2017 Fourth International Conference on Image Information Processing (ICIIP)

Graph Fourier Transform Based Descriptor for

Gesture Classification
Jaya Shukla∗ , Vijay Kumar Chakka† , A. Satyanarayana Reddy‡ , and Madan Gopal†
∗ Department of Computer Science and Engineering, Shiv Nadar University.
Email: {js234@snu.edu.in}
† Department of Electrical Engineering, Shiv Nadar University.

Email: {vijay.chakka@snu.edu.in, mgopal@snu.edu.in}

‡ Department of Mathematics, Shiv Nadar University.

Email: {satyanarayana.reddy@snu.edu.in}

Abstract—This paper proposes a method for gesture classi-
fication based on Graph Fourier transform (GFT) coefficients.
GFT coefficients are the projection of image pixel block onto
the eigenvectors of a Laplacian matrix. This Laplacian matrix
is generated from undirected graph, representing a spatial
connectedness between each pixel within an image block. This
work proposes a method for generating an undirected graph
by using edge information of the image. Edge information of
the image is obtained by average sum of absolute difference
between the current pixel and its neighboring pixels by using an
appropriate threshold. The resulting GFT based feature vector
is formed by concatenating GFT coefficients of each block. The
resultant feature vector is applied to linear Support Vector
Machine (SVM) classifier to predict the gesture class. For NTU
and Massey hand gesture datasets, threshold value 30 gives
maximum prediction accuracy. We compare the results of the
proposed GFT based descriptor approach with Karhunen-Loeve
transform (K-LT) and Discrete Cosine transform (DCT) based
descriptors on three different gesture datasets: NTU, Cambridge
and Massey. Simulation results show that the proposed GFT
based descriptor gives a comparable results with Karhunen-
Loeve transform (K-LT) and Discrete Cosine transform (DCT)
based descriptors for gesture classification.
I. I NTRODUCTION
In the recent past, researchers renewed their interest in
applying graph theory concepts for the discrete signals pro-
cessing, termed as Graph Signal Processing. Graph signal
processing uses techniques of algebraic graph theory and
computational harmonic analysis to process signals/data gen-
erated from areas such as transportation, social, and sensor
networks [1]- [2]. The growing interest of researchers in graph
based discrete signal processing has encouraged to study the
transform approaches on the signals residing on the graph,
termed as Graph Fourier transform.
In the literature, GFT has found applications like image
compression [3], image interpolation, image denoising [4] and
attitude analysis [5].
A. Motivation and Contributions
Despite active research over last two decades, image clas-
sification still has challenges such as illumination condition,
different shapes, size and speed variation, background details
and issues due to occlusion [6]. Prediction accuracy of image
classification algorithms relies on the choice of a suitable
feature descriptor.
For the images, graphs have the ability to model local
relations between image pixels and edges. In case of Graph
Signal Processing, converting an image into a graph considers
the spatial as well as structural information. In Graph Signal
processing, an image is mapped onto structural graph where
nodes represent the pixels and edges depict the relationship
between nodes.
In this work, we focus on the discriminative strength of
the GFT based method. GFT is the projection of image block
onto the eigenvectors of a Laplacian matrix obtained from
proposed undirected graph representation of image block. DCT
and Discrete Fourier transforms (DFT) are fixed transforms
with no signal adaptations, i.e., if the size of the block is fixed,
then DFT and DCT transformation matrix is fixed. Whereas
in GFT, different gesture sequences contain different number
of nodes and different edges for the proposed graph structure.
This leads to a different set of graph Laplacian eigenvectors,
i.e., giving distinct graph Fourier transform bases. Thus, graph
frequency representations for different gesture sequences will
be different.
In classical graph construction approach, when the neigh-
boring pixels are close or when pixels i and j belong to
the same region, weight in adjacency matrix will be large.
If pixels i and j belong to the different regions, weight will
be small [7]. But in this work, we construct an undirected
graph based on the edge information of the image. In general,
sum of absolute difference (SAD) is used to measure similarity
between original image and reference image [8].
We use Average of SAD (ASAD) to obtain edge information
of the image. In order to find edge information of image I, we
construct a binary matrix, called “image edge information ma-
trix A (I)” with same size as image I. Now we will construct
the adjacency matrix A using the image edge information
matrix A (I) based on k-nearest neighborhood method.
This work presents a new image classification method based
on GFT feature descriptor. The main contributions of this work
are:

