Visual target tracking
First Claim
Patent Images
1. A method of target tracking and modeling, the method comprising:
- representing a human target with a machine-readable model configured for adjustment into a plurality of different legal poses constrained by one or more rules;
receiving an observed depth image of the human target from a source;
applying forces to force-receiving locations of the machine-readable model based, at least in part, on differences between the observed depth image and the machine- readable model;
determining proposed positions for the force-receiving locations in accordance with the forces applied to the force-receiving locations; and
adjusting the proposed positions of the force-receiving locations to comply with the one or more rules if one or more of the proposed positions violates any of the one or more rules.
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Abstract
A target tracking method includes representing a human target with a machine-readable model including a plurality of skeletal points. The plurality of skeletal points are adjustable into a plurality of different legal poses. The method further includes receiving an observed depth image of the human target from a source and determining proposed positions for one or more of the skeletal points of the machine-readable model based on the observed depth image. The proposed positions of the skeletal points are then adjusted to comply with one or more rules if one or more of the proposed positions violates any of the one or more rules.
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Citations
20 Claims
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1. A method of target tracking and modeling, the method comprising:
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representing a human target with a machine-readable model configured for adjustment into a plurality of different legal poses constrained by one or more rules; receiving an observed depth image of the human target from a source; applying forces to force-receiving locations of the machine-readable model based, at least in part, on differences between the observed depth image and the machine- readable model; determining proposed positions for the force-receiving locations in accordance with the forces applied to the force-receiving locations; and adjusting the proposed positions of the force-receiving locations to comply with the one or more rules if one or more of the proposed positions violates any of the one or more rules. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method of target tracking and modeling, the method comprising;
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representing a human target with a machine-readable model including a plurality of skeletal points, the plurality of skeletal points adjustable into a plurality of different legal poses; receiving an observed depth image of the human target from a source; determining a proposed position for one or more of the skeletal points of the machine-readable model based on the observed depth image; determining a relative confidence of the proposed position for one or more of the skeletal points of the machine-readable model; and adjusting the proposed positions of the skeletal points to comply with one or more rules if one or more of the proposed positions violates any of the one or more rules, the proposed positions having relatively low confidences being more readily adjusted than the proposed positions having relatively high confidences. - View Dependent Claims (12, 13, 14, 15, 16)
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17. A method of target tracking and modeling, the method comprising:
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representing a human target with a machine-readable model including a plurality of skeletal points, the plurality of skeletal points adjustable into a plurality of different legal poses; receiving an observed depth image of the human target from a source; determining proposed positions for one or more of the skeletal points of the machine-readable model based on the observed depth image; adjusting one or more of the proposed positions of the skeletal points to comply with one or more bone length constraints such that a length of each of a plurality of bones of the machine-readable model lies within a range of acceptable bone lengths for that bone; and adjusting the proposed positions of the skeletal points to comply with one or more skeletal point angle constraints such that a skeletal point angle of each skeletal point of the machine-readable model lies within a range of acceptable skeletal point angles. - View Dependent Claims (18, 19, 20)
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Specification