Abstract:
The present invention relates to a method for recognizing gestures within a two-dimensional video stream for use in conference situations and the like, comprising the step of performing a skin-recognition within a screen of the video stream for recognizing skin parts, identifying at least one body part within the recognized skin parts, monitoring a state of at least one predefined screen area in respect to the at least one body part, and providing a control signal indicating a detected gesture upon detection of a change of state. The present invention further relates to a gesture detector adapted to perform the above method, a presentation system comprising the above gesture detector and a video camera device comprising a video camera and the above gesture detector.

Description:
TECHNICAL FIELD 
     The present invention relates to the field of gesture recognition, more particularly to gesture recognition in a video stream. 
     BACKGROUND 
     Gesture detection is becoming more and more important in nowadays world, since the detection of gestures enables a user to operate an IT-system, e.g. desktop computers, notebooks, PDAs, smart phones, game consoles, or others, based on simple and even natural human gestures without the need of using particular input devices like keyboards, trackballs, game controllers or others. Such input devices require a user to adapt his behavior to the needs of the particular input device, which may even differ from input device to input device. Although methods for recognizing gestures and gesture detectors are already known in the art, gesture recognition is only rarely applied in exceptional cases. Particular hardware requirements and a high computational effort for performing gesture detection prevent gesture control from being widely applied. 
     One such system for detecting gestures is based on a stereoscopic camera and a microphone hardware accessory, which are specifically designed for gesture detection. This technique is for example known to end-users as Kinect for use together with Microsoft X-Box 360 gaming console. In general, users can control an IT-system using the above hardware by means of gestures, e.g. for control of an augmented reality environment. Drawbacks of this solution are its dependency on the dedicated hardware, which makes it difficult to apply gesture recognition to any IT-system. Also, the Kinect-technology requires a well defined environment, in which the user can assure that gestures will be recognized by the Kinect-system. Furthermore, a calibration of the Kinect-system is required for each user. Another drawback of the Kinect-system is that the computational effort for recognizing gestures is very high, which makes it impossible to use gesture recognition on IT-systems having a low computational performance, which generally applies to mobile devices. For example in video conference situations, participants, who are e.g. out of the office in public locations using public access means for participating in the video conference, are excluded from gesture recognition due to lack of suitable hardware and the unsuitability of the public environment for gesture recognition. The same applies for the use of gesture detection in a presentation system to control a presentation device. 
     SUMMARY 
     It is therefore an object of the present invention to provide a method for recognizing gestures and a gesture detector, which can be used with standard hardware components, which allow powerful and reliable gesture detection with low computational effort. Furthermore, it is an object of the present invention to provide a video camera system for gesture detection, which is simple to use, which allows powerful and reliable gesture detection with low computational effort and which is cost-efficient. Finally, it is an object of the present invention to provide a presentation system, which can be easily controlled by human gestures, which is independent from hardware requirements and which allows powerful and reliable gesture detection with low computational effort. 
     The present invention relates to a method for recognizing gestures within a two-dimensional video stream for use in conference situations and the like. The present invention further relates to a gesture detector comprising an input for receiving a video stream, and a signaling output adapted to provide a control signal indicating a detected gesture, whereby the gesture detector is adapted to perform the above method. The present invention also relates to a presentation system comprising a video camera for generating a video stream, a presentation device for running a presentation comprising a signaling input adapted to receive a control signal for controlling the presentation, and the above gesture detector, whereby the input of the gesture detector is connected to the video stream generated by the video camera and the signaling output of the gesture detector is connected to the signaling input of the presentation device, and the presentation device is adapted to control the presentation upon reception of control signals from the gesture detector. Finally, the present invention relates to a video camera device comprising a video camera and the above gesture detector. 
     In particular, the present invention provides a method for recognizing gestures within a two-dimensional video stream for use in conference situations and the like, comprising the step of performing a skin-recognition within a screen of the video stream for recognizing skin parts, identifying at least one body part within the recognized skin parts, monitoring a state of at least one predefined screen area in respect to the at least one body part, and providing a control signal indicating a detected gesture upon detection of a change of state. 
     The present invention further provides a gesture detector comprising an input for receiving a video stream, and a signaling output adapted to provide a control signal indicating a detected gesture, whereby the gesture detector is adapted to perform the above method. 
     The basic idea is to perform a gesture detection based on a state machine, so that the state of the at least one body part can be monitored compared to the predefined screen area. The state machine can be easily implemented and requires only low computational effort for recognizing gestures. Gesture recognition is based on the state machine, i.e. the recognition of a gesture is determined by the current state and by a recognition of skin parts and body parts in a current scene of the video frame. 
     A scene, in this regard, refers to momentary video information of the video stream. Preferably, scenes are based on frames of the video stream. A history of scenes or particular data of previous scenes is not required and therefore not considered for the inventive gesture detection. 
     The detection of the body part is based on a prior skin-recognition. Skin-recognition is typically based on a detection of certain areas having a certain color within a scene of the video stream. Essentially, the color of each pixel in a frame of the video stream is compared with a set of rules defined in a particular color space such as RGB, YUV or HSV. Mathematically, each rule defines a plane that divides the color space into disjoint regions. The volume determined in the color space by the intersection of all planes corresponds to skin color. 
     Preferably, a mixture of rules defined over the HSV and RGB color spaces is applied for skin-recognition. By representing the pixel color as a vector denoted with [R, G, B] in the RGB color space and, respectively [H, S, V] in the HSV color space, the following composite rule is used to label the pixel as skin:
 
