Kinect Hand Detection

This is a graphical interface inspired by the movie “Minority Report”. It
uses the Kinect sensor from Microsoft, and the recently released
libfreenect driver for interfacing with the Kinect in linux. The
graphical interface and the hand detection software were written at MIT
to interface with the open source robotics package ‘ROS’, developed by
Willow Garage ( The hand detection software showcases the abilities of
the Point Cloud Library (PCL), a part of ROS that MIT has been helping to
optimize. The hand detection software is able to distinguish hands and
fingers in a cloud of more than 60,000 points at 30 frames per second,
allowing natural, real time interaction.
Code available at:

Work done by CSAIL’s LIS Group ( and Robot Locomotion Group (

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