Three dimensional hand tracking by improved particle swarm optimized particle filter

LI Dong-nian; ZHOU Yi-qi

doi:10.3788/OPE.20142210.2870

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Three dimensional hand tracking by improved particle swarm optimized particle filter

更新时间：2020-08-13

- Three dimensional hand tracking by improved particle swarm optimized particle filter
- Optics and Precision Engineering Vol. 22, Issue 10, Pages: 2870-2878(2014)
- 作者机构：
  
  1. 山东大学机械工程学院虚拟工程研究中心,山东济南,250061
  2. 山东大学高效洁净机械制造教育部重点实验室,山东济南,250061
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20142210.2870
  CLC： TP391.4
- Received：24 March 2014，
  
  Revised：29 May 2014，
  
  Published：25 October 2014
- 稿件说明：
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李东年, 周以齐,. 采用改进粒子群优化粒子滤波的三维人手跟踪[J]. 光学精密工程, 2014,22(10): 2870-2878

LI Dong-nian, ZHOU Yi-qi,. Three dimensional hand tracking by improved particle swarm optimized particle filter[J]. Editorial Office of Optics and Precision Engineering, 2014,22(10): 2870-2878
李东年, 周以齐,. 采用改进粒子群优化粒子滤波的三维人手跟踪[J]. 光学精密工程, 2014,22(10): 2870-2878 DOI： 10.3788/OPE.20142210.2870.

LI Dong-nian, ZHOU Yi-qi,. Three dimensional hand tracking by improved particle swarm optimized particle filter[J]. Editorial Office of Optics and Precision Engineering, 2014,22(10): 2870-2878 DOI： 10.3788/OPE.20142210.2870.

摘要

针对高维人手状态空间中的采样稀疏问题

提出了一种基于改进粒子群优化粒子滤波的关节人手跟踪方法

用于从Kinect获取的深度图像序列中恢复三维人手运动.首先

利用简单几何基元建立三维人手模型

并为其添加自由度节点

用于在跟踪过程中生成可与观测特征进行比较的人手姿势假设.然后

在粒子滤波框架下

使用深度图像作为观测输入

融合深度特征与区域特征建立了系统观测模型.最后

将粒子群优化粒子滤波应用于关节人手运动跟踪.为避免在高维空间中的早熟收敛问题

利用模拟退火思想和局部随机化方法对算法进行改进

增强了算法的全局搜索能力.通过合成序列和真实序列上的跟踪实验对该方法进行了评价

结果表明该方法的关节角度跟踪误差均值约为2.3°

标准差约为1.7°

优于标准粒子滤波和标准粒子群优化跟踪方法

可以准确、鲁棒地从深度图像跟踪三维人手运动.

Abstract

To overcome the difficulty of dense sampling in a high-dimensional hand state space

an improved Particle Swarm Optimized Particle Filter (PSOPF) algorithm was proposed to track articulated hand motion from single depth images obtained by a Kinect sensor. Firstly

a 3D hand model was built with basic geometric primitives

and the nodes with degrees of freedom (DOFs) were added into the model to generate the hand pose hypotheses to compare with the observation feature in the tracking process. Then

the single depth images were used as the only input

and the system observation model was established by combining depth features and silhouette features in the framework of particle filter. Finally

the PSOPF was applied to articulated hand tracking. To avoid the premature convergence in the high-dimensional space

the global search ability of the algorithm was improved by applying simulated annealing and partial randomization on the particles. Experiments were conducted both on synthetic data and real sequences for evaluation of the proposed method. It shows that the average of the joint angle errors for proposed method is about 2.3° and the standard deviation is about 1.7°

which are better than those of the standard Particle Filter(PF) and the standard Particle Swarm Optimization (PSO) method. The results show that the proposed method may track 3D articulated hand motion accurately and robustly from single depth images.

关键词

Keywords

references

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