Systems and methods for tracking body surfaces of individuals

• US 9,737,239 B2
• Filed: 04/14/2016
• Issued: 08/22/2017
• Est. Priority Date: 10/17/2011
• Status: Active Grant

• Current Assignee: Atlas5D, Inc.
• Original Assignee: Atlas5D, Inc.
• Inventors: Kimmel, Zebadiah M.
• Primary Examiner(s): PHAM, HOA Q
• Application Number:
  US15/099,155
• Publication Number:
  US 20160331277A1
• Time in Patent Office: 495 Days
• Field of Search: 356601-623, 382103, 382115, 382154, 348 42, 348 46, 706 12, 706 46, 706 48, 700131, 700132, 705 1, 705 26, 702 32
• CPC Class Codes: A41H 1/02 Devices for taking measurements on the human body
• CPC Class Codes: A61B 2576/00 Medical imaging apparatus involving image processing or analysis A61B1/00009, A61B6/52 and A61B8/52 take precedence; image processing per se G06T; details of algorithms for analysing medical images G06T7/0012
• CPC Class Codes: A61B 5/0064 Body surface scanning
• CPC Class Codes: A61B 5/0077 Devices for viewing the surface of the body, e.g. camera, magnifying lens
• CPC Class Codes: A61B 5/1072 measuring distances on the body, e.g. measuring length, height or thickness A61B5/1076 takes precedence
• CPC Class Codes: A61B 5/1077 Measuring of profiles
• CPC Class Codes: A61B 5/1079 using optical or photographic means
• CPC Class Codes: A61B 5/7282 Event detection, e.g. detecting unique waveforms indicative of a medical condition A61B5/4094, A61B5/4818, A61B5/349, A61B5/0823 take precedence
• CPC Class Codes: A61F 2/5046 for designing or making customized prostheses, e.g. using templates, finite-element analysis or CAD-CAM techniques
• CPC Class Codes: A61F 2002/5001 Cosmetic coverings
• CPC Class Codes: A61F 2002/5049 Computer aided shaping, e.g. rapid prototyping
• CPC Class Codes: A61F 2002/505 using CAD-CAM techniques or NC-techniques
• CPC Class Codes: G01B 11/00 Measuring arrangements characterised by the use of optical techniques
• CPC Class Codes: G01B 11/24 for measuring contours or curvatures
• 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 7/62 of area, perimeter, diameter or volume

Abstract

A system for sizing and fitting an individual for apparel, accessories, or prosthetics includes at least one energy emitter configured to emit energy onto a field-of-view that contains an individual, and at least one energy sensor configured to capture reflected energy from within the field-of-view. A spatial measurement module calculates spatial measurements of a surface portion of the body of the individual when the individual is either stationary or moving about in real-time, based on data from the energy sensor.

Claims

1. A method of determining a spatial distance of curvature along an unclosed curve that tracks a body surface of an individual, the method comprising:

capturing data corresponding to the individual positioned within a field-of view of at least one energy emitter and at least one energy sensor, the at least one energy sensor configured to capture energy reflected from the individual and other objects within the field-of-view, wherein the data corresponds to an incomplete representation of a surface of the body of the individual;

generating, by a processor of a computing device, depth data for the field-of-view based on the captured data from the at least one energy sensor; and

calculating, by the processor, one or more spatial measurements of a portion of a body surface of the individual based on the generated depth data for the field-of-view, comprising;

determining, by the processor, an estimated position of each of one or more body landmarks based at least in part on the generated depth data;

determining, by the processor, an outline of the single body portion that is bounded by the estimated position(s), wherein said determining provides an incomplete representation of the surface of the portion of the body surface in question;

selecting, by the processor, two or more terminuses of the outline of the single body portion;

determining, by the processor, a spatial distance of curvature connecting at least two of the two or more terminuses; and

storing, on a memory, the spatial distance of curvature as a measurement of the single body portion.

2. The method according to claim 1, wherein the data captured corresponding to the individual within the field-of-view is captured in real-time while the individual moves about in real-time.

3. The method according to claim 1, wherein determining the spatial distance of curvature connecting at least two of the two or more terminuses uses at least one of heuristic technique or approximation.

