A Fast and Robust Fingertips Tracking Algorithm for Vision-Based Multi-touch Interaction. Qunqun Xie, Guoyuan Liang, Cheng Tang, and Xinyu Wu. 2013 10th IEEE International Conference on Control and Automation (ICCA). Outline. Introduction Related Work Proposed Method
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A Fast and Robust Fingertips Tracking Algorithm for Vision-Based Multi-touch Interaction
Qunqun Xie, Guoyuan Liang,
Cheng Tang, and Xinyu Wu
2013 10th IEEE
International Conference on Control and Automation (ICCA)
Image: Oka, K, Sato, Y, Koike, H. "Real-time fingertip tracking and gesture recognition", IEEE Computer Graphics and Applications, 2012
L. Jin, D. Yang, L. Zhen, and J. Huang. A novel vision based finger-writing character recognition system. Journal of Circuits, Systems, and Computers (JCSC), 16(3):421–436, 2007.
D. Lee and S. Lee. Vision-based finger action recognition by angle detection and contour analysis. Electronics and Telecommunications Research Institute Journal, 33(3):415–422, 2011.
Weight of each Gaussian model:
skin + depth
r: row index
c :column index
z(r,c) :depth value
(related to palm size)
 Z. Mo and U. Neumann, “Real-time hand pose recognition using low-resolution depth images,” in Computer Vision and Pattern Recognition, 2006 IEEE Computer Society Conference on, vol. 2.
The point with maximum distance to the palm center
(on the contour of each finger)
P : contour point
C0: palm center
 M. Kaltenbrunner, T. Bovermann, R. Bencina, and E. Costanza, “Tuio:A protocol for table-top tangible user interfaces,” in Proc. of the The 6th Intl Workshop on Gesture in Human-Computer Interaction and Simulation, 2005.
 C. Shan, Y. Wei, T. Tan, F. Ojardias, ”Real Time Hand Tracking by Combining Particle Filtering and Mean Shift”, In: International Conference on Automatic Face and Gesture Recognition, 2004, pp. 669-674