( R−G&gt; 29) and ( R−B&gt; 29) and ( H&lt; 27) and ( S&gt;= 0.188)
 
     The skin-recognition works as follows. The above rule is applied to each pixel in the frame, returning true for skin and false otherwise. Next, a binary skin mask of the same size as the input frame is filled in with the value 1 for a skin pixel and a value 0 for a non-skin pixel. Accordingly, the binary skin mask, also referred to as skin image, contains the recognized skin parts. 
     The skin-recognition can be easily done in conference situations and the like, which assumes certain preconditions. In such conference situations and the like, it is assumed that only the upper torso of a person is visible and skin parts of a body of one person are located in essentially the same plane. Furthermore, conference situations and the like are usually defined by the person sitting in front of the camera and directing himself towards the camera, for example in the style of a news speaker. This refers especially to a person holding a presentation, whereby the video camera focuses on this person. 
     Also the identification of body parts in the conference situations and the like is rather simple, since the visibility of the upper torso of the person implies that a face and/or a hand of a person are visible. Especially when a certain dress code is maintained, it can be assumed that a body and arms of a person are covered, leaving face and hands to be identified. The more assumptions are given in respect to conference situations and the like, the easier is the identification of the body parts within the recognized skin parts. 
     The control signal can indicate any kind of gesture suitable for recognition by the above method and gesture detector, e.g. simple gestures like raising a hand, or combined gestures, e.g. raising right and left hand. For example, a hand raised gesture is identified by raising a hand, i.e. placing a hand within the predefined screen area, which is in this case located in an upper part of the screen area. A further gesture can be defined as double raised hand, i.e. raising a hand, lowering the hand out of the predefined stream area, and raising the hand again. Also, changes of state of different screen areas in respect to different body parts can be combined as a single gesture, e.g. raising right and left hand. 
     The gesture detector can be located essentially at any place independently from a source of the video stream. The input for the video stream can be a video input, e.g. an analog or digital video input, or any kind of data input for transmission of a video stream via an IP-network, e.g. a LAN-connector. The gesture detector performs the above method by means of an internal processing unit, or under use of processing means, which are located outside the gesture detector. Accordingly, the detection of the gestures can even be performed by means of cloud computing with one or more processing units located outside the gesture detector. 
     The present invention further provides a video camera device comprising a video camera and the above gesture detector. 
     The video camera provides the video stream in accordance with the above method and gesture detector. The video camera device can be provided as a single apparatus or comprising one independent apparatus corresponding to the video camera and one independent apparatus corresponding to the gesture detector. The video camera and the gesture detector are connected by means of a network connection, e.g. a wired or wireless LAN-connection, or any kind of suitable video connection. Preferably, the gesture detector of the video camera device can make use of cloud services, as describe above in respect to the gesture detector. The use of cloud services enables the provisioning of a very simple and cheap gesture detector. 
     The present invention also provides a presentation system comprising a video camera for generating a video stream, a presentation device for running a presentation, whereby the presentation device comprises a signaling input adapted to receive a control signal for controlling the presentation, the above gesture detector, whereby the input of the gesture detector is connected to the video stream generated by the video camera and the signaling output of the gesture detector is connected to the signaling input of the presentation device, whereby the presentation device is adapted to control the presentation upon reception of control signals from the gesture detector. 
     For the presentation system, the presentation device can be located at any place. The signaling input is for example a network input, which is connected with a network output of the gesture detector. Accordingly, all components of the presentation system can be located apart from each other. The presentation device can be e.g. a local computer, which receives the control signal from the gesture detector, or a central server located with a computer network. The presentation device can even be a kind of virtual device provided by a cloud service. Preferably, the video camera device is connected to the gesture detector via a network connection. Preferably, the presentation system is part of a video conferencing system. The video camera is therefore part of the presentation system as well as of the video conferencing system. The gesture detector can be located at any place along a transport route of the video stream from the video camera to display devices of other participants of the video conference. The presentation device can be provided integrally with any kind of server of the video conferencing system, or at any other place, as specified above. 
     According to a preferred embodiment the method is adapted to perform all method steps for each video frame of the video stream. The simple processing of the video stream allows performing the skin-recognition, to identify the body part and to monitor the predefined screen area in respect to the body part, for each frame. Accordingly, the accuracy of the gesture detection can be increased. 
     A preferred embodiment comprises the step of predefining the predefined screen area in relation to the position of one body part. This allows easily adapting the method to different users having different measures and/or different positions in respect to the screen, so that the detection of the gestures is equally reliable for all these users in all positions. Additionally, a relative position of detected skin parts can be used for identifying different body parts, e.g. under the assumption of the hands being located in a lower right and left area of the screen. 
