Multi-camera head pose tracking
First Claim
Patent Images
1. A method comprising:
- detecting a head with a first camera of a plurality of cameras, the head as detected with the first camera being captured in a first detected head image associated with the first camera;
registering a head model with the first detected head image;
detecting the head with a second camera of the plurality of cameras, the head as detected with the second camera being captured in a second detected head image associated with the second camera, a geometry between the cameras being uncalibrated;
back-projecting the second detected head image to the head model;
determining the geometry between the cameras; and
determining a head pose of the head from the second detected head image as back-projected to the head model.
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Abstract
Techniques and technologies for tracking a face with a plurality of cameras wherein a geometry between the cameras is initially unknown. One disclosed method includes detecting a head with two of the cameras and registering a head model with the image of the head (as detected by one of the cameras). The method also includes back projecting the other detected face image to the head model and determining a head pose from the back-projected head image. Furthermore, the determined geometry is used to track the face with at least one of the cameras.
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Citations
20 Claims
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1. A method comprising:
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detecting a head with a first camera of a plurality of cameras, the head as detected with the first camera being captured in a first detected head image associated with the first camera; registering a head model with the first detected head image; detecting the head with a second camera of the plurality of cameras, the head as detected with the second camera being captured in a second detected head image associated with the second camera, a geometry between the cameras being uncalibrated; back-projecting the second detected head image to the head model; determining the geometry between the cameras; and determining a head pose of the head from the second detected head image as back-projected to the head model. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A computing device comprising;
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a display device; a processor in communication with the display device and a first camera and a second camera of a plurality of cameras; and a memory in communication with the processor and for storing images captured by the cameras and a head model, the memory storing processor readable instructions which when executed cause the processor to; detect a head in a first image captured by the first camera, register the head model with the detected head in the first image captured by the first camera, detect the head in a second image captured by the second camera, a geometry between the first and second cameras being at least initially uncalibrated, back project the detected head in the second image to the head model; determine the geometry between the cameras; determine a head pose of the head from the detected head in the second image as back-projected to the head model; and display the head on the display device while tracking the head pose. - View Dependent Claims (14, 15, 16, 17, 18, 19)
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20. A memory including processor executable instructions for a method of tracking a head and which when executed cause the processor to:
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detect a head with a first camera of a plurality of cameras, the head as detected with the first camera being captured in a first detected head image associated with the first camera; register a head model with the first detected head image by rescaling and re-orienting the head model to fit the first detected head image; detect the head with a second camera of the plurality of cameras, the head as detected with the second camera being captured in a second detected head image associated with the second camera, a distance and an orientation between the cameras being at least initially uncalibrated; back-project the second detected head image to the head model; determine the distance and the orientation between the cameras; determine a head pose of the head from the second detected head image as back-projected to the head model; determine a first key frame of the first detected head image, the first key frame being associated with the first camera; and associate the first key frame associated with the first camera with a corresponding frame of the second detected head image associated with the second camera to establish a second key frame from the corresponding frame, the second key frame being associated with the second camera.
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Specification