JP2008537815A - クリティカルポイント解析に基づくポーズ推定 - Google Patents
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Abstract
【解決手段】 対象物は人体、動物、ロボットでもよい。カメラ110で対象物310に関する奥行情報を受信し、ポーズ推定モジュール120で画像から対象物のポーズや行動を判定し、インタラクション・モジュール130で感知したポーズや行動に対する応答を出力する。ポーズ推定モジュール120により、対象物を含んだ画像を区分し、分類部分と未分類部分にする。区分化は k-means クラスタ法を用いてもよい。分類部分を、頭部や胴体部などの既知の対象として画像間で追跡してもよい。未分類部分をx軸とy軸に沿って走査を行い、極小値と極大値を特定する。極大値と極小値320からクリティカルポイントを導く。様々なクリティカルポイントを結んで潜在的な関節部を特定し、対象物の実対象に相当するのに十分な確率を有する関節部を選択し、判定済みの対象物のポーズに基づいて骨格構造を生成する。
【選択図】 図3
Description
Claims (27)
- 対象物に関する奥行き情報を含む画像を受信する手順と、
前記奥行き情報から判定した前記対象物の水平端および垂直端に対応する前記対象物の極小値と極大値とを特定し、これらの極小値と極大値からクリティカルポイントを特定する手順と、
前記対象物の領域内のクリティカルポイントを結ぶことで関節位置を形成し、この関節位置から前記対象物の骨格構造を生成する手順と、
前記骨格構造に基づいて前記対象物のポーズを判定する手順とを含む
ことを特徴とする画像中の対象物のポーズを推定する方法。 - 前記骨格構造を生成する手順は、
クリティカルポイントの対を特定し、この対のクリティカルポイントを結んだときに、前記対象物の領域内にとどまる可能な関節位置のセットを決定することを含む
ことを特徴とする請求項1に記載の方法。 - 前記骨格構造を生成する手順は、
クリティカルポイントの対を特定し、この対のクリティカルポイントを結んだときに、前記対象物の領域の中心に最も近接して延びる可能な関節位置のセットを決定することを含む
ことを特徴とする請求項1に記載の方法。 - 前記骨格構造を生成する手順は、
クリティカルポイントの対を特定し、この対のクリティカルポイントを結んだときに、既知の人体構造を損なわない可能な関節位置のセットを決定することを含む
ことを特徴とする請求項1に記載の方法。 - 前記骨格構造を生成する手順は、
次に続く画像を受信し、
クリティカルポイントの対を特定し、この対のクリティカルポイントを結んだときに、前記画像間での連続性を損なわない可能な関節位置のセットを決定することを含む
ことを特徴とする請求項1に記載の方法。 - 前記対象物の領域をk-meansクラスタ法により空間区分する手順をさらに含み、前記極小値と極大値は空間区分内での最小値と最大値に相当する
ことを特徴とする請求項1に記載の方法。 - 前記対象物の領域の部分を既知の人体部位として分類するとともに、前記対象物の領域の未分類部分から前記骨格構造を生成する手順をさらに含む
ことを特徴とする請求項1に記載の方法。 - 前記骨格構造を生成する手順は、
前記骨格構造に基づいて前記対象物の領域の部分を既知の人体部位として分類することを含む
ことを特徴とする請求項1に記載の方法。 - 前記骨格構造を生成する手順は、
次に続く画像を受信し、
次に続くクリティカルポイントを特定し、
前記クリティカルポイントとこの次に続くクリティカルポイントとの比較により次に続く骨格画像を生成することを含む
ことを特徴とする請求項1に記載の方法。 - 画像中の対象物のポーズを推定する方法を実行するように構成されたコンピュータプログラム生成物を記憶するコンピュータ読取可能な媒体であって、
前記方法は、
対象物に関する奥行き情報を含む画像を受信する手順と、
前記奥行き情報から判定した前記対象物の水平端および垂直端に対応する前記対象物の極小値と極大値とを特定し、これらの極小値と極大値からクリティカルポイントを特定する手順と、
前記対象物の領域内のクリティカルポイントを結ぶことで関節位置を形成し、この関節位置から前記対象物の骨格構造を生成する手順と、
前記骨格構造に基づいて前記対象物のポーズを判定する手順とを含む
ことを特徴とするコンピュータプログラム生成物を記憶するコンピュータ読取可能な媒体。 - 前記骨格構造を生成する手順は、
クリティカルポイントの対を特定し、この対のクリティカルポイントを結んだときに、前記対象物の領域内にとどまる可能な関節位置のセットを決定することを含む
ことを特徴とする請求項10に記載のコンピュータプログラム生成物。 - 前記骨格構造を生成する手順は、
クリティカルポイントの対を特定し、この対のクリティカルポイントを結んだときに、前記対象物の領域の中心に最も近接して延びる可能な関節位置のセットを決定することを含む
