Accurate 3D finger tracking with a single camera
First Claim
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1. An object tracking device, comprising:
- a camera with a field of view oriented in a first direction;
a mirror with a field of reflection oriented in a second direction, such that when an object is in a first region in the field of view of the camera, the camera has a direct view of the object and a reflected view of the object from the mirror; and
a processor configured to;
receive a first image data set and a second image data set from the camera, wherein the first image data set includes the direct view of the object and the reflected view of the object from the mirror, and wherein the second image data set includes the direct view of the object and the reflected view of the object from the mirror;
create a three dimensional representation of the object using at least the first image data set;
track motion in three dimensions by tracking allocation on a fingertip of a human hand using at least the second image data set; and
attempt to locate the fingertip using the first image data set by calculating at least one of an intersection and a closest approach of a first ray from the camera and a second ray from the mirror, and if an intersection of the first ray and the second ray exist, use the intersection as the location of the fingertip, and if no intersection between the first ray and the second ray exists, estimate the location of the fingertip to be at the center of the shortest straight line connecting the first ray to the second ray.
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Abstract
An object tracking device includes a camera with a field of view oriented in a first direction and a mirror with a field of reflection oriented in a second direction. When an object is in a first region in the field of view of the electronic camera, the camera has a direct view of the object and a reflected view of the object from the mirror. A processor coupled with the camera is configured to receive a first image data set and a second image data set from the camera. The first image data set and the second image data set each include the direct view of the object and the reflected view of the object from the mirror.
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Citations
18 Claims
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1. An object tracking device, comprising:
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a camera with a field of view oriented in a first direction; a mirror with a field of reflection oriented in a second direction, such that when an object is in a first region in the field of view of the camera, the camera has a direct view of the object and a reflected view of the object from the mirror; and a processor configured to; receive a first image data set and a second image data set from the camera, wherein the first image data set includes the direct view of the object and the reflected view of the object from the mirror, and wherein the second image data set includes the direct view of the object and the reflected view of the object from the mirror; create a three dimensional representation of the object using at least the first image data set; track motion in three dimensions by tracking allocation on a fingertip of a human hand using at least the second image data set; and attempt to locate the fingertip using the first image data set by calculating at least one of an intersection and a closest approach of a first ray from the camera and a second ray from the mirror, and if an intersection of the first ray and the second ray exist, use the intersection as the location of the fingertip, and if no intersection between the first ray and the second ray exists, estimate the location of the fingertip to be at the center of the shortest straight line connecting the first ray to the second ray. - View Dependent Claims (2, 3, 4, 5, 6)
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7. An object tracking apparatus, comprising:
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a processor configured to; receive at least a first image data set and a second image data set from a single camera, wherein the first image data set includes a direct view of an object and a reflected view of the object from a mirror, and wherein the second image data set includes the direct view of the object and the reflected view of the object from the mirror; create a three dimensional representation of the object using the first image data set; track motion in three dimensions by tracking a location on a fingertip of a human hand using the second image data set; attempt to locate the fingertip using the first image data set by calculating at least one of an intersection and a closest approach of a first ray from the single camera and a second ray from the mirror, and if an intersection of the first ray and the second ray exist, use the intersection as the location of the fingertip, and if no intersection between the first ray and the second ray exists, estimate the location of the fingertip to be at the center of the shortest straight line connecting the first ray to the second ray; and control a graphical user interface by inputting data derived from the tracking motion in three dimensions. - View Dependent Claims (8, 9, 10, 11, 12, 13, 14)
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15. An object tracking method, comprising:
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orienting a field of view of a single camera in a first direction; orienting a field of reflection of a mirror in a second direction, such that when a human hand is in a first region in the field of view of the single camera, the single camera has two views of the hand from two different angles; and receiving in a non-transitory memory at least a first image data set and a second image data set from the single camera, wherein the first image data set includes a direct view of the hand and a reflected view of the hand from the mirror, and wherein the second image data set includes the direct view of the hand and the reflected view of the hand from the mirror; creating a three dimensional representation of the hand using the first image data set by identifying in the first image data set a first location on the hand and a second location on the hand, wherein creating the three dimensional representation of the hand using the first image data set comprises; calculating a first ray from the single camera to the first location; calculating a second ray from the single camera to the second location; calculating a third ray from the mirror to the first location; calculating a fourth ray from the mirror to the second location; estimating a first intersection of the first and third ray; and estimating a second intersection of the second ray and the fourth ray; tracking motion in three dimensions of at least one location on the object using the second image data set by identifying in the first image data set the first location on the object and the second location on the object; and controlling a graphical user interface by inputting data derived from tracking motion in the three dimensions. - View Dependent Claims (16, 17, 18)
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Specification