Individualization of voxel-based hand model

Improvements in hand pose estimation, made possible by refining the model matching step, is necessary in creating a more natural human-robot interface. Individualizing the 3D hand model of the user can result to a better hand pose estimation. This paper presents a way to accomplish the individualization by estimating the length of the finger links (bones), which is unique for every user. The 3D model of the hand is made up of voxel data derived from silhouette images obtained by multiple cameras and the finger link is estimated by searching a set of models generated from the calibration motion of the fingers. Initial pose estimation result using the model shows the feasibility of the system.