Tracking hand/body pose
First Claim
Patent Images
1. A method of tracking pose of a hand or body comprising:
- receiving a stream of images depicting the hand or body;
inputting at least part of one of the images to a plurality of layers of a prediction engine to obtain a distribution over poses of the hand or body;
accessing a pool of candidate poses of the hand or body; and
periodically replacing a sub-set of the candidate poses in the pool with samples from the distribution over poses of the hand or body.
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Abstract
Tracking hand or body pose from image data is described, for example, to control a game system, natural user interface or for augmented reality. In various examples a prediction engine takes a single frame of image data and predicts a distribution over a pose of a hand or body depicted in the image data. In examples, a stochastic optimizer has a pool of candidate poses of the hand or body which it iteratively refines, and samples from the predicted distribution are used to replace some candidate poses in the pool. In some examples a best candidate pose from the pool is selected as the current tracked pose and the selection processes uses a 3D model of the hand or body.
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Citations
20 Claims
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1. A method of tracking pose of a hand or body comprising:
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receiving a stream of images depicting the hand or body; inputting at least part of one of the images to a plurality of layers of a prediction engine to obtain a distribution over poses of the hand or body; accessing a pool of candidate poses of the hand or body; and periodically replacing a sub-set of the candidate poses in the pool with samples from the distribution over poses of the hand or body. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A system comprising:
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a processor; a memory; an input interface arranged to receive an image depicting the hand or body; a prediction engine stored in the memory and executed on the processor;
the prediction engine configured to;receive at least part of the image; and determine a distribution over poses of the hand or body; a stochastic optimizer stored in the memory and executed on the processor, the stochastic optimizer configured to iteratively refine candidate poses in a pool of candidate poses of the hand or body; and a hand or body pose tracker stored in the memory and executed on the processor, the hand or body pose tracker configured to periodically replace a sub-set of the candidate poses in the pool of candidate poses with samples from the distribution over poses of the hand or body. - View Dependent Claims (16, 17, 18, 19)
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20. One or more computer storage media, as hardware, storing instructions that, when executed by a computing device;
- control the computing device to;
receive a stream of images depicting a hand or a body of a user; input at least part of one of the images to a plurality of layers of a prediction engine to obtain a distribution over poses of the hand or body; access a pool of candidate poses of the hand or body; and periodically replace a sub-set of the candidate poses in the pool with samples from the distribution over poses of the hand or body.
- control the computing device to;
Specification