     Preferably, the predefined screen area is continuously adapted, so that when the user moves within the screen, gestures can be reliably detected. Even the change of the user is possible e.g. from a tall user to a short user, whereby for both users the gesture recognition can be reliably performed. As one example, the predefined screen area can be predefined in relation to the position of a hand. Accordingly, a relative movement of the hands can be detected as a gesture. In a different embodiment, the predefined screen area is a fixed area of the screen, which enables a very efficient processing of the video stream. 
     In a modified embodiment the step of predefining the predefined screen area comprises predefining the screen area in respect to a position of a face, and the step of monitoring a state of at least one predefined screen area in respect to the at least one body part comprises monitoring a hand. The face is usually characterized by being the biggest skin part within the screen, which makes detection rather simple. Furthermore, the face does not move frequently within the screen. In contrast, hands are frequently used and moved, for example to support speech by making publicly known gestures, indicating forms or pointing directions. Due to the relatively constant position, the face is a suitable basis for defining gestures. Also, a range of movement of hands in relation to the head is limited by the arms, and therefore easily detectable. Preferably, an angular position of the respective body part in relation to the head is monitored to identify a state. 
     In a preferred embodiment the step of identifying at least one body part within the recognized skin parts comprises identifying the skin part having the biggest size as belonging to a human face. Additionally or alternatively, also currently available face detectors, e.g. the HAAR feature classifier, can be used for face recognition. 
     In a preferred embodiment the step of identifying at least one body part within the recognized skin parts comprises identifying the skin part having the second biggest size as belonging to a human hand. Especially in conference situations and the like, such identification of body parts is highly reliable, since the number of available body parts in the screen is limited. Background persons, if present, will usually have reasonably smaller size on the screen, so that they can reliably be discarded for gesture recognition. Preferably, a hand is identified as a right or left hand based on its position relative to the face. Accordingly, a hand on a right side of the face is identified as right hand, whereas a hand on the left side of the face is identified as left hand. Even both hands located on the same side of the face can be reliably recognized due to their different distance from the face. Therefore, recognition of the right and left hand can be performed with high reliability. 
     In a modified embodiment the step of identifying at least one body part within the recognized skin parts comprises applying metrics of the golden ratio. The golden ratio defines a particular relation between width and height of human body parts, particularly human faces, which is universally applicable to almost any face. Accordingly, a skin part having dimensions according to the golden ratio can easily be identified as body part. 
     In a preferred embodiment the step of monitoring a state of at least one predefined screen area in respect to the at least one body part comprises monitoring a center position of the at least one body part. The center position can be evaluated by any of various algorithms generally referred to in the art as those directed to finding a “center of mass” of an object. Identification of the center of the body part facilitates monitoring of the predefined area and the identified body parts. Based on the center position, it is also rather simple to monitor if a body part enters the predefined screen area. Preferably, an additional bounding box around a skin part is used, which provides an estimate of the skin part within the screen. This further facilitates gesture detection since the detailed screen information is not required for further processing. 
     In a preferred embodiment the step of providing a control signal indicating a detected gesture upon detection of a change of state comprises identifying the change of state for a predefined time. Accordingly, an averaging is performed, which allows a more reliable detection of states and therefore a more reliable detection of gestures. Video errors and noise, which can prevent successful skin-recognition and/or identification of a body part, and which are not permanent, will therefore not decrease the reliability of the detection of gestures. The predefined time duration can be specified according to particular requirements, e.g. depending on the kind of gestures to be recognized, a frame rate, or an individual behavior of a person. 
     In a preferred embodiment the step of monitoring a state of at least one predefined screen area in respect to the at least one body part comprises monitoring a movement state of the at least one body part within the at least one predefined screen area. With the movement state, gestures defined by movement, also referred to as sweeping or swiping gestures, can be easily detected. The movement state can be defined as an indication of movement of the respective body part. Preferably, the movement state comprises monitoring a position, which allows deriving a direction of the movement. Accordingly, directions of swiped gestures can also be detected. Even more preferably, the movement state is monitored as an angular speed. 
     In a preferred embodiment, the gesture detector comprises one instance for monitoring each state of at least one predefined screen area in respect to the at least one body part. Each instance monitors the state independently, which enables a high variety of possible gestures to be recognized. Preferably, predefined screen areas and body parts are monitored independently for each instance, i.e. a detection of a body part within a predefined screen area can be used for detecting different gestures, e.g. when a right arm is raised in addition to a left arm, or independently without the left arm. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Some embodiments of apparatus and/or methods in accordance with the present invention are now described, by way of example only, and with reference to the accompanying drawings, in which: 
         FIG. 1  is a schematical view of a presentation system according to an exemplary embodiment, 
         FIG. 2  is a schematical view of a video frame indicating a method for detecting a hand raise gesture according to an exemplary embodiment, and 
         FIG. 3  is a schematical view of a video frame indicating a method for detecting a hand movement as swipe out gesture according to an exemplary embodiment. 
     