978-1-5090-6734-3/17/$31.00 ©2017 IEEE 388

 2017 Fourth International Conference on Image Information Processing (ICIIP)
1) Proposed a method for gesture classification based on
Graph Fourier Transform (GFT).
2) Proposed a method for generating an undirected graph
using an appropriate threshold to preserve local neigh-
borhood information.
B. Related Work
In the application areas of sign language recognition,
human-computer interaction, virtual reality and computer
graphics, hand gesture recognition has become of great impor-
tance [9]. Despite active research over last two decades, vision
based hand gesture recognition methods [10]- [12] still have
challenges such as illumination condition, different shapes,
size & speed variation, background details and issues due
to occlusion [6]. Extensive literature related to hand gesture
recognition system in particular or gesture recognition in
general is given in [10]- [12]. In the literature, the feature
descriptors used for classification are mainly based on the
shape, i.e., contour or region of the object information for
the vision based methods. S. Belongie et. al. [13] presented
a method that measured similarity between the shapes and
used this descriptor for object recognition. H. Ling et. al. [14]
proposed a method based on part structure. They made shape
descriptors which capture the part structure and are robust
to articulation using the inner-distance. X. Bai et. al. [15]
presented a graph matching algorithm and applied it to shape
recognition based on object silhouettes.
In other feature extraction methods, features (HOG, DFT,
DCT, K-LT, 3D model based) of training images are used to
model the visual appearance and compare these features with
the features of test images [16]. In 2005, Dalal et. al. [17] used
Histogram of Oriented Gradient (HOG) for human detection.
Liu et. al. [18] chose to use Gabor filter as a feature descriptor
followed by principal component analysis for dimensionality
reduction and used Support Vector Machine as a classifier for
different illumination conditions. R. Zen et. al. [19] proposed
a robust part based hand gesture recognition system using the
Kinect sensor on NTU hand gesture dataset.
C. Organization of the Paper
GFT feature descriptor is described in Section II including
the method of construction. Section III explains proposed
method for classification. Section IV discusses the experimen-
tal setup followed by results and discussion. Section V presents
the results comparison between GFT, DCT and K-L transform
for gesture images. Concluding remarks and future directions
are made in Section VI.
II. G RAPH F OURIER T RANSFORM FOR I MAGES
A directed graph (in short, digraph), denoted G = (V, E),
consists of the vertex set V and the edge set E ⊂ V × V .
If e = (u, v) ∈ E, then the edge e is said to be incident
with vertices u and v. An edge e = (u, u) is called a loop. A
digraph is called a graph if for any two elements u, v ∈ V ,
(u, v) ∈ E whenever (v, u) ∈ E and in this case, we write
e = {u, v}. We also state it by saying that the vertices u and
389
v are adjacent. Let v be a vertex of a graph G, then the degree
of v, denoted d(v), means the number of vertices incident at
v. For any finite set S, let |S| denote the number of elements
in S. Then a graph/digraph is said to be finite if |V | and |E|
are finite. A graph is called simple if it has no loops. In this
paper, graph means finite, simple and undirected graph.
An adjacency matrix of a graph G = (V, E) with |V | =
N , is an N × N matrix, denoted A(G) = [aij ] (or A), with
aij = 1, if the i-th vertex is adjacent to the j-th vertex and 0,
otherwise.
Another matrix associated with the graph G is the Laplacian
matrix denoted as L(G) or simply L and is defined as
L = D − A, (1)
where A is the adjacency matrix and D is the degree matrix,
which is a diagonal matrix whose diagonal entries are given
by
N
Dii = Aij . (2)
j=1
It is easy to check that L is a symmetric and positive semi
definite matrix, hence its eigenvalues are nonnegative, real and
can be ordered as 0 = λ0 ≤ λ1 ≤ λ2 ≤ λ3 · · · ≤ λN −1 .
U VON Luxburg has also explained these concepts in his
tutorial for spectral clustering [20]. In 2003, Niyogi et. al. [21]
found that the Laplacian of a graph incorporates neighborhood
information of the dataset. Hence, in this work, we construct
GFT coefficients based on Laplacian matrix of the graph which
preserves the neighborhood information. A graph signal S is a
real-valued function defined on the vertices of the graph, i.e.,
S : V → R and v → S(v). A signal S can also be represented
as a vector, i.e. S ∈ RN where ith component of the vector
S denotes signal value of ith vertex in V .
The classical Fourier transform is the expansion of a signal
S in terms of the eigenvectors of the Laplacian operator, i.e.,
fˆ(ζ) = f, e2πiζt . Analogously, the GFT of a signal S ∈ RN
on the vertices of G is the expansion of S in terms of the
eigenvectors of the graph Laplacian. GFT coefficients are the
inner product of S with the eigenvectors of the graph Laplacian
matrix, i.e.,
XGF T = T H .S (3)
where T is the matrix formed with eigenvectors of the
Laplacian matrix of G as columns, T H denotes the conjugate
transpose of T and S is the pixel values of the image block.
These GFT coefficients are used as a feature descriptors for
classification.
A. GFT Feature Descriptor Computation
Given an N × N image I whose ij th pixel value is denoted
by I(i, j). To find out the edge information from the image,
for each pixel (I(i, j)) we will calculate the ASAD i.e. (θi,j )
from its 8 neighboring pixels as follows:
 2017 Fourth International Conference on Image Information Processing (ICIIP)

