Interactive Sand Art Drawing Using RGB-D Sensor

Sai-Keung Wong*, Kai Min Chen, Ting Yu Chen

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

2 Scopus citations


We present an interactive system using one RGB-D sensor, which allows a user to use bare hands to perform sand drawing. Our system supports the common sand drawing functions, such as sand erosion, sand spilling, and sand leaking. To use hands to manipulate the virtual sand, we design four key hand gestures. The idea is that the gesture of one hand controls the drawing actions. The motion and gesture of the other hand control the drawing positions. There are three major steps. First, our system adopts a vision-based bare-hand detection method which computes the hand position and recognizes the hand gestures. Second, the drawing positions and the drawing actions are sent to a sand drawing subsystem. Finally, the subsystem performs the sand drawing actions. Experimental results show that our system enables users to draw a rich variety of sand pictures.

Original languageEnglish
Pages (from-to)643-661
Number of pages19
JournalInternational Journal of Software Engineering and Knowledge Engineering
Issue number5
StatePublished - 1 May 2018


  • Human-computer interaction
  • gesture recognition
  • hand tracking
  • sand art


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