    
    
     DETAILED DESCRIPTION 
       FIG. 1  shows a presentation system  1  according to an exemplary embodiment. The presentation system comprises a video camera  2 , which generates a video stream  3  comprising multiple individual video frames  4 , whereby the video frames  4  refer to screens according to the present invention. Different video frames  4  are shown in  FIGS. 2 and 3 . 
     The presentation system  1  further comprises a gesture detector  5 , whereby an input  6  of the gesture detector  5  is connected to the video stream  3  generated by the video camera  2  via LAN-connection  7 . The gesture detector  5  further comprises a signaling output  8 , which is connected via a further LAN-connection  9  to a signaling input  1 C of a presentation device  11  of the presentation system  1 . The presentation device  11  is adapted to run a presentation and to control the presentation upon reception of control signals from the gesture detector  5 . 
     The gesture detector  5  comprises a skin segmentation unit  12 , which is adapted to perform skin-recognition within the video stream  3  for recognizing skin parts  13 , which are shown in  FIGS. 2 and 3 . Skin-recognition within the skin segmentation unit  12  is based on a detection of certain areas of a frame  4  having a certain color, which is associated to skin. The skin segmentation unit  12  provides as output a skin image  14 , which contains an identification of the skin parts  13  within the video frame  4 . 
     In this embodiment, skin-recognition is based on a detection of certain areas having a certain color within the video frame  4 . Essentially, the color of each pixel in the video frame  4  of the video stream is compared with a set of rules defined in a particular color space such as RGB, YUV or HSV. Mathematically, each rule defines a plane that divides the color space into disjoint regions. The volume determined in the color space by the intersection of all planes corresponds to skin color. 
     A mixture of rules defined over the HSV and RGB color spaces is applied for skin-recognition in this embodiment. By representing the pixel color as a vector denoted with [R, G, B] in the RGB color space and respectively [H, S, V] in the HSV color space, the following composite rule is used to label the pixel as skin:
 
( R−G&gt; 29) and ( R−B&gt; 29) and ( H&lt; 27) and ( S&gt;= 0.188)
 