• For the corner pixels, i.e., first and last pixels of the Results of adjacency matrix A, degree matrix D, Laplacian
first row and first and last pixel of the last row, θi,j is matrix L, matrix of eigenvectors T made from the binary
calculated as given in equation 4. matrix A as given in example II.1, are shown in the Figure 1.
1 1
1 
θi,j = |I(i + k, j + l) − I(i, j)| (4)
3
k=0 l=0

• For the pixels on the boundary but not on the corner, θi,j
is calculated as given in equation 5.
1 1
1 
θi,j = |I(i + k, j + l) − I(i, j)| (5)
5
k=0 l=−1

• For rest of the image, θi,j is calculated as given in

equation 6.
1 1
1  
θi,j = |I(i + k, j + l) − I(i, j)| (6)
8
k=−1 l=−1

If the ASAD, i.e., (θi,j ) is greater than some threshold value

(Γ), value 1 is assigned for that pixel, else value 0 as given in Fig. 1: An example of constructing GFT coefficients from a
equation 7.  3 × 3 pixel block given in example II.1. The corresponding
1 if θi,j > Γ adjacency A, degree D and Laplacian L matrix have been
A (i, j) = (7)
0 if θi,j ≤ Γ computed. Eigenvector matrix T for the Laplacian matrix L
and its GFT coefficients are shown
The value of θi,j gives a measure of local smoothness of
signal S around vertex I(i, j). The value of θi,j is small For calculating the GFT coefficients, we stack the pixels of
when θi,j has similar values at I(i, j) and all its neighborhood the N × N blocks into a length-N 2 vector S on the column
vertices. Different values of threshold (Γ) like 10, 20, 30, 40 basis as described below:
and 50 have been used to get the edge information from the  T
image. We illustrate this in the following example for Γ = 30. S= C11 , . . . , CN 1 , C12 , . . . , CN 2 , . . . , C1N , . . . , CN N 1×N 2
(8)
Example II.1. Let I be an image block, defined as where C11 , C21 , . . . , CN 1 are the first columns of the image
⎡ ⎤ block and C1N , C2N , . . . , CN N are the last column of the
51 125 169
I = ⎣70 59 56 ⎦. image block. So, the number of XGF T will be N 2 × 1.
77 44 30 III. B LOCK D IAGRAM R EPRESENTATION OF P ROPOSED
Then the edge information for this⎡image block ⎤ based on
1 1 1 M ETHODOLOGY
8-connectivity is calculated as A = ⎣1 1 1⎦ . Our proposed method is illustrated in Fig. 2 outlining the
0 0 0 whole procedure of image classification. The block diagram
Here, illustrates the procedure step by step.
θ2,2 = 18 [|(59 − 51)| + |(59 − 125)| + |(59 − 169)| + |(59 −
79)| + |(59 − 56)| + |(59 − 77)| + |(59 − 44)| + |(59 − 30)|] =
1
8 260 > 30.
θ1,2 = 15 [|(125 − 51)| + |(125 − 169)| + |(125 − 70)| +
|(125 − 59)| + |(125 − 56)|] = 15 308 > 30.
θ1,1 = 13 [|I(1, 1) − I(1, 2)| + |I(1, 1) − I(2, 1)| + |I(1, 1) −
I(2, 2)|].
Now we will construct an adjacency matrix A using the
edge information of binary matrix A based on k-nearest
neighborhood method. The adjacency matrix A, is the
symmetric matrix of size N 2 × N 2 with entries 0 or 1. In
adjacency matrix A, rows and columns are indexed by N 2
pixels and is defined as Ai,i = 0 for all 1 ≤ i ≤ N 2 and
Ai,j = 1 if i, j are adjacent pixels (eight neighborhood) in the
binary image matrix A and whose both the values in A are 1. Fig. 2: Block diagram for the proposed classification method

