Disclosed is a human hand-object interaction process tracking method based on collaborative differential evolution filtering. The method comprises: extracting a foreground area corresponding to a human hand and an object in an image to be detected, and generating an observation depth map and a corresponding observation silhouette map; respectively obtaining a human hand motion posture and an object motion posture on the basis of a constructed human hand kinematic model and an object kinematic model, wherein the human hand motion posture and the object motion posture form a human hand-object posture vector, and generating a corresponding rendering depth map; by means of taking the image to be detected as an observation input, constructing a matching error function of the observation input and the human hand-object posture vector; and using a collaborative differential evolution filtering algorithm to respectively perform posture optimization on the human hand and the object by means of calculating the matching error function, so as to obtain motion tracking of the human hand and the object during the human hand-object interaction process. The robust tracking of human hand-object motion is performed by using a small number of particles.
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