Motion capture using primary and secondary markers

• US 7,720,259 B2
• Filed: 08/25/2006
• Issued: 05/18/2010
• Est. Priority Date: 08/26/2005
• Status: Active Grant

• Current Assignee: Sony Corporation (Sony Group Corp.), Sony Pictures Entertainment Incorporated (Sony Group Corp.)
• Original Assignee: Sony Corporation (Sony Group Corp.), Sony Pictures Entertainment Incorporated (Sony Group Corp.)
• Inventors: Gordon, Demian, Hauck, Dennis J. Jr.
• Primary Examiner(s): KIM, CHONG R
• Application Number:
  US11/467,494
• Publication Number:
  US 20070206832A1
• Time in Patent Office: 1,362 Days
• Field of Search: None
• US Class Current: 382/103
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/30241 Trajectory
• CPC Class Codes: G06T 7/246 using feature-based methods, e.g. the tracking of corners or segments
• CPC Class Codes: G06T 7/251 involving models

Abstract

Capturing the motion of a target. One method includes: coupling a plurality of primary markers to the target; coupling at least one secondary marker to the target; capturing a plurality of primary marker data points, wherein each primary marker data point corresponds to one primary marker of the plurality of primary markers; capturing at least one secondary marker signature, each secondary marker signature corresponding to and uniquely identifying each secondary marker of said at least one secondary marker; and identifying the plurality of primary markers using said at least one secondary marker signature.

Claims

1. A method, comprising:

coupling a plurality of primary markers to a target;

coupling at least one secondary marker to said target;

capturing a plurality of primary marker data points including;

illuminating said plurality of primary markers; and

capturing a response of said plurality of primary markers to said illumination;

wherein said plurality of primary markers includes a plurality of reflective markers, and said response includes a reflection of said illumination by said plurality of reflective markers;

wherein each data point of the plurality of primary marker data points corresponds to one primary marker of said plurality of primary markers;

wherein;

said illumination is subject to periodic gating to generate on-states and off-states of said illumination; and

said reflection of said illumination is captured during an on-state of said illumination;

capturing at least one secondary marker signature, each marker signature corresponding to and uniquely identifying each secondary marker of said at least one secondary marker,

wherein said capturing at least one secondary marker signature includes capturing a unique attribute of said at least one secondary marker during an off-state of said illumination; and

identifying said plurality of primary markers using said at least one secondary marker signature by using a processor.

2. The method of claim 1, wherein said unique attribute is shape.

3. The method of claim 1, wherein said unique attribute is color.

4. The method of claim 1, wherein said unique attribute is an electro-magnetic signature.

5. The method of claim 1, wherein said unique attribute is a radio frequency signature.

6. The method of claim 1, wherein said unique attribute is a bar code.

7. The method of claim 1, wherein:

said reflection of said illumination is captured from light markers; and

said unique attribute is captured from dark markers.

8. The method of claim 7, wherein:

at least one sensor captures said reflection of said illumination and said unique attribute; and

said at least one sensor is synchronized with said periodic gating so that said at least one sensor captures a frame of data from said light markers during said on-state and a frame of data from said dark markers during said off-state.

9. The method of claim 8, wherein said at least one sensor includes at least one motion capture camera.

10. The method of claim 8, wherein:

a first sensor of said at least one sensor is synchronized with said periodic gating to capture said reflection of said illumination during each on-state of said on-states; and

a second sensor of said at least one sensor is synchronized with said periodic gating to capture said unique attribute during each off-state of said off-states.

11. The method of claim 10, wherein:

said first sensor includes a first motion capture camera configured to capture said reflection from said plurality of reflective markers; and

said second sensor includes a second motion capture camera configured to capture said unique attribute.

