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Systems and methods of locating a control object appendage in three dimensional (3D) space

  • US 9,945,660 B2
  • Filed: 05/27/2015
  • Issued: 04/17/2018
  • Est. Priority Date: 01/17/2012
  • Status: Active Grant
First Claim
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1. A system of locating a control object appendage in three dimensional (3D) space, the system including:

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

    recording images of a control object appendage in 3D space using at least two geometrically distinct predetermined vantages;

    calculating by a processor four co planar tangents to observed edges of the control object appendage from the recorded images;

    fitting an ellipse by a processor to a cross-section of the control object appendage by selecting the ellipse from a family of ellipses that fit the four co planar tangents using an assumed parameter;

    repeatedly fitting contiguous cross-sections to the control object appendage; and

    constructing a model of the control object appendage in 3D space from the contiguous cross-sections.

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