Abstract: In view of the existing fingertip detection work based on depth sensors, aimed at stable detection and tracking of fingertip of any palm posture, palm posture self-adaption single fingertip tracking is proposed based on Kalman filter theory and by blending in the palm posture sensing mechanism.First get the current predictive value L₁ of fingertip position according to the fingertip position information of previous moment.Then get the observed value L₂ of fingertip position used to update the fingertip position by palm posture detection.Finally get the estimated value L*of fingertip position by performing update operation according to L₁ and L₂ of fingertip position.The results show that the proposed method can realize accurate and robust single fingertip position detection and tracking, and achieve practical standards of human-computer interaction.