     The skin-recognition works as follows. The above rule is applied to each pixel in the video frame  4 , returning true for skin and false otherwise. Next, the skin image  14  of the same size as the video frame  4  as binary file is filled in with the value 1 for a skin pixel and a value 0 for a non-skin pixel. Accordingly, the skin image  14  contains the recognized skin parts  13 . 
     For each identified skin part  13 , also referred to as scene object SO, its center of mass  15 , also referred to as CM, is computed, as center position from all object pixels that have been labeled as skin. The center of mass  15  is a pair &lt;X, Y&gt; of image coordinates and is used to calculate the relative positions and angles between different skin parts  13  in the frame  4 . In addition, each skin part  13  receives an associated bounding box  15 , also referred to as BB, which is identified by its extreme left, right, top and bottom skin pixel coordinates and represented, as a &lt;LEFT, TOP, RIGHT, BOTTOM&gt; quadruple. 
     The gesture detector  5  further comprises a scene object identification unit  17 , which receives the skin image  14  as input. The scene object identification unit  17  is adapted to identify body parts  19 ,  20  out of the skin parts  13  within the skin image  14 . The scene object identification unit  17  first performs a basic identification of the body parts  19 ,  20 , also referred to as scene objects (SO), by identifying the skin part  13  having the biggest size as face  19 . The recognized skin parts  13  having the second biggest size are identified as hands  20 . In detail, the hand  20  located on the left side of the face  19  is identified as left hand, whereas the hand  20  located on the right side of the face  19  is identified as right hand. 
     Additionally, the scene object identification unit  17  performs a second identification step applying metrics of the golden ratio to the recognized skin parts  13 . Accordingly, a feasibility check is performed, if the width and height of the skin parts  13  identified as body parts  19 ,  20  fulfill the golden ratio. The scene object identification unit  17  provides as output a body image  21  with identified body parts  19 ,  20 , whereby each body part  19 ,  20  is represented in accordance with the representation of the skin parts  13  within the skin image  14 . 
     The gesture detector  5  further comprises a set of three gesture detector instances  22 , also referred to as GDI, which are adapted to monitor a state of one predefined screen area  23  in respect to one body part  19 ,  20 . The predefined screen area  23  is defined in each case in respect to the head  19  by an angular position, as indicated in  FIGS. 2 and 3 . The gesture detector instances  22  each monitor a state of one predefined screen area  23  in respect to a hand  20 . 
     Upon receiving the body image  21  at its input, each gesture detector instance  22  calculates the relative angle and position between the position of the head  19 , also referred to as HSO, and the corresponding positions of the left hand  20 , also referred to as LHSO, or the right hand  20 , also referred to as RHSO. Each of the gesture detector instances  22  applies a set of spatiotemporal rules on this data, which means that a relative position is evaluated and a change of this position is monitored over the time in order to update its current internal state. When a current internal state of a gesture detector instance  22  indicates a successful detection, a gesture event is raised by that gesture detector instance  22  and the respective control signal indicating the detection of the particular gesture is provided at the signaling output  8  of the gesture detector  5 . 
     Now a detection of a hand raise gesture is described in detail. The gesture detector instance  22  for detecting the hand raise gesture, also referred to as HRGD, is built around a 2-state machine. In an IDLE state, the HRGD searches the current body image  21  for a condition (1), as specified below, which triggers the control signal for the hand raise gesture:
 
(CM SO   .Y &gt;BB HSO .BOTTOM) and (α&lt;α min )  (1)
 
where:
         SO=LHSO or RHSO   α=arctg(abs(CM SO .Y−CM HSO .Y)/abs(CM SO .X−CM HSO .X))   α min =an application-specific threshold (e.g. 30 deg)   X=X-coordinate   Y=Y-coordinate   BOTTOM=bottom skin pixel coordinate       