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 2017 Fourth International Conference on Image Information Processing (ICIIP)
IV. E XPERIMENT, R ESULTS AND D ISCUSSION
A. Datasets Used
1) NTU Hand Gesture Dataset
NTU hand gesture dataset [19] are captured by a Mi-
crosoft Kinect Camera. The dataset consists of a 1000
depth maps of 10 hand gestures (i.e. decimal digits from
0 to 9) performing from the 10 different persons with
10 images for each hand gesture. In NTU hand gesture
dataset, each depth map is of the size 640 × 480. After
applying the depth threshold for hand segmentation as
per [22], depth images are obtained. Images are resized
into 240 × 240 pixel block size.
2) Cambridge Hand Gesture Dataset
Cambridge hand gesture dataset [23] consists of 900
image sequences of 9 gesture classes. Each class contains
100 image sequences(5 different illumination × 10 arbi-
trary motions × 2 subjects). Each sequence was recorded
in front of a fixed camera having isolated gestures in
space and time. We selected the gestures performed with
3 subjects without motion. We resized each image to size
240 × 240.
3) Massey Hand Gesture Dataset
The Massey hand gesture dataset [24] is an image dataset
containing 1500 images of different hand postures, in
different lighting conditions. The gesture class contains
the gestures of the numbers from 0 to 9 and alphabets a to
z. The maximum resolution of the images are 640 × 480
with 24 bit RGB color. We converted all the images into
gray scales and resized each image to size 240 × 240.
B. Results and Discussion
Proposed algorithm for feature extraction is implemented
using MATLAB tool. LIBSVM library [25] is used for classi-
fication. We calculated GFT coefficients for different threshold
values. For these gestures datasets, first we divide the image
into 8 × 8 pixel blocks and threshold Γ = 10, 20, 30, 40, 50
have been used to obtain edge information of the image. 8-
nearest neighbors and edge information of each image are used
to construct an undirected graph. The edge information after
applying the different thresholds have been shown in Figure 3.
For NTU, Cambridge and Massey hand gesture datasets,
result is presented in Table I for different threshold values
Γ = 10, 20, 30, 40, and 50 using linear SVM Classifier and
10-fold cross validation. In Table I, simulation results show
that for the NTU and Massey hand gesture dataset, prediction
accuracy is maximum for a threshold value Γ = 30.
TABLE I: Prediction accuracy in (%) using all GFT coeffi-
cients
Threshold Γ = 10 20 30 40 50
NTU 64.63 69.87 71.58 66.29 65.64
Cambridge 100 100 100 100 100
Massey 98.62 99.31 99.71 99.54 98.31
It is noticed that the application of our proposed algorithm
is not limited to the gesture classification problem. It can also
391
Original Image Γ = 10 Γ = 20
Γ = 30 Γ = 40 Γ = 50
Fig. 3: Images with different threshold values
be feasibly applied to many other areas in pattern recognition
such as face recognition, finger print recognition, human
detection, web document classification, object classification,
etc., where the high dimensional data is needed for analysis.
We tested the proposed algorithm on the INRIA [17] dataset
which is divided into pos and neg folders. Pos folder contains
the images of human and neg folder contains the nonhuman
images. It is a problem of binary classification between human
and nonhuman images. Prediction accuracy of 72% has been
achieved using linear SVM classifier.
V. P ERFORMANCE C OMPARISON
In the field of image processing, K-LT and DCT was ini-
