“…Second, the system must be able to deal with complex, cluttered backgrounds, making segmentation of the gesturing hand difficult. Most work in the field tries to circumvent the problem by either using colored markers, or by requiring the background to be static, or by requiring the hand to be the only skincolored object in the scene [20], [3], [7], [6], [12], [9], [14], [13]. In contrast to this, our goal was a system that works in relatively unconstrained environments, where segmentation based on primitive cues is not always possible.…”