Finger detection in 3D point cloud

Techniques are described for detecting the presence and positions of fingers using depth information. For each of multiple target points represented by a depth image, an evaluation is performed using a region of points surrounding the pixel. The region has an inner zone and side zones. Multiple iterations are performed for each target pixel, with different sizes and orientations of the region being used in the different iterations. An average depth and an average surface normal direction are determined for each zone. The average depth and average surface normal direction of the inner zone are compared to the average depths and the average surface normal directions of the side zones to determine whether the target pixel is part of a finger.