POSE TRACKING PIPELINE
First Claim
1. A method of tracking a target, the method comprising:
- receiving from a source one or more observed depth images of a scene including the target;
labeling each pixel of the one or more observed depth images as either a foreground pixel belonging to the target, a foreground pixel belonging to another target, or a background pixel not belonging to a target;
labeling each foreground pixel with body part information indicating a likelihood that that foreground pixel belongs to one or more body parts of the target; and
modeling the target with a skeleton including a plurality of skeletal points, each skeletal point including a three dimensional position derived from body part information of one or more foreground pixels from one or more observed depth images.
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Abstract
A method of tracking a target includes receiving from a source an observed depth image of a scene including the target. Each pixel of the observed depth image is labeled as either a foreground pixel belonging to the target or a background pixel not belonging to the target. Each foreground pixel is labeled with body part information indicating a likelihood that that foreground pixel belongs to one or more body parts of the target. The target is modeled with a skeleton including a plurality of skeletal points, each skeletal point including a three dimensional position derived from body part information of one or more foreground pixels.
197 Citations
20 Claims
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1. A method of tracking a target, the method comprising:
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receiving from a source one or more observed depth images of a scene including the target; labeling each pixel of the one or more observed depth images as either a foreground pixel belonging to the target, a foreground pixel belonging to another target, or a background pixel not belonging to a target; labeling each foreground pixel with body part information indicating a likelihood that that foreground pixel belongs to one or more body parts of the target; and modeling the target with a skeleton including a plurality of skeletal points, each skeletal point including a three dimensional position derived from body part information of one or more foreground pixels from one or more observed depth images. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A method of tracking a target, the method comprising:
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receiving from a depth camera one or more observed depth images of a scene including the target; labeling each pixel of the one or more observed depth images as either a foreground pixel belonging to the target, a foreground pixel belonging to another target, or a background pixel not belonging to a target; labeling each foreground pixel of the target with a body part probability distribution indicating a likelihood that that foreground pixel belongs to each of one or more body parts of the target; and independently extracting a plurality of candidate locations for each of a plurality of skeletal bones based on the body part probability distribution of each foreground pixel of the target; and assembling a plurality of plausible skeletons that include skeletal bones at different combinations of the plurality of candidate locations, each plausible skeleton including a plurality of skeletal points, each skeletal point defining a three dimensional position. - View Dependent Claims (15, 16, 17)
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18. A computing system, comprising:
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a source configured to capture depth information; a logic subsystem in operative communication with the source; and a data-holding subsystem holding instructions executable by the logic subsystem to; receive from the source one or more observed depth images of a scene including the target; label each pixel of the one or more observed depth images as either a foreground pixel belonging to the target, a foreground pixel belonging to another target, or a background pixel not belonging to a target; label each foreground pixel of the target with body part information indicating a likelihood that that foreground pixel belongs to one or more body parts of the target; and model the target with a skeleton including a plurality of skeletal points, each skeletal point including a three dimensional position derived from body part information of one or more foreground pixels from one or more observed depth images. - View Dependent Claims (19, 20)
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Specification