JP2012516504A - 視覚的目標追跡 - Google Patents
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Abstract
Description
[0095]図7の128及び130に示されるように、画素ケースの決定は引き込み画素ケース(pull pixel case)及び/又は押し出し画素ケース(push pixel case)を選択することを含んでもよい。これらの画素ケースはシルエットで呼び出されてもよく、合成され観察された奥行き値は同じ画素アドレスにおいてひどく一致しないかもしれない。元のプレーヤーインデックスが(成長)プレーヤーインデックスと一致しない場合、引き込み画素ケース及び押し出し画素ケースを使用することができることが注目される。押し対引きの決定は以下のとおりである。合成された奥行き画像がその同じ画素アドレスにおける観察された奥行き画像の奥行き値より大きい(遠い)奥行き値を含む場合、モデルは成長画像に見られる本当のシルエットに向かって引くことができる。反対に、元の合成された画像が観察された奥行き画像中の奥行き値より小さい(より近い)奥行き値を含む場合、次に、プレーヤーがもはや占めていない空間から(及び成長した画像中の現実のシルエットに向かって)モデルを押し出すことができる。いずれにせよ、これらの画素又は画素領域のうちの各々について、シルエットの不一致を修正するために、2次元又は3次元の計算された力ベクトルがモデルに及ぼされてもよく、観察された奥行き画像中の目標の位置により正確に一致する位置へと人体モデルの一部を押し出したり引き込んだりする。そのような押し出し及び/又は引き込みの方向は多くは主にXY平面にあるが、幾つかのシナリオにおいてはZコンポーネントを力に加えることができる。
[00126]本明細書において記載される構成及び/又は手法が本来例示的なものであり、多数の変更が可能であるので、これらの特定の実施例又は例が限定的な意味で考慮されるべきでないことが理解されるべきである。本明細書において記載された特定のルーチン又は方法は、任意の数の処理戦略のうちの1つ以上を表してもよい。そのため、示された様々な動作は、示されたシーケンスで、他のシーケンスで、並列に、又は省略された幾つかの場合において、行われてもよい。同様に、上述の処理の順序は変更されてもよい。
Claims (15)
- 目標を追跡する方法であって、
ソース(20)から目標(18)の観察された奥行き画像(140)を受け取るステップ(102)と、
姿勢を有する前記目標のモデル(70)を得るステップ(112)と、
前記モデルを合成された奥行き画像(150)へとラスタライズするステップ(116)と、
前記観察された奥行き画像と前記合成された奥行き画像との間の差に少なくとも部分的に基づいて、前記モデルの姿勢を調節するステップ(142)と
を含む方法。 - 前記観察された奥行き画像は複数の観察された画素を含み、1つ以上の観察された画素は、前記ソースとその観察された画素に対応する前記目標の一部との間の差を示す観察された奥行き値を含む請求項6に記載の方法。
- 前記ソースが奥行きカメラを含む請求項1に記載の方法。
- 前記ソースがステレオカメラを含む請求項1に記載の方法。
- 前記モデルが、複数の関節によって調節可能に接続された複数の体の部分を含む請求項1に記載の方法。
- 前記モデルが、複数の関節によって調節可能に接続された複数の骨格部材を含む請求項1に記載の方法。
- 前記モデルが、多角形の端において調節可能に接続された複数の多角形を含むワイヤーフレームメッシュを含む請求項1に記載の方法。
- 前記合成された奥行き画像が複数の合成された画素を含み、1つ以上の合成された画素は、前記ソースとその合成された画素により表される前記目標の一部との間の差を示す合成された奥行き値を含む請求項1に記載の方法。
- 前記合成された奥行き画像が複数の合成された画素を含み、1つ以上の合成された画素は、その合成された画素が対応する前記目標の一部を示す体の一部のインデックスを含む請求項1に記載の方法。
- 前記合成された奥行き画像が複数の合成された画素を含み、各合成された画素は、その合成された画素が対応する目標を示す目標インデックスを含む請求項1に記載の方法。
- 前記モデルの姿勢を調節するステップは、観察された画素の観察された奥行き値と対応する合成された画素の合成された奥行き値との間の差に基づく請求項1に記載の方法。
- 前記モデルの姿勢を調節するステップは、対応する合成された画素と異なる、観察された画素の体の一部のインデックスにさらに基づく請求項1に記載の方法。
- 前記モデルの姿勢を調節するステップは、前記モデルの力受信位置に1つ以上の力を加えるステップ及びそのような力に応答して前記モデルが移動することを可能にするステップを含む請求項1に記載の方法。
- 前記モデルの姿勢を調節するステップは、1つ以上の制約に従って前記モデルを修正するステップを含む請求項1に記載の方法。
- 奥行き情報を得るように構成されたソース(48)と、
前記ソースに動作可能に接続された論理サブシステム(42)と、
前記ソースから目標の観察された奥行き画像を受け取り(102)、
姿勢を有する前記目標のモデルを取得し(112)、
前記モデルを合成された奥行き画像へとラスタライズし(116)、
前記観察された奥行き画像と前記合成された奥行き画像との間の差に少なくとも部分的に基づいて、前記モデルの姿勢を調節する(142)
ための、前記論理サブシステムによって実行可能な命令を保持するデータ保持サブシステム(44)と
を具備するコンピューティングシステム。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US12/363,604 | 2009-01-30 | ||
US12/363,604 US8267781B2 (en) | 2009-01-30 | 2009-01-30 | Visual target tracking |
PCT/US2010/020791 WO2010088032A2 (en) | 2009-01-30 | 2010-01-12 | Visual target tracking |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2012516504A true JP2012516504A (ja) | 2012-07-19 |
JP2012516504A5 JP2012516504A5 (ja) | 2013-01-31 |
JP5227463B2 JP5227463B2 (ja) | 2013-07-03 |
Family
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Application Number | Title | Priority Date | Filing Date |
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JP2011548016A Active JP5227463B2 (ja) | 2009-01-30 | 2010-01-12 | 視覚的目標追跡 |
Country Status (9)
Country | Link |
---|---|
US (2) | US8267781B2 (ja) |
EP (1) | EP2391988B1 (ja) |
JP (1) | JP5227463B2 (ja) |
KR (1) | KR101619562B1 (ja) |
CN (1) | CN102301313B (ja) |
BR (1) | BRPI1006111A2 (ja) |
CA (1) | CA2748557C (ja) |
RU (1) | RU2530334C2 (ja) |
WO (1) | WO2010088032A2 (ja) |
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US8267781B2 (en) | 2012-09-18 |
US20120077591A1 (en) | 2012-03-29 |
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WO2010088032A2 (en) | 2010-08-05 |
KR20110117114A (ko) | 2011-10-26 |
WO2010088032A3 (en) | 2010-09-23 |
EP2391988B1 (en) | 2022-06-08 |
KR101619562B1 (ko) | 2016-05-10 |
CN102301313A (zh) | 2011-12-28 |
CA2748557A1 (en) | 2010-08-05 |
US9039528B2 (en) | 2015-05-26 |
RU2530334C2 (ru) | 2014-10-10 |
JP5227463B2 (ja) | 2013-07-03 |
EP2391988A2 (en) | 2011-12-07 |
BRPI1006111A2 (pt) | 2016-02-16 |
CN102301313B (zh) | 2013-10-30 |
RU2011132029A (ru) | 2013-02-10 |
CA2748557C (en) | 2016-06-28 |
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