ことを特徴とする請求項1に記載のコンピュータプログラム生成物。 - 前記骨格構造を生成する手順は、
クリティカルポイントの対を特定し、この対のクリティカルポイントを結んだときに、既知の人体構造を損なわない可能な関節位置のセットを決定することを含む
ことを特徴とする請求項10に記載のコンピュータプログラム生成物。 - 前記骨格構造を生成する手順は、
次に続く画像を受信し、
クリティカルポイントの対を特定し、この対のクリティカルポイントを結んだときに、前記画像間での連続性を損なわない可能な関節位置のセットを決定することを含む
ことを特徴とする請求項10に記載のコンピュータプログラム生成物。 - 前記対象物の領域をk-meansクラスタ法により空間区分する手順をさらに含み、
前記極小値と極大値は空間区分内での最小値と最大値に相当する
ことを特徴とする請求項10に記載のコンピュータプログラム生成物。 - 前記対象物の領域の部分を既知の人体部位として分類するとともに、前記対象物の領域の未分類部分から前記骨格構造を生成する手順をさらに含む
ことを特徴とする請求項10に記載のコンピュータプログラム生成物。 - 前記骨格構造を生成する手順は、
前記骨格構造に基づいて、前記対象物の領域の部分を既知の人体部位として分類することを含む
ことを特徴とする請求項10に記載のコンピュータプログラム生成物。 - 前記骨格構造を生成する手順は、
次に続く画像を受信し、
次に続くクリティカルポイントを特定し、
前記クリティカルポイントとこの次に続くクリティカルポイントとの比較により次に続く骨格画像を生成することを含む
ことを特徴とする請求項10に記載のコンピュータプログラム生成物。 - 画像中の対象物のポーズを推定するシステムであって、
前記対象物に関する奥行き情報を含む前記画像を受信する入力手段と、
前記入力手段に通信可能に接続され、
前記奥行き情報から判定した前記対象物の水平端および垂直端に対応する前記対象物の極小値と極大値とを特定し、これらの極小値と極大値からクリティカルポイントを特定するクリティカルポイント・モジュールと、
前記クリティカルポイント・モジュールに通信可能に接続され、
前記対象物の領域内のクリティカルポイントを結ぶことで関節位置を生成し、この関節位置から前記対象物の骨格構造を生成する骨格生成モジュールと、
前記骨格生成モジュールに通信可能に接続され、
前記骨格構造に基づいて前記対象物のポーズを判定するように構成される推定モジュールとを備える
ことを特徴とする画像中の対象物のポーズを推定するシステム。 - 前記骨格生成モジュールは、
クリティカルポイントの対を特定し、この対のクリティカルポイントを結んだときに、前記対象物の領域内にとどまる可能な関節位置のセットを決定する
ことを特徴とする請求項19に記載のシステム。 - 前記骨格生成モジュールは、
クリティカルポイントの対を特定し、この対のクリティカルポイントを結んだときに、前記対象物の領域の中心に最も近接して延びる可能な関節位置のセットを決定する
ことを特徴とする請求項19に記載のシステム。 - 前記骨格生成モジュールは、
クリティカルポイントの対を特定し、この対のクリティカルポイントを結んだときに、既知の人体構造を損なわない可能な関節位置のセットを決定する
ことを特徴とする請求項19に記載のシステム。 - 前記骨格生成モジュールは、
クリティカルポイントの対を特定し、この対のクリティカルポイントを結んだときに、前記画像間での連続性を損なわない可能な関節位置のセットを決定する
ことを特徴とする請求項19に記載のシステム。 - 前記クリティカルポイント・モジュールは、前記対象物の領域をk-meansクラスタ法により空間区分し、前記極小値と極大値は空間区分内での最小値と最大値に相当する
ことを特徴とする請求項19に記載のシステム。 - 前記クリティカルポイント・モジュールは、
前記対象物領域の部分を既知の人体部位として分類するとともに、前記対象物領域の未分類部分から骨格構造を生成する
ことを特徴とする請求項19に記載のシステム。 - 前記骨格生成モジュールは、前記骨格構造に基づいて前記対象物領域の部分を既知の人体部位として分類する
ことを特徴とする請求項19に記載のシステム。 - 前記入力手段は次に続く画像を受信し、
前記クリティカルポイント・モジュールは、次に続くクリティカルポイントを特定し、
前記骨格生成モジュールは、前記クリティカルポイントをこの次に続くクリティカルポイントと比較することで次に続く骨格画像を生成する
ことを特徴とする請求項19に記載のシステム。
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US7317836B2 (en) | 2008-01-08 |
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US20060274947A1 (en) | 2006-12-07 |
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