Modeling of humanoid forms from depth maps
First Claim
1. A computer-implemented method for processing data, comprising:
- receiving a depth map of a scene containing a body of a humanoid subject, the depth map comprising a matrix of pixels, each pixel corresponding to a respective location in the scene and having a respective pixel value indicative of a distance from a reference location to the respective location;
segmenting the depth map so as to find a contour of the body;
processing the contour in order to identify a torso and one or more limbs of the subject by;
identifying an axis of the body in the depth map;
computing a transverse thickness of the contour along multiple first lines perpendicular to the axis;
computing a longitudinal thickness of the contour along multiple second lines parallel to the axis;
designating as the torso a part of the area within the contour that is defined by the first and second lines along which the transverse thickness and longitudinal thickness are no less than a specified transverse threshold and longitudinal threshold, respectively; and
identifying a second part of the area that is connected to the torso as at least one of the limbs; and
generating an input to control an application program running on a computer by analyzing a disposition of at least one of the identified limbs in the depth map.
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Abstract
A computer-implemented method includes receiving a depth map (30) of a scene containing a body of a humanoid subject (28). The depth map includes a matrix of pixels (32), each corresponding to a respective location in the scene and having a respective pixel value indicative of a distance from a reference location to the respective location. The depth map is segmented so as to find a contour (64) of the body. The contour is processed in order to identify a torso (70) and one or more limbs (76, 78, 80, 82) of the subject. An input is generated to control an application program running on a computer by analyzing a disposition of at least one of the identified limbs in the depth map.
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Citations
36 Claims
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1. A computer-implemented method for processing data, comprising:
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receiving a depth map of a scene containing a body of a humanoid subject, the depth map comprising a matrix of pixels, each pixel corresponding to a respective location in the scene and having a respective pixel value indicative of a distance from a reference location to the respective location; segmenting the depth map so as to find a contour of the body; processing the contour in order to identify a torso and one or more limbs of the subject by; identifying an axis of the body in the depth map; computing a transverse thickness of the contour along multiple first lines perpendicular to the axis; computing a longitudinal thickness of the contour along multiple second lines parallel to the axis; designating as the torso a part of the area within the contour that is defined by the first and second lines along which the transverse thickness and longitudinal thickness are no less than a specified transverse threshold and longitudinal threshold, respectively; and identifying a second part of the area that is connected to the torso as at least one of the limbs; and generating an input to control an application program running on a computer by analyzing a disposition of at least one of the identified limbs in the depth map. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. Apparatus for processing data, comprising:
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an imaging device, which is configured to capture an image of a scene containing a body of a humanoid subject; and a processor, which is coupled to process the image so as to create a depth map, which comprises a matrix of pixels, each pixel corresponding to a respective location in the scene and having a respective pixel value indicative of a distance from a reference location to the respective location, and which is configured to segment the depth map so as to find a contour of the body, to process the contour in order to identify a torso and one or more limbs of the subject, and to generate an input to control an application program running on a computer by analyzing a disposition of at least one of the identified limbs in the depth map, wherein the processor is configured to identify the torso and the one or more limbs by identifying an axis of the body in the depth map, computing a transverse thickness of the contour along multiple first lines perpendicular to the axis, computing a longitudinal thickness of the contour along multiple second lines parallel to the axis, designating as the torso a part of the area within the contour defined by the first and second lines along which the transverse thickness and longitudinal are no less than a specified transverse threshold longitudinal threshold, respectively, and identifying a second part of the area that is connected to the torso as at least one of the limbs. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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25. A computer software product, comprising a non-transitory computer-readable medium in which program instructions are stored, which instructions, when read by a computer, cause the computer to acquire a depth map of a scene containing a body of a humanoid subject, the depth map comprising a matrix of pixels, each pixel corresponding to a respective location in the scene and having a respective pixel value indicative of distance from a reference location to the respective location, and to segment the depth map so as to find a contour of the body, to process the contour in order to identify a torso and one or more limbs of the subject, and to generate an input to control an application program running on a computer by lysing a disposition of at least one of the identified limbs in the depth map,
wherein the instructions cause the computer to identify the torso and the one limbs by identifying an axis of the body in the depth map, computing a transverse thickness of the contour along multiple first lines perpendicular to the axis, computing a longitudinal thickness of the contour along multiple second lines parallel to the axis designating as the torso a part of the area within contour that is defined by the first and second lines along which the transverse thickness and longitudinal thickness are no less than a specified transverse threshold and longitudinal threshold, respectively, and identifying a second part of the area that is connected to the torso as at least one of the limbs.
Specification