on t#e reso%ution 3D space. 9e #ave *e #ave se%ected in t#e section ;.1. T#e N va%ue isdesigned t#e contro% to "et*een /<< and 0<<<, t#e vision space t#e Kinect "e as rea%istic as can catc# 'easured in centi'eters, a%t#oug# Kinectpossi"%e, %i$e i& 3ou *ere is not too accurate &or points &urt#er t#an / 'eters. #o%ding a steering *#ee%.

!nd a%so to !%e,andro Q. EeRn a%as *#o #as "een t#e teac#er responsi"%e o& t#is researc#.

D. Future *or$ T#e ne:t step o& t#is researc# is to app%3 it in i''ersive virtua% environ'ents, using ot#er virtua% rea%it3 devices to increase t#e i''ersion o& t#e user. )t cou%d "e used in ga'es or navigation s3ste's. +ut in order to ac#ieve it, *e need to add 'ore &eatures, %i$e &or e:a'p%e gesture recognition 1T71<2.

T#e &or'u%as to do conversions are. I F *idt# ; 1 H

< < I

F (1 #eig#t ) ; 1

N< F N /<< 5?<<

Hou can a%so s#oot 'issi%es opening and c%osing 3our #and. T#e idea is to "e a"%e to contro% an3 t#ing in t#e 'ost natura% *a3.

3. Deve%oped app%ications
To test t#e per&or'ance o& t#e a%gorit#'s and /. Conc%usions i'prove'ents proposed a test app%ication #as "een T#is paper presented a deve%oped (Figure D). T#is app%ication uses t#e 'et#od to trac$ severa% %i"rar3 *e #ave deve%oped to per(&or' t#e &inger and #ands and #o* to o"tain #and trac$ing. 9it# t#e app%ication *e can 'odi&3 t#eir re%evant points t#e di&&erent para'eters 'entioned in t#is doc( (&ingertips and pa%' cen( u'ent, t#is *a3 *e #ave "een a"%e to &ind t#e ter), "ased on so'e va%ues t#at #ave t#e "etter e8ui%i"riu' "et*een geo'etric properties. per&or'ance and accu(rac3. T#e %i"rar3 contains t#e Jot on%3 t#e "asic va%ues o& t#e para'eters *#ic# #as provided us t#e 'et#ods #ave "een "est resu%ts and assigns t#ose va%ues "3 de&au%t.

e:p%ained, "ut a%so so'e

Fina% resu%ts provide us *it# a &ra'e rate o& 3< &ps i'prove'ents. *#en *e s#o* t#e 'ost t*o #ands at t#e sa'e ti'e. -oreover, it #as "een +ut t#is &ra'e rate "eco'es s%o*er *#en t#e a%gorit#' proved t#e dept# data tr3 to per&or' t#e &inger and #and trac$ing *it# "ig t#at t#e Kinect can o",ects. )t is not a "ig is(sue, due to *e *ant to per&or' provide is use&u% not on%3 t#e #and trac$ing correct%3 *#en t#e #ands are to recognize t#e s#ape s#o*ed. 9e #ave a%so ac#ieved a great %eve% o& o& t#e #and, "ut a%so to accurac3 in &inger trac$ing, "ut &or ca%cu%ating t#e a%%ocate t#e points in a

3D space. T#is $ind o&

F. Trapero Cerezo = 3D Hand and Finger Recognition using Kinect

Re&erences
1C#e<02 CHAJ S.. Rea%(Ti'e 6ision(+ased Hand Trac$ing and Gesture Recognition. 7#D t#esis, c#oo% o& )n&or'ation Tec#(no%og3 and Angineering Facu%t3 o& Angineering Universit3 o& @t(ta*a, ;<<0. 1G K 11a2 G)R
H)CKH

R.,

H@TT@JH

Q., K@HE)H 7., CR)-(

activit3 #u'an poses &ro' dept# i'ages.

)J) )H !., F)TNG)++@JH !.. A&&icient regression o& genera%(

H)CKH

1G K 11"2 G)R

R.,

H@TT@JH

Q., K@HE)H 7., CR)-(

upp%e'entar3

activit3 #u'an poses &ro' dept# i'ages. 'ate(ria%.

)J) )H !., F)TNG)++@JH !.. A&&icient regression o& genera%(

1-a%<32 -!E)K .. Rea%(ti'e #and trac$ing and &inger trac$ing &or interaction. C C;D<3F 7ro,ect Report. 1-d7!A <?2 -!RC@ !. G., DA 7) TJ ! C!CU+!R F. Q. -., A 7)J@N! !. 6. 7., AEU! F. !., E)-! -. C., -ARV Q. @., G@JNPEAN A. 6.. TOcnicas 3 a%gorit'os "Wsicos de visiRn ar(ti&icia%//3. Universidad de %a Rio,a. ervicio de pu"%icaciones, ;<<?. 1 FC 11a2
H@TT@J

Q., F)TNG)++@J !., C@@K -.,

H!R7

T., F)J@CCH)@ -., -@@RA R., K)7-!J !., +E!KA !.. Rea%(ti'e #u'an pose recognition in parts &ro' sing%e dept# i'ages.

1 FC 11"2 H@TT@J Q., F)TNG)++@J !., C@@K -., H!R7 T., F)J@CCH)@ -., -@@RA R., K)7-!J !., +E!KA !.. Rea%( ti'e #u'an pose recognition in parts &ro' sing%e dept# i'ages. upp%e'entar3 'ateria%. 1 -C<12 TAJGAR +., -AJD@JX! 7. R. ., C)7@EE! R.. -ode%( "ased 3d trac$ing o& an articu%ated #and. 1 te2 TAF!J. Center o& t#e pa%' (#and trac$ing). #ttp.=="%og.candescent.c#=;<11=</=center(o&(pa%'(#and( trac$ing.#t'%.
1T71<2 TR)G@ T. R., 7AEEAGR)J@ . R. -.. !n ana%3sis o& &eatures &or #and(gesture c%assi&ication. 15t# )nternationa% Con(&erence on 3ste's, igna%s and )'age 7rocessing (;<1<).