VISUAL TARGET TRACKING
First Claim
Patent Images
1. A method of tracking a human target, the method comprising:
- representing the human target with a machine-readable model configured for adjustment into a plurality of different poses;
rasterizing the machine-readable model of the human target into a synthesized depth image, the synthesized depth image including a synthesized pixel of interest having a synthesized depth value;
receiving an observed depth image of the human target from a source, the observed depth image including an observed pixel having an observed depth value and a same pixel address as the synthesized pixel of interest;
classifying the synthesized pixel of interest with a refine-z pixel case if the synthesized depth value does not match the observed depth value and an absolute difference between the synthesized depth value and the observed depth value is less than a predetermined threshold;
computing a refine-z force vector for the synthesized pixel of interest, a magnitude of the refine-z force vector being based on the absolute difference between the synthesized depth value and the observed depth value such that the refine-z force vector increases in proportion to the absolute difference between the synthesized depth value and the observed depth value; and
mapping the refine-z force vector to one or more force-receiving locations of the machine-readable model representing the human target to move the machine-readable model towards the human target in the observed depth image.
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Abstract
A visual target tracking method includes representing a human target with a machine-readable model configured for adjustment into a plurality of different poses and receiving an observed depth image of the human target from a source. The observed depth image is compared to the model. A refine-z force vector is then applied to one or more force-receiving locations of the model to move a portion of the model towards a corresponding portion of the observed depth image if that portion of the model is Z-shifted from that corresponding portion of the observed depth image.
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Citations
20 Claims
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1. A method of tracking a human target, the method comprising:
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representing the human target with a machine-readable model configured for adjustment into a plurality of different poses; rasterizing the machine-readable model of the human target into a synthesized depth image, the synthesized depth image including a synthesized pixel of interest having a synthesized depth value; receiving an observed depth image of the human target from a source, the observed depth image including an observed pixel having an observed depth value and a same pixel address as the synthesized pixel of interest; classifying the synthesized pixel of interest with a refine-z pixel case if the synthesized depth value does not match the observed depth value and an absolute difference between the synthesized depth value and the observed depth value is less than a predetermined threshold; computing a refine-z force vector for the synthesized pixel of interest, a magnitude of the refine-z force vector being based on the absolute difference between the synthesized depth value and the observed depth value such that the refine-z force vector increases in proportion to the absolute difference between the synthesized depth value and the observed depth value; and mapping the refine-z force vector to one or more force-receiving locations of the machine-readable model representing the human target to move the machine-readable model towards the human target in the observed depth image. - View Dependent Claims (2)
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3. A method of tracking a human target, the method comprising:
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representing the human target with a machine-readable model configured for adjustment into a plurality of different poses; receiving an observed depth image of the human target from a source; comparing the observed depth image to the model; and applying a refine-z force vector to a force-receiving location of the model to move a portion of the model towards a corresponding portion of the observed depth image if that portion of the model is Z-shifted from that corresponding portion of the observed depth image.
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4. A method of tracking a human target, the method comprising:
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representing the human target with a machine-readable model configured for adjustment into a plurality of different poses; representing the machine-readable model of the human target in a synthesized depth image including a synthesized pixel of interest; receiving an observed depth image of the human target from a source, the observed depth image including an observed pixel corresponding to the synthesized pixel of interest; comparing a synthesized depth value of the synthesized pixel of interest to an observed depth value of the observed pixel; and applying a force vector to one or more force-receiving locations of the machine-readable model to move the machine-readable model towards the observed depth image if the synthesized depth value does not match the observed depth value and an absolute difference between the synthesized depth value and the observed depth value is less than a predetermined threshold. - View Dependent Claims (5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification