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Retraction based three-dimensional tracking of object movements

  • US 9,747,691 B2
  • Filed: 07/02/2015
  • Issued: 08/29/2017
  • Est. Priority Date: 01/23/2013
  • Status: Active Grant
First Claim
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1. A system for tracking movement of an object'"'"'s portion in a three-dimensional (3D) space, the system including:

  • one or more processors coupled to memory loaded with computer instructions that, when executed on the processors, implement actions including;

    selecting five observation points on a sphere model fitted to a portion of a real world object, wherein one of the observation points is at a center of the sphere model and four perimeter observation points are along a perimeter of the sphere model;

    capturing at times t0 and t1, projections of at least four perimeter observation points in at least a first image plane of at least one camera, wherein the object moved between t0 and t1;

    calculating a retraction of the four perimeter observation points at time t1 to their positions at t0, including using the four perimeter observation points to;

    map the projections of at least four perimeter observation points captured at t0 to a first image plane; and

    calculate orientation of a second image plane such that the projections of at least four perimeter observation points captured at t1 to the second image plane are collinear with respective projections in the first image plane with respect to a retracted center observation point; and

    determining at least translation of the sphere model between the times t0 and t1 using the orientation of the second image plane calculated.

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