Three-dimensional foreground selection for vision system
First Claim
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1. A method for controlling a computer system, the method comprising:
- acquiring video of a subject in front of a background;
obtaining from the video a time-resolved sequence of depth maps;
enacting area-wise motion detection on the sequence of depth maps to select from a depth map an area enclosing a moving contour, excluding a non-moving contour, and thereby targeting motion;
defining an axis parallel to an average surface normal of one or more contour gradients within the area;
selecting as foreground a section of the depth map bounded by the area and lying in front of a plane normal to that axis, and associating with the background, pixels of the depth map located behind the plane or outside the area; and
fitting a geometric model of the subject to the section selected as the foreground.
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Abstract
A method for controlling a computer system includes acquiring video of a subject, and obtaining from the video a time-resolved sequence of depth maps. An area targeting motion is selected from each depth map in the sequence. Then, a section of the depth map bounded by the area and lying in front of a plane is selected. This section of the depth map is used for fitting a geometric model of the subject.
207 Citations
18 Claims
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1. A method for controlling a computer system, the method comprising:
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acquiring video of a subject in front of a background; obtaining from the video a time-resolved sequence of depth maps; enacting area-wise motion detection on the sequence of depth maps to select from a depth map an area enclosing a moving contour, excluding a non-moving contour, and thereby targeting motion; defining an axis parallel to an average surface normal of one or more contour gradients within the area; selecting as foreground a section of the depth map bounded by the area and lying in front of a plane normal to that axis, and associating with the background, pixels of the depth map located behind the plane or outside the area; and fitting a geometric model of the subject to the section selected as the foreground. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method for controlling a computer system, the method comprising:
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acquiring video of a subject in front of a background; obtaining from the video a time-resolved sequence of depth maps; selecting from a depth map in the sequence an area targeting motion; defining an axis parallel to an average surface normal of one or more contour gradients within the area, the axis oriented in a direction that a torso of the subject is facing; positioning a plane to intersect the axis at a starting position determined based on estimated dimensions of the subject; advancing the plane along the axis; for each position of the plane, selecting as foreground a section bounded by the area and lying in front of the plane; halting advance of the plane when the section sufficiently resembles the subject; associating with the background, pixels of the depth map located behind the plane or outside the area; and fitting a geometric model of the subject to the section selected as the foreground. - View Dependent Claims (14, 15, 16)
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17. A system comprising:
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a vision subsystem configured to obtain from a depth camera a sequence of time-resolved depth maps imaging a human subject; a logic subsystem operatively coupled to the vision subsystem; and a data subsystem holding instructions executable by the logic subsystem to; based on area-wise motion detection on the sequence of depth maps, identify in a depth map an area enclosing a moving contour and excluding a non-moving contour; based on contour analysis inside the area, identify a direction that a torso of the subject is facing, the direction being parallel to an average surface normal of one or more contour gradients within the area; select as foreground a section of the depth map bounded by the area and lying in front of a plane normal to the direction, and associate with the background, pixels of the depth map located behind the plane or outside the area, and fit a geometric model of the subject to the section selected as the foreground. - View Dependent Claims (18)
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Specification