WO2018098861A1 - Procédé et dispositif de reconnaissance de geste pour appareil de réalité virtuelle, et appareil de réalité virtuelle - Google Patents

Procédé et dispositif de reconnaissance de geste pour appareil de réalité virtuelle, et appareil de réalité virtuelle Download PDF

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Publication number
WO2018098861A1
WO2018098861A1 PCT/CN2016/111062 CN2016111062W WO2018098861A1 WO 2018098861 A1 WO2018098861 A1 WO 2018098861A1 CN 2016111062 W CN2016111062 W CN 2016111062W WO 2018098861 A1 WO2018098861 A1 WO 2018098861A1
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Prior art keywords
current
gesture recognition
virtual reality
current user
image
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Ceased
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PCT/CN2016/111062
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English (en)
Chinese (zh)
Inventor
张茜
张绍谦
张超
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Goertek Techology Co Ltd
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Goertek Techology Co Ltd
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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
    • G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/02—Neural networks
    • G06N3/08—Learning methods
    • G06N3/084—Backpropagation, e.g. using gradient descent
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T19/00—Manipulating three-dimensional [3D] models or images for computer graphics
    • G06T19/006—Mixed reality
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
    • G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
    • G06V40/107—Static hand or arm
    • G06V40/117—Biometrics derived from hands

