Optical body tracker

• US 20010024512A1
• Filed: 02/22/2001
• Published: 09/27/2001
• Est. Priority Date: 08/10/1999
• Status: Active Grant

• Current Assignee: Jolly Seven, Series 70 of Allied Security Trust I (Allied Security Trust)
• Original Assignee: Cybernet Systems Corporation
• Inventors: Yoronka, Nestor, Jacobus, Charles J.
• Granted Patent: US 6,801,637 B2
• Time in Patent Office: Days
• US Class Current: 382/103
• CPC Class Codes: A63F 2300/1087 comprising photodetecting means, e.g. a camera
• CPC Class Codes: G06T 7/246 using feature-based methods, e.g. the tracking of corners or segments
• CPC Class Codes: G06V 40/20 Movements or behaviour, e.g. gesture recognition recognition of facial expressions G06V40/16

Abstract

An optical system tracks the motion of objects, including the human body or portions thereof using a plurality of three-dimensional active markers based upon triangulation from data read via multiple linear CCDs through cylindrical lenses. Each marker is lit in sequence so that it is in sync with a frame capture using the imaging system positioned and oriented so as to provide a basis for computing three-dimensional location. In the preferred embodiment, the imaging system detects an infrared signal which is sent out by the tag controller as part of the tag/marker illumination sequence at the beginning of the first tag position capture time. The controller then traverses through the tags in time sync with each imaging system frame capture cycle. Thus, only one unique tag will be lit during each image capture of the cameras, thereby simplifying identification. Using linear CCD sensors, the frame time (i.e. point acquisition time) is very short, allowing very many markers to be sampled and located sequentially in real time.

Claims

1. A system for tracking the movements of an animate or inanimate body, comprising:

a plurality of optical tags supported at different positions on the body;

a tag controller supported on the body to activate the optical tags in an on/off illumination sequence; and

a position sensor disposed remotely from the body, including;

a plurality of cameras, each outputting electrical signals corresponding to the location of the optical tags;

processing circuitry for receiving the signals from the cameras and determining the positions of the tags in three-dimensional space utilizing triangulation techniques; and

sychronization circuitry coordinating the operation of the tag controller and position sensor so that only one tag is imaged per camera exposure.

2. The system of

claim 1

, wherein the synchronization circuitry includes an optical signal generated by one of the tags.

3. The system of

claim 1

, wherein:

the cameras are linear cameras, each defining an imaging axis, and

at least two of the axes are orthogonal.

4. The system of

claim 1

, wherein:

the optical tags are infrared light-emitting diodes (LEDs); and

the cameras are sensitive to the infrared emissions of the LEDs.

5. The system of

claim 1

, further including parallel processing circuitry operative to activate all of the cameras on a simultaneous basis.

6. The system of

claim 1

, wherein:

the tags are placed on a person; and

the movements are communicated to a recognition system operative to determine one or more gestures of the person.

7. A system for tracking the movements of an animate or inanimate body, comprising:

a plurality of optical tags supported at different positions on the body;

a tag controller supported on the body to activate the optical tags in an on/off illumination sequence; and

a position sensor disposed remotely from the body, including;

a plurality of cameras, each outputting electrical signals corresponding to the location of the optical tags;

parallel processing circuitry operative to activate all of the cameras on a simultaneous basis to determine the position of each tag in three-dimensional space utilizing triangulation techniques.

8. The system of

claim 7

, further including synchronization circuitry for coordinating the operation of the tag controller and position sensor so that only one tag is imaged per simultaneous camera exposure.

9. The system of

claim 8

, wherein the synchronization circuitry includes an optical signal generated by one of the tags.

10. The system of

claim 7

, wherein:

the cameras are linear cameras, each defining an imaging axis, and

at least two of the axes are orthogonal.

11. The system of

claim 7

, wherein:

the optical tags are infrared light-emitting diodes (LEDs); and

the cameras are sensitive to the infrared emissions of the LEDs.

12. The system of

claim 7

, wherein:

the tags are placed on a person; and

the movements are communicated to a recognition system operative to determine one or more gestures of the person.

13. A system for visually analyzing a gesture made by a human or machine, comprising:

a) an optical tracking subsystem, including;

a plurality of optical tags supported at different positions on the human or machine,

a tag controller to activate the optical tags in an on/off illumination sequence, and

a remotely disposed position sensor including a plurality of cameras and processing circuitry outputting image data including position and velocity information associated with the gesture in accordance with the location of the optical tags in three-dimensional space;

b) an identification module operative to identify the gesture based upon the image data output by the sensor module; and

c) a transformation module operative to generate a command based upon the gesture identified by the identification module.

14. The interface of

claim 13

, further including a system response module operative to apply to the command from the transformation module to a device to be controlled.

15. The interface of

claim 14

, wherein the device is a virtual-reality simulator.

16. The interface of

claim 14

, wherein the device is a self-service machine.

17. The interface of

claim 14

, wherein the device forms part of a robot.

18. The interface of

claim 14

, wherein the device forms part of a commercial appliance.