Human tracking system
First Claim
Patent Images
1. A method for tracking a person, comprising:
- receiving a depth image that includes a target, the target corresponding to a person and comprising a head portion, a torso portion, arms portions, and legs portion;
generating voxels from the depth image, each voxel comprising an x-value, a y-value, and a depth value;
identifying a first plurality of voxels corresponding to the target;
calculating an average x-value, an average y-value, and an average depth value from the plurality of voxels corresponding to the target;
identifying a centroid of the target, the centroid having the average x-value, the average y-value, and the average depth value;
searching from the centroid and toward a head portion of the target for a first voxel that is not associated with the target;
searching from the centroid and away from the head portion of the target for a second voxel that is not associated with the target; and
determining a core volume of the target, the core volume based at least in part on the first voxel and the second voxel and excluding at least part of the legs portion of the target.
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Abstract
An image such as a depth image of a scene may be received, observed, or captured by a device. A grid of voxels may then be generated based on the depth image such that the depth image may be downsampled. A background included in the grid of voxels may also be removed to isolate one or more voxels associated with a foreground object such as a human target. A location or position of one or more extremities of the isolated human target may be determined and a model may be adjusted based on the location or position of the one or more extremities.
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Citations
17 Claims
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1. A method for tracking a person, comprising:
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receiving a depth image that includes a target, the target corresponding to a person and comprising a head portion, a torso portion, arms portions, and legs portion; generating voxels from the depth image, each voxel comprising an x-value, a y-value, and a depth value; identifying a first plurality of voxels corresponding to the target; calculating an average x-value, an average y-value, and an average depth value from the plurality of voxels corresponding to the target; identifying a centroid of the target, the centroid having the average x-value, the average y-value, and the average depth value; searching from the centroid and toward a head portion of the target for a first voxel that is not associated with the target; searching from the centroid and away from the head portion of the target for a second voxel that is not associated with the target; and determining a core volume of the target, the core volume based at least in part on the first voxel and the second voxel and excluding at least part of the legs portion of the target. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A system for tracking a person, comprising:
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a capture device that receives a depth image of a scene; computing memory communicatively coupled with the capture device, the computing memory having stored thereon processor-executable instructions that cause the system to perform operations comprising; receiving from the capture device a depth image that includes a target, the target corresponding to a person and comprising a head portion, a torso portion, arms portions, and legs portion; generating voxels from the depth image, each voxel comprising an x-value, a y-value, and a depth value; identifying a first plurality of voxels corresponding to the target; calculating an average x-value, an average y-value, and an average depth value from the plurality of voxels corresponding to the target; identifying a centroid of the target, the centroid having the average x-value, the average y-value, and the average depth value; searching from the centroid and toward a head portion of the target for a first voxel that is not associated with the target; searching from the centroid and away from the head portion of the target for a second voxel that is not associated with the target; and determining a core volume of the target, the core volume based at least in part on the first voxel and the second voxel and excluding at least part of the legs portion of the target. - View Dependent Claims (10, 11, 12, 13)
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14. A computer-readable storage device bearing computer-readable instructions that cause a computing system to perform operations comprising:
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receiving a depth image that includes a target, the target corresponding to a person and comprising a head portion, a torso portion, arms portions, and legs portion; generating voxels from the depth image, each voxel comprising an x-value, a y-value, and a depth value; identifying a first plurality of voxels corresponding to the target; calculating an average x-value, an average y-value, and an average depth value from the plurality of voxels corresponding to the target; identifying a centroid of the target, the centroid having the average x-value, the average y-value, and the average depth value; searching from the centroid and toward a head portion of the target for a first voxel that is not associated with the target; searching from the centroid and away from the head portion of the target for a second voxel that is not associated with the target; and determining a core volume of the target, the core volume based at least in part on the first voxel and the second voxel and excluding at least part of the legs portion of the target. - View Dependent Claims (15, 16, 17)
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Specification