Definitions

  • the present invention relates to the field of virtual reality device technologies, and in particular, to a gesture recognition method, apparatus, and virtual reality device for a virtual reality device.
  • Virtual Reality is a high-tech that has emerged in recent years.
  • Virtual reality technology will be a key technology to support a comprehensive integration of multidimensional information space combining qualitative and quantitative, perceptual knowledge and rational understanding.
  • As the speed of the Internet increases, an Internet era based on virtual reality technology is quietly coming, which will dramatically change people's production and lifestyle. It is conceivable that we can experience and interact with the virtual world through VR headsets, such as swimming in space, skydiving, and so on.
  • a gesture recognition method for a virtual reality device including a depth camera, and the gesture recognition method includes:
  • a gesture recognition apparatus for a virtual reality device including:
  • a first control module configured to control the depth camera to collect a current hand image of the current user
  • a determining module configured to determine, according to the current hand image, whether the current user performs a tapping action
  • a current feature extraction module configured to extract a current feature from the current hand image if the determination result of the determination module is YES;
  • a matching module configured to match the current feature with a reference feature in the model, and determine, according to the matching result, the button that the current user taps.
  • a virtual reality device comprising the gesture recognition device according to the second aspect of the invention.
  • a virtual reality device comprising a depth camera for acquiring an image, the memory for storing an instruction, the instruction for controlling the The processor performs the gesture recognition method according to the first aspect of the present invention.
  • a computer readable storage medium storing program code for performing the gesture recognition method according to the first aspect of the invention.
  • FIG. 1 is a flow chart of an embodiment of a gesture recognition method for a virtual reality device in accordance with the present invention
  • FIG. 2 is a block schematic diagram of an implementation structure of a gesture recognition apparatus for a virtual reality device according to the present invention
  • FIG. 3 is a block schematic diagram of an implementation structure of a virtual reality device in accordance with the present invention.
  • Reality devices include depth cameras.
  • the depth camera is also called a depth sensor or a 3D sensor.
  • it can be a TOF camera that emits modulated near-infrared light.
  • the camera calculates the distance of the object by calculating the time difference or phase difference between the light emission and reflection.
  • the three-dimensional contour of the object can be represented by images of different colors representing different distances.
  • FIG. 1 is a flow chart of an embodiment of a gesture recognition method for a virtual reality device in accordance with the present invention.
  • the gesture recognition method comprises the following steps:
  • Step S110 controlling the depth camera to collect the current hand image of the current user.
  • the TOF camera may be controlled to emit modulated near-infrared light, and the camera may reflect the distance between the current user's hand and the phase difference by calculating the light emission and reflection time difference or phase difference.
  • the three-dimensional contour of the hand can be represented by different colors to represent the current hand of different distances. The image is presented.
  • Step S120 determining, according to the current hand image, whether the current user performs a tap action, and if yes, executing step S130; if not, proceeding to step S110.
  • the curvature of each point of the hand contour in the current hand image is obtained, and the fingertip position can be calculated.
  • the curvature of each point is determined according to a certain step size.
  • the curvature of the fingertip has a certain range, and it is determined whether the curvature of each point is within the range by checking the curvature of each point.
  • the position of the fingertip can be determined, and the position of the other key points of the hand can be estimated by the morphology by the result of the gesture determination and the position of the fingertip, wherein the other key points can be, for example, a joint.
  • the depth sensor can be placed on top of the virtual reality device or anywhere in front of the user's hand.
  • the location of the depth sensor may be located on a virtual reality device.
  • the depth sensor collects the current hand image of the current user
  • the current fingertip coordinates of the current user's hands can be obtained by calculating the curvature of the hand contour point in the current hand image, and other key points of the user hand are calculated according to the user's fingertip coordinates. Point, hand fingertips and other key points are imaged by the user's hand image on top of the VR keyboard image by, for example, 3D rendering techniques.
  • the depth change of the user's finger can be confirmed to confirm whether or not the keyboard is tapped.
  • the image is clear, the resolution of the image is increased, and the viewing angle and visual distance can be adjusted appropriately.
  • the depth sensor is obtained as a depth map, the depth is different according to the distance of the hand from the depth sensor. Therefore, when the finger is raised, the depth value is small, and when the finger is dropped, the depth value is large, thereby determining whether the current user performs. Tap the action.
  • the virtual reality device further includes a display screen, and before performing step S120, the method further includes:
  • the keyboard image and the initial position of the current user's finger on the keyboard image are displayed on the display.
  • the current user uses the virtual device, for example, a head-mounted virtual reality device for character input
  • the current user can use the surrounding flat object such as a desk or the like.
  • the current user's hands can be placed according to the gesture of the physical keyboard, depth camera
  • the head obtains the current hand image and fingertip coordinates, which can be placed by the index finger fingertip normalization processing to place the left index finger on the keyboard button F, and the right hand index finger is placed on the keyboard button J, the current user can be based on the virtual reality Imaging of the device, appropriate adjustment of other finger positions, to fall to the correct initial position of each finger.
  • Step S130 extracting a current feature from the current hand image.
  • the extraction of current features may be implemented by a neural network (CNN) improved algorithm.
  • CNN neural network
  • the CNN improved algorithm obtains all the neurons of the hand according to the convolution and the feature points of the user's hand (for example, 10), and then according to the maximum pool layer and the fully connected layer, wherein the CNN improvement algorithm can be adopted, for example.
  • step S140 the current feature is matched with the reference feature in the model, and the button of the current user tap is determined according to the matching result.
  • the reference feature may be, for example, stored in the model before the virtual reality device is shipped from the factory, or may be stored by the current user before using the virtual reality device.
  • the gesture recognition method before performing step S140, the gesture recognition method further includes:
  • the reference hand image of the user's various actions of tapping the keys of the keyboard is collected, and the reference features are extracted from each reference hand image to establish a reference feature corresponding to various actions of the hand.
  • the model, the resulting model is applied to match the current feature, and if the match is successful, the button of the current user tap corresponding to the matching reference feature can be determined.
  • the gesture recognition method further includes:
  • the current position of the current user's finger on the keyboard image is displayed on the display screen.
  • the method of displaying the current position of the current user's finger on the keyboard image on the display screen may be the same as the above method of displaying the initial position.
  • the present invention can distinguish the various gestures, the left and right hand confirmation, and the fingertip coordinate acquisition by using the gesture recognition technology of the depth sensor, and the virtual keyboard can be created by the finger tapping the keyboard screen in front of the user to complete the character or the digital input.
  • the virtual keyboard can be created by the finger tapping the keyboard screen in front of the user to complete the character or the digital input.
  • it can greatly improve the flexibility of user use, and also release the physical keyboard space, reducing the user's trouble caused by complex character input, thereby improving the user experience.
  • the present invention also provides a gesture recognition apparatus for a virtual reality device
  • FIG. 2 is a block schematic diagram of an implementation structure of a gesture recognition apparatus for a virtual reality device according to the present invention.
  • the gesture recognition apparatus 200 includes a first control module 210 , a determination module 220 , a current feature extraction module 230 , and a matching module 240 .
  • the first control module 210 is configured to control the depth camera to collect the current hand image of the current user.
  • the determining module 220 is configured to determine, according to the current hand image, whether the current user performs a tapping action.
  • the current feature extraction module 230 is configured to extract the current feature from the current hand image if the determination result of the determination module is YES.
  • the matching module 240 is configured to match the current feature with the reference feature in the model, and determine a button of the current user tap according to the matching result.
  • the gesture recognition apparatus further includes a second control module and a reference feature extraction module, wherein the second control module is configured to control the depth camera to acquire the reference hand image of the reference user; and the reference feature extraction module is configured to extract the reference hand image. Refer to the feature and store the reference feature in the model.
  • the virtual reality device further includes a display screen
  • the gesture recognition device further includes a first display module configured to display the keyboard image and the initial position of the current user's finger on the keyboard image on the display screen.
  • the gesture recognition device further includes a second display module, configured to display, on the display screen, the current user's finger on the keyboard according to the button pressed by the current user determined by the matching module. Like the current location on.
  • the present invention also provides a virtual reality device.
  • the virtual reality device includes a gesture recognition apparatus 200 for a virtual reality device of the present invention.
  • the virtual reality device may be, for example, a product such as virtual reality glasses, a virtual reality helmet, or the like.
  • FIG. 3 is a block schematic diagram of an implementation of the virtual reality device in accordance with another aspect of the present invention.
  • the virtual reality device 300 includes a memory 301 and a processor 302 for storing instructions for controlling the processor 302 to operate to perform the above-described gesture recognition method for the virtual reality device.
  • the virtual reality device 300 further includes an interface device 303, an input device 304, a display device 305, a communication device 306, and the like.
  • an interface device 303 an input device 304
  • a display device 305 a display device 305
  • a communication device 306 and the like.
  • the present invention may relate only to some of the devices, such as the processor 301, the memory 302, the display device 305, and the like.
  • the communication device 306 can be wired or wirelessly communicated, for example.
  • the above interface device 303 includes, for example, a headphone jack, a USB interface, and the like.
  • the input device 304 described above may include, for example, a touch screen, a button, and the like.
  • the display device 305 described above is, for example, a liquid crystal display, a touch display, or the like.
  • the invention can be a system, method and/or computer program product.
  • the computer program product can include a computer readable storage medium loaded with various means for causing a processor to implement the present invention Computer readable program instructions.
  • the computer readable storage medium can be a tangible device that can hold and store the instructions used by the instruction execution device.
  • the computer readable storage medium can be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing.
  • Non-exhaustive list of computer readable storage media include: portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM) Or flash memory), static random access memory (SRAM), portable compact disk read only memory (CD-ROM), digital versatile disk (DVD), memory stick, floppy disk, mechanical encoding device, for example, with instructions stored thereon A raised structure in the hole card or groove, and any suitable combination of the above.
  • a computer readable storage medium as used herein is not to be interpreted as a transient signal itself, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (eg, a light pulse through a fiber optic cable), or through a wire The electrical signal transmitted.
  • the computer readable program instructions described herein can be downloaded from a computer readable storage medium to various computing/processing devices or downloaded to an external computer or external storage device over a network, such as the Internet, a local area network, a wide area network, and/or a wireless network.
  • the network may include copper transmission cables, fiber optic transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and/or edge servers.
  • a network adapter card or network interface in each computing/processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium in each computing/processing device .
  • Computer program instructions for performing the operations of the present invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine related instructions, microcode, firmware instructions, state setting data, or in one or more programming languages.
  • the computer readable program instructions can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer, partly on the remote computer, or entirely on the remote computer or server. carried out.
  • the remote computer can be connected via any kind of network, including a local area network (LAN) or wide area network (WAN).
  • LAN local area network
  • WAN wide area network
  • the customized electronic circuit such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA)
  • FPGA field programmable gate array
  • PLA programmable logic array
  • Computer readable program instructions are executed to implement various aspects of the present invention.
  • the computer readable program instructions can be provided to a general purpose computer, a special purpose computer, or a processor of other programmable data processing apparatus to produce a machine such that when executed by a processor of a computer or other programmable data processing apparatus Means for implementing the functions/acts specified in one or more of the blocks of the flowcharts and/or block diagrams.
  • the computer readable program instructions can also be stored in a computer readable storage medium that causes the computer, programmable data processing device, and/or other device to operate in a particular manner, such that the computer readable medium storing the instructions includes An article of manufacture that includes instructions for implementing various aspects of the functions/acts recited in one or more of the flowcharts.
  • the computer readable program instructions can also be loaded onto a computer, other programmable data processing device, or other device to perform a series of operational steps on a computer, other programmable data processing device or other device to produce a computer-implemented process.
  • instructions executed on a computer, other programmable data processing apparatus, or other device implement the functions/acts recited in one or more of the flowcharts and/or block diagrams.
  • each block in the flowchart or block diagram can represent a module, a program segment, or a portion of an instruction that includes one or more components for implementing the specified logical functions.
  • Executable instructions can also occur in a different order than those illustrated in the drawings. For example, two consecutive blocks may be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending upon the functionality involved.
  • each block of the block diagrams and/or flowcharts, and combinations of blocks in the block diagrams and/or flowcharts can be implemented in a dedicated hardware-based system that performs the specified function or function. Or it can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, implementation by software, and implementation by a combination of software and hardware are equivalent.

