Identifying components of a humanoid form in three-dimensional scenes
First Claim
Patent Images
1. A method for processing data, comprising:
- receiving a temporal sequence of depth maps of a scene containing a humanoid form, each depth map comprising a matrix of pixels, at least some of which have respective pixel depth values and correspond to respective locations in the scene;
using a digital processor, processing the depth maps so as to identify three-dimensional (3D) connected components in the scene, each connected component comprising a set of the pixels that are mutually adjacent and have mutually-adjacent depth values;
identifying separate, first and second connected components as both belonging to the humanoid form,wherein identifying the first and second connected components comprises tracking the connected components over multiple, successive depth maps in the sequence by assigning a common identifier to the first and second connected components in a first depth map in the sequence, and labeling the pixels of the first and second connected components in the depth map with the common identifier in order to determine that the first and second connected components belong to the humanoid form in a second, subsequent depth map; and
generating a representation of the humanoid form comprising both of the first and second connected components, such that when the humanoid form in the second depth map is in contact with another object, thereby causing the second connected component to incorporate the other object, the common identifier is used to separate the labeled pixels of the second connected component that belong to the humanoid form from the pixels belonging to other object in order to generate the representation of the humanoid form appearing in the second depth map.
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Abstract
A method for processing data includes receiving a depth map of a scene containing a humanoid form. The depth map is processed so as to identify three-dimensional (3D) connected components in the scene, each connected component including a set of the pixels that are mutually adjacent and have mutually-adjacent depth values. Separate, first and second connected components are identified as both belonging to the humanoid form, and a representation of the humanoid form is generated including both of the first and second connected components.
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Citations
21 Claims
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1. A method for processing data, comprising:
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receiving a temporal sequence of depth maps of a scene containing a humanoid form, each depth map comprising a matrix of pixels, at least some of which have respective pixel depth values and correspond to respective locations in the scene; using a digital processor, processing the depth maps so as to identify three-dimensional (3D) connected components in the scene, each connected component comprising a set of the pixels that are mutually adjacent and have mutually-adjacent depth values; identifying separate, first and second connected components as both belonging to the humanoid form, wherein identifying the first and second connected components comprises tracking the connected components over multiple, successive depth maps in the sequence by assigning a common identifier to the first and second connected components in a first depth map in the sequence, and labeling the pixels of the first and second connected components in the depth map with the common identifier in order to determine that the first and second connected components belong to the humanoid form in a second, subsequent depth map; and generating a representation of the humanoid form comprising both of the first and second connected components, such that when the humanoid form in the second depth map is in contact with another object, thereby causing the second connected component to incorporate the other object, the common identifier is used to separate the labeled pixels of the second connected component that belong to the humanoid form from the pixels belonging to other object in order to generate the representation of the humanoid form appearing in the second depth map. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. Apparatus for processing data, comprising:
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an imaging assembly, which is configured to produce a temporal sequence of depth maps of a scene containing a humanoid form, each depth map comprising a matrix of pixels, at least some of which have respective pixel depth values and correspond to respective locations in the scene; and a processor, which is configured to process the depth maps so as to identify three-dimensional (3D) connected components in the scene, each connected component comprising a set of the pixels that are mutually adjacent and have mutually-adjacent depth values, and to identify separate, first and second connected components as both belonging to the humanoid form, wherein the processor is configured to track the connected components over multiple, successive depth maps in the sequence by assigning a common identifier to the first and second connected components in a first depth map in the sequence, and labeling the pixels of the first and second connected components in the depth map with the common identifier in order to determine that the first and second connected components belong to the humanoid form in a second, subsequent depth map, and wherein the processor is configured to generate a representation of the humanoid form comprising both of the first and second connected components, such that when the humanoid form in the second depth map is in contact with another object, thereby causing the second connected component to incorporate the other object, the common identifier is used to separate the labeled pixels of the second connected component that belong to the humanoid form from the pixels belonging to other object in order to generate the representation of the humanoid form appearing in the second depth map. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. 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 receive a temporal sequence of depth maps of a scene containing a humanoid form, each depth map comprising a matrix of pixels, at least some of which have respective pixel depth values and correspond to respective locations in the scene,
wherein the instructions cause the computer to process the depth maps so as to identify three-dimensional (3D) connected components in the scene, each connected component comprising a set of the pixels that are mutually adjacent and have mutually-adjacent depth values, and to identify separate, first and second connected components as both belonging to the humanoid form, wherein the instructions cause the computer to track the connected components over multiple, successive depth maps in the sequence by assigning a common identifier to the first and second connected components in a first depth map in the sequence, and labeling the pixels of the first and second connected components in the depth map with the common identifier in order to determine that the first and second connected components belong to the humanoid form in a second, subsequent depth map, and wherein the instructions cause the computer to generate a representation of the humanoid form comprising both of the first and second connected components, such that when the humanoid form in the second depth map is in contact with another object, thereby causing the second connected component to incorporate the other object, the common identifier is used to separate the labeled pixels of the second connected component that belong to the humanoid form from the pixels belonging to other object in order to generate the representation of the humanoid form appearing in the second depth map.
Specification