In the multi-modal natural human-computer interaction (HCI), real-time finger position detection with high accuracy becomes an important basis for interactive modeling of the virtual environment. In this paper, a novel fingertip auto-positioning (FAP) detection method is proposed for tracking finger position with a Microsoft Kinect sensor. Based on the finger skeleton point obtained through the Kinect SDK (Software Development Kit), skeleton point correction and fingertip auto-positioning are realized with the pixels circle which covers the fingertip area within a certain threshold. The experimental results show that the average AMPE (Absolute Mean Percentage Error) of the proposed finger position detection method are 1.47%, 1.62% and 0.80% respectively in the direction of X, Y and Z axes while its execution rate is 23 Hz. The proposed method can be applied to haptic based virtual reality applications and provide required position information for haptic modeling.

在多模式自然人机交互（HCI）中，高精度的实时手指位置检测成为虚拟环境交互建模的重要基础。在本文中，提出了一种新颖的指尖自动定位（FAP）检测方法，该方法可以使用Microsoft Kinect传感器跟踪手指位置。基于通过Kinect SDK（软件开发工具包）获得的手指骨骼点，骨骼点校正和指尖自动定位可以在一定阈值内覆盖指尖区域的像素圈实现。实验结果表明，提出的手指位置检测方法在X，Y和Z轴方向的平均AMPE（绝对平均百分比误差）分别为1.47％，1.62％和0.80％，而执行速度为23 Hz。