tially used for image compression and reconstruction [26], [27]
but they can also be employed for image recognition [28], [29].
K-LT is known to be optimal transform in terms of compact-
ness of representation is mainly because of data dependent. In
this work, we compare the results of the GFT based descriptor
which is also data dependent with the K-LT and DCT based
descriptors. To calculate the feature vector using K-LT and
DCT, we convert an RGB image into grayscale image. To
compare the performance with GFT, block based K-LT and
DCT have been used. Each image is divided into 8 × 8 sized
sub-blocks. For each block, this 8×8 sub-block can be defined
as a vector of length 64 × 1 on the column basis as given in
equation 8.
A. Performance Comparison with Karhunen-Loeve (K-L)
Transform
K-LT coefficients for each block, can be calculated as the
inner product of signal S with W , i.e.,
XKLT = W T .S (9)
where, W is the orthogonal eigenvectors matrix of the
covariance matrix computed over blocks of size 8 × 8.
The resulting K-LT based feature vector is formed by
concatenating K-LT coefficients of each block.
 2017 Fourth International Conference on Image Information Processing (ICIIP)
B. Performance Comparison with Discrete Cosine Trans-
form(DCT)
To make the DCT coefficients as a feature vector, DCT
matrix D of size 64 × 64 has been generated using MATLAB
dctmtx() function. DCT coefficients can be calculated as the
inner product of S with the DCT matrix D, i.e.,
XDCT = D.S
The resulting DCT based feature vector is formed by concate-
nating DCT coefficients of each block.
100
90
GFT
DCT
KLT
80
70
Prediction Accuracy
60
50
40
30
20
10
0
NTU Cambridge
Datasets
Fig. 4: Comparison of prediction accuracy when using all GFT,
DCT and K-LT coefficients for each block.
VI. C ONCLUSION AND F UTURE D IRECTION
This paper presented a novel method for hand gesture
classification based on Graph Fourier Transform (GFT). For
efficient calculation of transform coefficients first the image is
divided into blocks of subimages. We proposed a method for
generating an undirected graph using an appropriate threshold
to preserve local neighborhood information. Graph Laplacian
is used to define the connectivity of the underlying graph.
Inner product of the eigenvector matrix of the unnormalized
graph Laplacian and the image is called as Graph Fourier
Transform. To determine the appropriate threshold for con-
struction of undirected graph different thresholds values are
used. GFT coefficients based on these threshold values are
used to determine the prediction accuracy. The threshold of
30 is used to get maximum prediction accuracy using 10 fold
cross validation. Though the features generated by the K-LT
are optimal for the image reconstruction, but they perform well
also for the gesture classification. Similarly, DCT coefficients
are also used for classification. For the Cambridge and Massey
datasets performance of GFT and DCT are same. For the
Massey and NTU datasets which have more number of classes,
GFT performance is better than the K-L transform. The main
drawback of the proposed method is its computational com-
plexity and size of feature vector. Practical software requires
O(n3 ) time to compute all the eigenvalues and eigenvectors
of an n × n symmetric matrix. In the proposed method size
of the feature vector is number of blocks in an image ×64.
Hence, future direction of the proposed method is to reduce
the computational complexity and size of the feature vector.
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