Method and apparatus for estimating orientation of body, and computer readable storage medium of recording the method

• US 9,589,182 B2
• Filed: 10/08/2014
• Issued: 03/07/2017
• Est. Priority Date: 10/08/2013
• Status: Active Grant

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Samsung Electronics Co. Ltd.
• Inventors: Jung, Ho-yub, Kim, Jung-seop, Choi, Jin-wuk, Ha, Nam-su
• Primary Examiner(s): Sherali, Ishrat I
• Application Number:
  US14/509,516
• Publication Number:
  US 20150098618A1
• Time in Patent Office: 881 Days
• Field of Search: 382/103, 382/107, 382/154
• US Class Current: 1/1
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 2207/30196 Human being; Person
• CPC Class Codes: G06T 7/73 using feature-based methods
• CPC Class Codes: G06V 40/103 Static body considered as a whole, e.g. static pedestrian or occupant recognition

Abstract

A method of estimating an orientation of a body is provided. The method includes determining a reference point based on a first region of a body, calculating a translation matrix of a world coordinate system based on the reference point; determining a first vector based on the reference point and a second region of the body, calculating a first rotation matrix rotated by an angle α about a first rotation vector, which is perpendicular to the first vector and a Z-axis of the world coordinate system, as a first rotation axis, determining a second vector based on the first vector and a third region of the body, calculating a second rotation matrix rotated by an angle β about the Z-axis of the world coordinate system as a second rotation axis, and calculating a transformation matrix based on the translation matrix, the first rotation matrix, and the second rotation matrix.

Claims

1. A method of transmitting information for an orientation of a body, the method comprising:

receiving position information indicating a position of a first region of a human body;

determining a reference point based on the received position information;

determining a translation matrix of a world coordinate system, based on the determined reference point;

determining a first vector based on the determined reference point and a second region of the human body;

determining a first rotation matrix rotated by an angle α

about a first rotation vector, which is perpendicular to the determined first vector and a Z-axis of the world coordinate system, as a first rotation axis;

determining a second vector, based on the determined first vector and a third region of the human body;

determining a second rotation matrix rotated by an angle β

about the Z-axis of the world coordinate system as a second rotation axis;

determining a transformation matrix, which is used to mutually transform coordinates between a human body coordinate system and the world coordinate system, based on the determined translation matrix, the determined first rotation matrix, and the determined second rotation matrix; and

transmitting information indicating the determined transformation matrix to an external device,

wherein the angle α

is an angle between the Z-axis and the determined first vector, and

wherein the angle β

is an angle between a Y-axis of the world coordinate system and the determined second vector.

2. The method of claim 1, wherein the reference point comprises a point at which joints of the human body are combined.

3. The method of claim 1, wherein the first vector comprises a direction vector having a shortest distance from the second region with respect to the determined reference point.

4. The method of claim 1, wherein the second vector comprises a normal vector of the determined first vector.

5. The method of claim 1, wherein the first rotation vector comprises an outer-product vector of the determined first vector and a unit vector of the Z-axis of the world coordinate system.

6. The method of claim 1, wherein the transformation matrix comprises an affine matrix.

7. The method of claim 1, further comprising:

setting a human body coordinate system,

wherein central coordinates on the human body coordinate system represent the determined reference point, and

wherein axes of the human body coordinate system are set using the determined first vector and the determined second vector.

8. The method of claim 1, further comprising:

transforming a point on the human body coordinate system at which joints of the human body are combined into a point on the world coordinate system, based on the determined transformation matrix.

9. An apparatus for transmitting information for an orientation of a body, the apparatus comprising:

a receiver configured to receive position information indicating a position of a first region of a human body;

a processor configured to;

determine a reference point based on the received position information,

determine a translation matrix of a world coordinate system, based on the determined reference point,

determine a first vector, based on the determined reference point and a second region of the human body,

determine a first rotation matrix rotated by an angle α

about a first rotation vector, which is perpendicular to the determined first vector and a Z-axis of the world coordinate system, as a first rotation axis,

determine a second vector, based on the determined first vector and a third region of the human body,

determine a second rotation matrix rotated by an angle β

about the Z-axis of the world coordinate system as a second rotation axis and

determine a transformation matrix, which is used to mutually transform coordinates between a human body coordinate system and the world coordinate system, based on the determined translation matrix, the determined first rotation matrix, and the determined second rotation matrix; and

a transmitter configured to transmit information indicating the determined transformation matrix to an external device,

wherein the angle α

is an angle between the Z-axis and the determined first vector, and

wherein the angle β

is an angle between a Y-axis of the world coordinate system and the determined second vector.

10. The apparatus of claim 9, wherein the reference point comprises a point at which joints of the human body are combined.

11. The apparatus of claim 9, wherein the first vector comprises a direction vector having a shortest distance from the second region with respect to the determined reference point.

12. The apparatus of claim 9, wherein the second vector comprises a normal vector of the determined first vector.

13. The apparatus of claim 9, wherein the first rotation vector comprises an outer-product vector of the determined first vector and a unit vector of the Z-axis of the world coordinate system.

14. The apparatus of claim 9, wherein the transformation matrix comprises an affine matrix.

15. The apparatus of claim 9, wherein the processor is further configured to:

set a human body coordinate system setting unit,

set central coordinates on the human body coordinate system as the determined reference point, and

set axes of the human body coordinate system based on the first vector and the determined second vector.

16. The apparatus of claim 9, wherein the processor is further configured to transform a point on the human body coordinate system at which joints of the human body are combined into a point on the world coordinate system, based on the determined transformation matrix.

17. A non-transitory computer readable recording medium having recorded thereon computer program codes causing a method of transmitting information for an orientation of a body to perform when the computer program codes are read and executed by a processor, the method comprising:

receiving position information indicating a position of a first region of a human body;

determining a reference point based on the received position information;

determining a translation matrix of a world coordinate system, based on the determined reference point;

determining a first vector, based on the determined reference point and a second region of the human body;

determining a first rotation matrix rotated by an angle α

about a first rotation vector, which is perpendicular to the determined first vector and a Z-axis of the world coordinate system, as a first rotation axis;

determining a second vector, based on the determined first vector and a third region of the human body;

determining a second rotation matrix rotated by an angle β

about the Z-axis of the world coordinate system as a second rotation axis;

determining a transformation matrix, which is used to mutually transform coordinates between a human body coordinate system and the world coordinate system, based on the determined translation matrix, the determined first rotation matrix, and the determined second rotation matrix; and

transmitting information indicating the determined transformation matrix to an external device,

wherein the angle α

is an angle between the Z-axis and the determined first vector, and

wherein the angle β

is an angle between a Y-axis of the world coordinate system and the determined second vector.