     When the condition (1) becomes valid, meaning that the hand  20  has entered the predefined screen area  23 , the HRGD enters the ACTIVE state. The ACTIVE state is maintained as long as condition (1) remains valid. When condition (1) becomes invalid, due to the hand  20  leaving the predefined screen area  23 , the HRGD raises a hand down gesture and falls back to IDLE state. 
     Another gesture detector instance  20  is adapted to provide the control signal for an identified gesture upon identification of subsequent changes of a state. The gesture monitored by the respective gesture detector instance  22  consists of raising and lowering the hand  20 . This gesture is detected upon detecting first the hand raise gesture and subsequently the hand down gesture, as described above. Accordingly, a change of state from the hand  20  not being within the predefined area  23  to the hand  20  being within the predefined area  23  to the hand  20  not being within the predefined area  23  triggers the respective gesture. 
     Now a detection of a swipe gesture, i.e. a gesture based on detection of a movement, is described in detail. The gesture detector instance  22  for detecting the swipe gesture, also referred to as SWGD, has an internal 3-state machine. The SWGD is able to detect either a swipe-in occurrence, caused by a movement of the hand  20  from the outer margin towards the center of the frame  4  or a swipe-out occurrence, caused by a movement of the hand  20  from the center of the frame  4  towards its outer margin. As a result, the gesture detector  5  may contain up to four SWGDs per conference participant, one for each possible combination of one hand  20  together with one direction of movement. 
     Subsequently is described the case of the swipe-out, detected by the SWGD. The detector starts with and maintains the IDLE state until the initiator condition (2) is met:
 
(CM SO   .Y &lt;BB HSO .BOTTOM) and (β&lt;=β min )  (2)
 
where:
         SO=LHSO or RHSO   β=arctg(abs(CM SO .X−CM HSO .X)/abs(CM SO .Y−CM HSO .Y))   β min =an application-specific threshold (e.g. 5 deg)   X=X-coordinate   Y=Y-coordinate   BOTTOM=bottom skin pixel coordinate       

     When this condition is met, the SWGD changes to TRACKING state. This state is maintained as long as the hand  20  moves in the expected direction without reaching a maximum hand to head angle threshold β max  and that tracking is not lost for a time interval longer than an application-specific value T max . If tracking is lost, as would occur e.g., if the hand SO disappeared from the scene, the SWGD returns back to IDLE state and no control signal is generated. If tracking is lost temporarily, e.g. due to a video error, the SWGD continues tracking, if the loss is shorter than a predetermined duration, e.g. about 10 frames. 
     If TRACKING occurs without losses, in the moment the activator condition (3) is met:
 
(CM SO   .Y &lt;BB HSO .BOTTOM) and (β=&gt;β max )  (3)
 
where:
         SO=LHSO or RHSO   β=arctg(abs(CM SO .X−CM HSO .X)/abs(CM SO .Y−CM HSO .Y))   β max =an application-specific threshold (e.g. 45 deg),   X=X-coordinate   Y=Y-coordinate   BOTTOM=bottom skin pixel coordinate       

     the SWGD enters the ACTIVE state, in which a control signal for the swipe gesture is generated. The control signal contains parameters indicating the hand  20  and the direction of the movement. 
     Following the generation of the control signal, the SWGD immediately falls back into IDLE state and starts a new detection cycle. 
     The swipe-in case is very similar except for the fact that the initiator and activator conditions (2) and (3) are interchanged, since the expected movement of the hand  20  occurs in the opposite direction. 
     The above method is implemented in the gesture detector  5  to perform all steps for each video frame  4  of the video stream  3 . Thus, skin-recognition and identification of body parts  19 ,  20  is performed for each video frame  4 , and a state change is monitored. Upon detection of a state change the control signal for a detected gesture is raised. The gesture detector  5  is implemented to monitor the state change after each frame  4 . 
     In this exemplary embodiment, the gesture detector  5  is provided apart from the video camera  2 . Particularly, the gesture detector  5  is located in a so-called cloud for processing the video stream  3  and providing the control signals. 
     In this exemplary embodiment, the presentation system  1  forms part of a video conferencing system, which is not further shown in the figures. Accordingly, the video stream  3 , which is provided by the video camera  2 , is further provided to a server of the video conferencing system, which is also not shown in the figures. The video stream  3  is provided by the video conferencing server to further participants. The video conferencing server is further adapted to provide a video stream  3  backwards to all users. 
     A video camera device  24  according to an exemplary embodiment is provided as a combination of the video camera  2  and the gesture detector  5  as described above. The video camera device  24  forms an independent component, which can be used for providing the control signals to any kind of device. Similarly, also the gesture detector  5  can be used independently for combination with any available video camera  2  and any kind of device to be controlled by the control signals. 
     The present inventions may be embodied in other specific apparatus and/or methods. The described embodiments are to be considered in all respects as only illustrative and not restrictive. In particular, the scope of the invention is indicated by the appended claims rather than by the description and figures herein. All changes that come within the meaning and range of equivalency of the claims are to be embraced within their scope.