Method and apparatus for robustly tracking objects
First Claim
1. A method for visually tracking a target object in three dimensions, comprising the steps of:
- a) capturing the target object with two or more imaging sensors,b) maintaining a large number of 3D target location hypotheses,c) initially distributing a first set of 3D target location hypotheses randomly in spaces viewed by said imaging sensors,d) calculating locations of a second set of 3D target location hypotheses by adding offsets to locations of the first set of 3D target location hypotheses, wherein the offsets are randomly drawn between two numbers,e) projecting each of the second set of 3D target location hypotheses from 3D space to 2D image spaces of said imaging sensors,f) measuring confidences about a presence of the target object based on a combination of color and motion cues in each image captured by said imaging sensors, wherein the color and motion cues are spatially spread out using averaging before the color and motion cues are combined, andg) combining the measured confidences of the second set of 3D target location hypotheses to obtain a 3D location of the target object,wherein the 3D location of the target object is given by a weighted mean of all the second set of 3D target location hypotheses.
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Abstract
The present invention pertains generally to the field of computer graphics user interfaces. More specifically, the present invention discloses a video image based tracking system that allows a computer to robustly locate and track an object in three dimensions within the viewing area of two or more cameras. The preferred embodiment of the disclosed invention tracks a person'"'"'s appendages in 3D allowing touch free control of interactive devices but the method and apparatus can be used to perform a wide variety of video tracking tasks. The method uses at least two cameras that view the volume of space within which the object is being located and tracked. It operates by maintaining a large number of hypotheses about the actual 3D object location.
63 Citations
10 Claims
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1. A method for visually tracking a target object in three dimensions, comprising the steps of:
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a) capturing the target object with two or more imaging sensors, b) maintaining a large number of 3D target location hypotheses, c) initially distributing a first set of 3D target location hypotheses randomly in spaces viewed by said imaging sensors, d) calculating locations of a second set of 3D target location hypotheses by adding offsets to locations of the first set of 3D target location hypotheses, wherein the offsets are randomly drawn between two numbers, e) projecting each of the second set of 3D target location hypotheses from 3D space to 2D image spaces of said imaging sensors, f) measuring confidences about a presence of the target object based on a combination of color and motion cues in each image captured by said imaging sensors, wherein the color and motion cues are spatially spread out using averaging before the color and motion cues are combined, and g) combining the measured confidences of the second set of 3D target location hypotheses to obtain a 3D location of the target object, wherein the 3D location of the target object is given by a weighted mean of all the second set of 3D target location hypotheses. - View Dependent Claims (2, 3, 4, 5)
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6. An apparatus for visually tracking a target object in three dimensions, comprising:
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a) means for capturing the target object with two or more imaging sensors, b) means for maintaining a large number of 3D target location hypotheses, c) means for initially distributing a first set of 3D target location hypotheses randomly in spaces viewed by said imaging sensors, d) means for calculating locations of a second set of 3D target location hypotheses by adding offsets to locations of the first set of 3D target location hypotheses, wherein the offsets are randomly drawn between two numbers, e) means for projecting each of the second set of 3D target location hypotheses from 3D space to 2D image spaces of said imaging sensors, f) means for measuring confidences about a presence of the target object based on a combination of color and motion cues in each image captured by said imaging sensors, wherein the color and motion cues are spatially spread out using averaging before the color and motion cues are combined, and g) means for combining the measured confidences of the second set of 3D target location hypotheses to obtain a 3D location of the target object, wherein the 3D location of the target object is given by a weighted mean of all the second set of 3D target location hypotheses. - View Dependent Claims (7, 8, 9, 10)
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Specification