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Abstract

La présente invention concerne un procédé et un dispositif de reconnaissance de geste pour un appareil de réalité virtuelle, et un appareil de réalité virtuelle. Le procédé de reconnaissance de geste consiste à : commander une caméra de profondeur pour capturer une image actuelle de la main d'un utilisateur actuel (S110); déterminer, selon l'image actuelle de main, si l'utilisateur actuel exécute une action de tapotement ou non (S120); si tel est le cas, extraire des caractéristiques actuelles de l'image actuelle de la main (S130); et mettre en correspondance les caractéristiques actuelles avec des caractéristiques de référence dans un modèle, et déterminer, en fonction du résultat de mise en correspondance, une clé prélevée par l'utilisateur actuel (S140) En appliquant un clavier virtuel à la réalité, le procédé de reconnaissance de geste améliore la flexibilité d'utilisation des utilisateurs, et libère également l'espace d'un clavier réel, et réduit le problème de l'utilisateur provoqué par des saisies de caractère complexe, ce qui permet d'améliorer l'expérience de l'utilisateur.
PCT/CN2016/111062 2016-11-29 2016-12-20 Procédé et dispositif de reconnaissance de geste pour appareil de réalité virtuelle, et appareil de réalité virtuelle Ceased WO2018098861A1 (fr)

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CN201611073934.3A CN106845335B (zh) 2016-11-29 2016-11-29 用于虚拟现实设备的手势识别方法、装置及虚拟现实设备
CN201611073934.3 2016-11-29

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