12. The method of claim 1, where in said illumination is generated by a strobe light.

13. A system, comprising:

a plurality of primary markers coupled to a target;

at least one secondary marker coupled to said target;

wherein each marker of said at least one secondary marker is uniquely identifiable by a secondary marker signature;

an image capture module configured to capture a plurality of primary marker data points, each primary marker data point corresponding to one primary marker of said plurality of primary markers,

said image capture module also configured to capture at least one secondary marker signature, each secondary marker signature corresponding to and uniquely identifying each secondary marker of said at least one secondary marker;

wherein said image capture module captures said plurality of primary marker data points by;

illuminating said plurality of primary markers; and

capturing a response of said plurality of primary markers to said illumination;

wherein said plurality of primary markers includes a plurality of reflective markers, and said response includes a reflection of said illumination by said plurality of reflective markers;

wherein;

said illumination is subject to periodic gating to generate on-states and off-states of said illumination; and

said reflection of said illumination is captured during an on-state of said illumination;

wherein said image capture module captures said at least one secondary marker signature by capturing a unique attribute of said at least one secondary marker during an off-state of said illumination; and

a primary marker tracking module configured to identify said plurality of primary markers using said at least one secondary marker signature.

14. The system of claim 13, wherein said at least one secondary marker includes a glow-in-the-dark marker.

15. The system of claim 13, wherein said plurality of primary markers includes a plurality of passive markers, and said at least one secondary marker includes at least one active marker.

16. The system of claim 13, wherein said plurality of primary markers includes a plurality of active markers, and said at least one secondary marker includes at least one passive marker.

17. The system of claim 16, wherein said plurality of active markers includes at least one of

an LED, an active RFID tag, a potentiometer, a data glove, an accelerometer, an externally-worn exoskeleton, and a sonic-chirp emitter.

18. The system of claim 16, wherein said at least one passive marker includes at least one of

a passive RFID tag, a glow-in-the-dark patch, a shape tape, and an electro-magnetic tag.

19. The system of claim 13, further comprising

a digital modeling module configured to generate a system of vertices in a virtual space including a modeled surface representing said target.

20. A computer program, stored in a computer-readable storage medium, for capturing the motion of a plurality of primary markers and at least one secondary markers coupled to a target, the program comprising executable instructions that cause a computer to:

capture a plurality of primary marker data points by;

illuminating said plurality of primary markers; and

capturing response of said plurality of primary markers to said illumination;

wherein said plurality of primary markers includes a plurality of reflective markers, and said response includes a reflection of said illumination by said plurality of reflective markers;

wherein each primary marker data point of said plurality of primary marker data points corresponds to one primary marker of said plurality of primary markers;

wherein;

said illumination is subject to periodic gating to generate on-states and off-states of said illumination; and

said reflection of said illumination is captured during an on-state of said illumination;

capture at least one secondary marker signature, each secondary marker signature corresponding to and uniquely identifying each secondary marker of said at least one secondary marker,

wherein said at least one secondary marker signature is captured by capturing a unique attribute of said at least one secondary marker during an off-state of said illumination; and

identify said plurality of primary markers using said at least one secondary marker signature.

21. An apparatus for capturing the motion of a plurality of primary markers and at least one secondary markers coupled to a target, the apparatus comprising:

means for capturing a plurality of primary marker data points by;

illuminating said plurality of primary markers; and

capturing a response of said plurality of primary markers to said illumination;

wherein said plurality of primary markers includes a plurality of reflective markers, and said response includes a reflection of said illumination by said plurality of reflective markers;

wherein each primary marker data point of said plurality of primary marker data points corresponds to one primary marker of said plurality of primary markers;

wherein;

said illumination is subject to periodic gating to generate on-states and off-states of said illumination; and

said reflection of said illumination is captured during an on-state of said illumination;

means for capturing at least one secondary marker signature, each secondary marker signature corresponding to and uniquely identifying each secondary marker of said at least one secondary marker,

wherein said at least one secondary marker signature is captured by capturing a unique attribute of said at least one secondary marker during an off-state of said illumination; and

means for identifying said plurality of primary markers using said at least one secondary marker signature.