4. The method according to claim 1, wherein the at least one energy emitter emits at least one of a pattern of infrared light, a pattern of laser light, a pattern of ultraviolet light, a pattern of visible light, a pattern of X-rays, a pattern of microwaves, a pattern of radio waves, a pattern of sound waves, a pattern of ultrasound energy, or a pattern of thermal energy.

5. The method according to claim 1, wherein at least one additional energy sensor is positioned so as to view substantially the same field-of-view as the at least one energy sensor, and wherein the at least one energy sensor and the at least one additional energy sensor acquire a substantially non-overlapping spectra of energy.

6. The method according to claim 5, wherein the step of calculating one or more spatial measurements includes utilizing visual data in addition to the generated depth data.

7. The method according to claim 1, wherein skeleton data are calculated from the generated depth data.

8. The method according to claim 7, wherein the step of calculating one or more spatial measurements includes utilizing skeleton data in addition to the visual data and the generated depth data.

9. The method according to claim 7, wherein the step of calculating one or more spatial measurements includes utilizing skeleton data in addition to the generated depth data.

10. The method according to claim 1, wherein the step of calculating one or more spatial measurements includes identifying a location in space of at least one landmark on the body of the individual, and wherein the step of calculating one or more spatial measurements includes calculating a length of a curve or a circumference of a portion of the body of the individual, based on the at least one landmark.

11. The method according to claim 1, wherein the step of calculating one or more spatial measurements includes identifying a location in space of at least one landmark on the body of the individual, and wherein the step of calculating one or more spatial measurements includes determining an angle of a portion of the body of the individual relative to another portion of the body of the individual, or relative to a structure in a surrounding environment, based on the at least one landmark.

12. The method according to claim 1, further including generating additional depth data using a second energy sensor, wherein the second energy sensor overlaps in energy characteristics with the first energy sensor.

13. The method according to claim 1, further including positioning a calibrator device having a predetermined shape and predetermined dimension, in the field-of-view.

14. A system of determining a spatial distance of curvature along an unclosed curve that tracks a body surface of an individual, the system comprising:

at least one energy emitter for capturing energy reflected from the individual and other objects within a field of view;

at least one energy sensor energy reflected from the individual and other objects within the field of view, thereby capturing data corresponding to an individual positioned within the field-of view, wherein the data corresponds to an incomplete representation of a surface of the body of the individual;

a depth calculation module for generating depth data corresponding to the individual and other objects in the field-of-view, based on information from the at least one energy sensor; and

a spatial measurement module for calculating, based on the generated depth data, spatial measurements of a portion of a body surface of the individual in the field-of-view, wherein the spatial measurement module comprises a processor and a memory storing instructions thereon, wherein the instructions, when executed by the processor cause the processor to;

determine an estimated position of each of one or more body landmarks based at least in part on the generated depth data;

determine an outline of the single body portion that is bounded by the estimated position(s), wherein said determining provides an incomplete representation of the surface of the portion of the body surface in question;

select two or more terminuses of the outline of the single body portion;

determine a spatial distance of curvature connecting at least two of the two or more terminuses; and

store the spatial distance of curvature as a measurement of the single body portion.

15. The system according to claim 14, wherein the depth calculation module is configured to calculate the depth data from a combination of at least one energy pattern emitted, and at least one energy pattern captured.

16. The system of claim 14, including a skeleton calculation module configured to extract skeleton data from the generated depth data.

17. The system of claim 16, wherein the spatial measurement module is configured to calculate body measurements based on a combination of the generated depth data and the extracted skeleton data.

18. The system of claim 14, comprising an additional energy sensor configured to acquire visible light.

19. The system of claim 18, wherein the spatial measurement module is configured to calculate body measurements from a combination of the generated depth data and data corresponding to the acquired visible light.

20. The system of claim 14, including a skeleton calculation module configured to extract skeleton data from the generated depth data, and the system comprising an additional energy sensor configured to acquire visible light.

21. The system of claim 20, wherein the spatial measurement module is configured to calculate body measurements based on a combination of the generated depth data and the extracted skeleton data and the acquired visible light.

22. The system of claim 14, wherein the spatial distance of curvature connecting at least two of the two or more terminuses is determined using at least one of heuristic technique or approximation.

23. The system according to claim 14, wherein the depth calculation module is configured to calculate the depth data from a combination of at least one energy pattern emitted, and at least one energy pattern captured.