Human body pose estimation
View Patent ↗Techniques for human body pose estimation are disclosed herein. Depth map images from a depth camera may be processed to calculate a probability that each pixel of the depth map is associated with one or more segments or body parts of a body. Body parts may then be constructed of the pixels and processed to define joints or nodes of those body parts. The nodes or joints may be provided to a system which may construct a model of the body from the various nodes or joints.
1. A method for determining a position of at least part of a body, the method comprising:
receiving, at a computing system, a depth image that includes the at least part of the body;
determining, at the computing system, that a first pixel in the depth image corresponds to the at least part of the body; and
determining, at the computing system, that a second pixel in the depth image corresponds to the at least part of the body based on an angle and a distance of the second pixel relative to the first pixel.
2. The method of claim 1 ,
wherein determining that the first pixel in the depth image corresponds to the at least part of the body comprises determining a first probability that the first pixel in the depth image corresponds to the at least part of the body, and
wherein determining that the second pixel in the depth image corresponds to the at least part of the body comprises: determining that the second pixel in the depth image corresponds to the at least part of the body based on the angle and the distance of the second pixel relative to the first pixel, and the first probability.
3. The method of claim 2 , further comprising:
determining that a third pixel in the depth image has a zero probability of corresponding to the at least part of the body based on the third pixel having a depth value associated with a background.
4. The method of claim 1 , further comprising:
selecting a third pixel among a plurality of pixels in the depth image for determination of whether the third pixel corresponds to the at least part of the body based on determining that the second pixel in the depth image corresponds to the at least part of the body, and based on an angle and a distance of the third pixel relative to the second pixel.
5. The method of claim 1 , further comprising:
determining the angle and the distance of the second pixel relative to the first pixel based on a decision tree.
6. The method of claim 1 , further comprising:
determining the angle and the distance of the second pixel relative to the first pixel invariantly with respect to depth.
7. The method of claim 1 , wherein determining that the second pixel in the depth image corresponds to the at least part of the body comprises:
determining that the second pixel in the depth image corresponds to the at least part of the body based on the angle and the distance of the second pixel relative to the first pixel, and a depth value of the first pixel.
8. A system for determining a position of at least part of a body, comprising:
computing memory bearing instructions that, upon execution by one or more processors, cause the system at least to:
receive a depth image that includes at least part of the body;
determine that a first pixel in the depth image corresponds to the at least part of the body; and
determine that a second pixel in the depth image corresponds to the at least part of the body based on an angle and a distance of the second pixel relative to the first pixel.
9. The system of claim 8 ,
wherein the memory further bears instructions that, upon execution by the processor, cause the system at least to:
select the second pixel among a plurality of pixels in the depth image for determination of whether the second pixel corresponds to the at least part of the body based on determining that the angle and distance of the second pixel relative to the first pixel is below a threshold amount.
10. The system of claim 9 ,
wherein the threshold amount would increase where a depth value associated with the first pixel were to decrease.
11. The system of claim 8 ,
wherein the memory further bears instructions that, upon execution by the processor, cause the system at least to: determine a centroid pixel of the at least part of the body based on the first pixel and the second pixel.
12. The system of claim 11 ,
wherein the memory further bears instructions that, upon execution by the processor, cause the system at least to: determine a location of a joint of the at least part of body based on the centroid pixel.
13. The system of claim 8 ,
wherein the instructions that, upon execution by the processor, cause the system at least to determine that the first pixel in the depth image corresponds to the at least part of the body further cause the system at least to determine a first probability that the first pixel in the depth image corresponds to the at least part of the body, and
wherein the instructions that, upon execution by the processor, cause the system at least to determine that the second pixel in the depth image corresponds to the at least part of the body further cause the system at least to: determine that the second pixel in the depth image corresponds to the at least part of the body based on the angle and the distance of the second pixel relative to the first pixel, and the first probability.
14. The system of claim 13 ,
wherein the memory further bears instructions that, upon execution by the processor, cause the system at least to:
determine that a third pixel in the depth image has a zero probability of corresponding to the at least part of the body based on the third pixel having a depth value associated with a background.
15. A computer-readable storage device that is not only a propagating signal comprising computer-executable instructions that, upon execution on a computing system, cause the computing system to perform operations comprising:
receiving a depth image that includes at least part of a body;
determining that a first pixel in the depth image corresponds to the at least part of the body; and
determining that a second pixel in the depth image corresponds to the at least part of the body based on an angle and a distance of the second pixel relative to the first pixel.
16. The computer-readable storage device of claim 15 ,
wherein determining that the first pixel in the depth image corresponds to the at least part of the body comprises determining a first probability that the first pixel in the depth image corresponds to the at least part of the body, and
wherein determining that the second pixel in the depth image corresponds to the at least part of the body comprises: determining that the second pixel in the depth image corresponds to the at least part of the body based on the angle and the distance of the second pixel relative to the first pixel, and the first probability.
17. The computer-readable storage device of claim 16 , further comprising computer-executable instructions that, upon execution on a computing system, cause the computing system to perform operations comprising:
determining that a third pixel in the depth image has a zero probability of corresponding to the at least part of the body based on the third pixel having a depth value associated with a background.
18. The computer-readable storage device of claim 16 , further comprising computer-executable instructions that, upon execution on a computing system, cause the computing system to perform operations comprising:
selecting a third pixel among a plurality of pixels in the depth image for determination of whether the third pixel corresponds to the at least part of the body based on determining that the second pixel in the depth image corresponds to the at least part of the body, and based on an angle and a distance of the third pixel relative to the second pixel.
19. The computer-readable storage device of claim 16 , further comprising computer-executable instructions that, upon execution on a computing system, cause the computing system to perform operations comprising:
selecting the second pixel among a plurality of pixels in the depth image for determination of whether the second pixel corresponds to the at least part of the body based on determining that the angle and distance of the second pixel relative to the first pixel is below a threshold amount.
20. The computer-readable storage device of claim 19 , wherein the threshold amount would increase where if a depth value associated with the first pixel were to decrease.