Systems and methods of tracking moving hands and recognizing gestural interactions

A non-transitory computer readable storage medium impressed with computer program instructions to determine a gesture performed by the at least a portion of a hand in three dimensional (3D) sensory space, which instructions, when executed on a processor, implement actions comprising:

• determining a variance between a point on a set of observation information based on a first image and a corresponding point on at least one of a set of 3D capsules fitted to another set of observation information based on a second image by:
• pairing point sets from points on a surface of the observation information with points on the 3D capsules or axes of the 3D capsules, wherein normal vectors to points on the set of observation information are parallel to normal vectors to points on the 3D capsules;
• and
• determining the variance comprising a reduced root mean squared deviation (RMSD) of distances between paired point sets;
• and
• determining a gesture performed by the at least a portion of a hand based on the determined variance;
• and
• providing as an output, the gesture as determined.

A system to determine a gesture performed by the at least a portion of a hand in three dimensional (3D) sensory space, comprising:

• a processor and a computer readable storage medium storing computer instructions configured to cause the processor to:
• determine a variance between a point on a surface of another set of observation information based on a first image and a corresponding point on at least one of a set of 3D capsules fitted to another set of observation information based on a second image by:
• pairing point sets from points on a surface of the observation information with points on the 3D capsules or axes of the 3D capsules, wherein normal vectors to points on the set of observation information are parallel to normal vectors to points on the 3D capsules;
• and
• determining the variance comprising reduced root mean squared deviation (RMSD) of distances between paired point sets;
• and
• determine a gesture performed based on the determined variance;
• and
• provide as an output, the gesture as determined.