| CPC G06T 7/251 (2017.01) [G06T 7/75 (2017.01); G06V 40/28 (2022.01); G06T 2200/04 (2013.01); G06T 2207/30196 (2013.01)] | 27 Claims |
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1. A method, the method comprising:
performing respective rotation conversions of initial positions of hand joints based on a set three-dimensional (3D) coordinate system, wherein the initial positions are obtained from an image of a hand and reflect a current pose of the hand;
estimating angle information, of the current pose, of finger joints resulting from the respective rotation conversions of the initial positions of the hand joints, with at least some of the respective rotation conversions corresponding to different rotations;
generating a kinematic model of the hand joints based on the initial positions of the hand joints and the angle information of the finger joints; and
tracking the hand joints by generating at least one of updated positions or angles of the hand joints in the current pose based on the initial positions of the hand joints and the kinematic model,
wherein the estimating of the angle information further includes performing the estimating of the angle information of the finger based on a selected, based on the determination of whether the finger joint is bent, one among a consideration of a geometry among multiple finger joints in the image and a consideration of a calculated finger joint angle in a previous image.
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