Recently, with the development of human-computer interaction, interactive projection technologies have been used more and more extensively, which is able to perceive the ambient behavior by using additional sensors and corresponding projected contents for interacting, such as augmented reality, structured light coding, and 3D reconstruction. Touch-sensitive interactive projection has achieved broad prospects on embedded human-machine system in the future. This paper aims at realizing bare-hand touch interaction on arbitrary surfaces by means of a camera and a projector. The performance of this system can be achieved through three steps, foreground extraction, fingertip detection and touch detection. Extensive experiments are presented to show the accurate and robust performance of our approach.