Retraction Based Three-Dimensional Tracking of Object Movements
First Claim
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1. A system of tracking movement of an object'"'"'s portion in a three-dimensional (3D) space, the system including:
- one or more processors coupled to memory, the memory loaded with computer instructions that, when executed on the processors, implement actions including;
selecting five observation points on a sphere model fitted to a portion of a real world object, wherein one of the observation points is at a center of the sphere model and the other four observation points are along a perimeter of the sphere model;
capturing at times t0 and t1 projections of at least the four perimeter observation points in at least a first image plane of at least one camera, wherein the object moved between t0 and t1;
calculating a retraction of the four perimeter observation points at time t1 to their positions at to, including using the four perimeter observation points to;
map the captured projections of the perimeter observation points at t0 to a first image plane; and
calculate orientation of a second image plane such that the captured projections of the perimeter observation points at t1 to the second image plane are collinear with respective projections in the first image plane with respect to the retracted center observation point; and
determining at least translation of the sphere model between the times t0 and t1 using the calculated orientation of the second image plane.
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Abstract
The technology disclosed relates to tracking movement of a real world object in three-dimensional (3D) space. In particular, it relates to mapping, to image planes of a camera, projections of observation points on a curved volumetric model of the real world object. The projections are used to calculate a retraction of the observation points at different times during which the real world object has moved. The retraction is then used to determine translational and rotational movement of the real world object between the different times.
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Citations
20 Claims
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1. A system of tracking movement of an object'"'"'s portion in a three-dimensional (3D) space, the system including:
one or more processors coupled to memory, the memory loaded with computer instructions that, when executed on the processors, implement actions including; selecting five observation points on a sphere model fitted to a portion of a real world object, wherein one of the observation points is at a center of the sphere model and the other four observation points are along a perimeter of the sphere model; capturing at times t0 and t1 projections of at least the four perimeter observation points in at least a first image plane of at least one camera, wherein the object moved between t0 and t1; calculating a retraction of the four perimeter observation points at time t1 to their positions at to, including using the four perimeter observation points to; map the captured projections of the perimeter observation points at t0 to a first image plane; and calculate orientation of a second image plane such that the captured projections of the perimeter observation points at t1 to the second image plane are collinear with respective projections in the first image plane with respect to the retracted center observation point; and determining at least translation of the sphere model between the times t0 and t1 using the calculated orientation of the second image plane. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A system of tracking movement of an object'"'"'s portion in a three-dimensional (3D) space, the system including:
one or more processors coupled to memory, the memory loaded with computer instructions that, when executed on the processors, implement actions including; capturing at times t0 and t1 projections of at least four perimeter observation points on a sphere model fitted to a portion of a real world object; calculating a retraction of the four perimeter observation points at time t1 to their positions at t0 by; using projective transformations of a mapping matrix and an inverse mapping matrix based on a first image plane to which projections of the perimeter observation points at t0 are mapped and a second image plane to which projections of the perimeter observation points at t1 are mapped; determining horizon lines on the first and second image planes that are mapped to infinity based on the projective transformations of the mapping matrix and inverse mapping matrix; determining positions of centers of the sphere model at the times t0 and t1 by identifying an intersection line between the first and second image planes and corresponding vanishing planes not mapped to any image plane; determining a range of values of an angle between the first and second image planes based on a sixth observation point along the perimeter of the sphere model; determining positions of the centers of the sphere model at the times t0 and t1 by constructing two axes that intersect at two points and also intersect the intersection line based on the mapping matrix and inverse mapping matrix, geometry of the first and second image planes and corresponding vanishing planes, and the range of values of the angle between the first and second image planes; and determining a relative rotational angle of the sphere from t0 to t1 based on the captured projections of the perimeter observation points at the times t0 and t1 and positions of the sphere centers for the range of values of the angle between the first and second image planes. - View Dependent Claims (16, 17)
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18. A non-transitory computer readable medium, storing a plurality of instructions for programming one or more processors to track movement of an object'"'"'s portion in a three-dimensional (3D) space, the instructions, when executed on the processors, implementing actions including:
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selecting five observation points on a sphere model fitted to a portion of a real world object, wherein one of the observation points is at a center of the sphere model and the other four observation points are along a perimeter of the sphere model; capturing at times t0 and t1 projections of at least the four perimeter observation points in at least a first image plane of at least one camera, wherein the object moved between t0 and t1; calculating a retraction of the four perimeter observation points at time t1 to their positions at t0, including using the four perimeter observation points to; map the captured projections of the perimeter observation points at t0 to a first image plane; and calculate orientation of a second image plane such that the captured projections of the perimeter observation points at t1 to the second image plane are collinear with respective projections in the first image plane with respect to the retracted center observation point; and determining at least translation of the sphere model between the times t0 and t1 using the calculated orientation of the second image plane. - View Dependent Claims (19, 20)
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Specification