Database based hand pose estimation
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Database-Based Hand Pose Estimation. CSE 6367 – Computer Vision Vassilis Athitsos University of Texas at Arlington. Static Gestures (Hand Poses). Given a hand model, and a single image of a hand, estimate: 3D hand shape (joint angles). 3D hand orientation. Joints. Input image.

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Database-Based Hand Pose Estimation

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Database based hand pose estimation

Database-Based Hand Pose Estimation

CSE 6367 – Computer Vision

Vassilis Athitsos

University of Texas at Arlington


Static gestures hand poses

Static Gestures (Hand Poses)

Given a hand model, and a single image of a hand, estimate:

3D hand shape (joint angles).

3D hand orientation.

Joints

Input image

Articulated hand model


Static gestures

Static Gestures

Given a hand model, and a single image of a hand, estimate:

3D hand shape (joint angles).

3D hand orientation.

Input image

Articulated hand model


Database based hand pose estimation

Given the 3D hand pose in the previous frame, estimate it in the current frame.

Problem: no good way to automatically initialize a tracker.

Rehg et al. (1995), Heap et al. (1996), Shimada et al. (2001),

Wu et al. (2001), Stenger et al. (2001), Lu et al. (2003), …

Goal: Hand Tracking Initialization


Assumptions in our approach

Assumptions in Our Approach

A few tens of distinct hand shapes.

All 3D orientations should be allowed.

Motivation: American Sign Language.


Assumptions in our approach1

Assumptions in Our Approach

A few tens of distinct hand shapes.

All 3D orientations should be allowed.

Motivation: American Sign Language.

Input: single image, bounding box of hand.


Assumptions in our approach2

Assumptions in Our Approach

We do not assume precise segmentation!

No clean contour extracted.

input image

skin detection

segmented hand


Approach database search

Approach: Database Search

Over 100,000 computer-generated images.

Known hand pose.

input


Database based hand pose estimation

Why?

We avoid direct estimation of 3D info.

With a database, we only match 2D to 2D.

We can find all plausible estimates.

Hand pose is often ambiguous.

input


Building the database

Building the Database

26 hand shapes


Building the database1

Building the Database

4128 images are generated for each hand shape.

Total: 107,328 images.


Features edge pixels

Features: Edge Pixels

We use edge images.

Easy to extract.

Stable under illumination changes.

input

edge image


Chamfer distance

Chamfer Distance

input

model

Overlaying input and model

How far apart are they?


Directed chamfer distance

Input: two sets of points.

red, green.

c(red, green):

Average distance from each red point to nearest green point.

Directed Chamfer Distance


Directed chamfer distance1

Input: two sets of points.

red, green.

c(red, green):

Average distance from each red point to nearest green point.

c(green, red):

Average distance from each red point to nearest green point.

Directed Chamfer Distance


Chamfer distance1

Input: two sets of points.

red, green.

c(red, green):

Average distance from each red point to nearest green point.

c(green, red):

Average distance from each red point to nearest green point.

Chamfer Distance

Chamfer distance:

C(red, green) = c(red, green) + c(green, red)


Evaluating retrieval accuracy

Evaluating Retrieval Accuracy

A database image is a correct match for the input if:

the hand shapes are the same,

3D hand orientations differ by at most 30 degrees.

correct matches

input

incorrect matches


Evaluating retrieval accuracy1

Evaluating Retrieval Accuracy

An input image has 25-35 correct matches among the 107,328 database images.

Ground truth for input images is estimated by humans.

correct matches

input

incorrect matches


Evaluating retrieval accuracy2

Evaluating Retrieval Accuracy

Retrieval accuracy measure: what is the rank of the highest ranking correct match?

correct matches

input

incorrect matches


Evaluating retrieval accuracy3

Evaluating Retrieval Accuracy

input

rank 1

rank 2

rank 3

rank 4

rank 5

rank 6

highest ranking

correct match


Results on 703 real hand images

Results on 703 Real Hand Images


Results on 703 real hand images1

Results on 703 Real Hand Images

  • Results are better on “nicer” images:

    • Dark background.

    • Frontal view.

    • For half the images, top match was correct.

22


Examples

Examples

segmented

hand

edge

image

initial

image

correct

match

rank: 1


Examples1

Examples

segmented

hand

edge

image

initial

image

correct

match

rank: 644


Examples2

Examples

segmented

hand

edge

image

initial

image

incorrect

match

rank: 1


Examples3

Examples

segmented

hand

edge

image

initial

image

correct

match

rank: 1


Examples4

Examples

segmented

hand

edge

image

initial

image

correct

match

rank: 33


Examples5

Examples

segmented

hand

edge

image

initial

image

incorrect

match

rank: 1


Examples6

Examples

segmented

hand

edge

image

“hard”

case

segmented

hand

edge

image

“easy”

case


Research directions

Research Directions

More accurate similarity measures.

Better tolerance to segmentation errors.

Clutter.

Incorrect scale and translation.

Verifying top matches.

Registration.


Efficiency of the chamfer distance

Efficiency of the Chamfer Distance

Computing chamfer distances is slow.

For images with d edge pixels, O(d log d) time.

Comparing input to entire database takes over 4 minutes.

Must measure 107,328 distances.

input

model


The nearest neighbor problem

The Nearest Neighbor Problem

database


The nearest neighbor problem1

The Nearest Neighbor Problem

Goal:

find the k nearest neighbors of query q.

database

query


The nearest neighbor problem2

The Nearest Neighbor Problem

Goal:

find the k nearest neighbors of query q.

Brute force time is linear to:

n (size of database).

time it takes to measure a single distance.

database

query


The nearest neighbor problem3

Goal:

find the k nearest neighbors of query q.

Brute force time is linear to:

n (size of database).

time it takes to measure a single distance.

The Nearest Neighbor Problem

database

query


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