Systems and methods of locating a control object appendage in three dimensional (3D) space
View Patent ↗Methods and systems for capturing motion and/or determining the shapes and positions of one or more objects in 3D space utilize cross-sections thereof. In various embodiments, images of the cross-sections are captured using a camera based on reflections therefrom or shadows cast thereby.
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.
2. The system of claim 1 , further configured to substitute one or more fitted parameters of a first fitted ellipse for one or more of the four co planar tangents and the assumed parameter when fitting an adjacent second ellipse.
3. The system of claim 1 , further configured to use a first fitted ellipse to filter fits of additional ellipses to the contiguous cross-sections.
4. The system of claim 2 , further including:
one or more processors coupled to memory, the memory loaded with computer instructions that, when executed on the processors, implement actions including:
for a complex control object model that includes a palm and multiple fingers, applying the actions of claim 2 to construct multiple fingers of control object appendages; and
fitting cross sections of a palm to observed edges from the images in positions correlated with the multiple fingers.
5. The system of claim 1 , further including:
one or more processors coupled to memory, the memory loaded with computer instructions that, when executed on the processors, implement actions including:
repeatedly applying the actions of claim 1 over time; and
calculating motion of the control object appendage over time based on differences between modeled locations of the control object appendage over time.
6. The system of claim 3 , further including:
one or more processors coupled to memory, the memory loaded with computer instructions that, when executed on the processors, implement actions including:
repeatedly applying the actions of claim 3 over time; and
calculating motion of a complex control object over time based on differences between modeled locations of a complex control object over time.
7. The system of claim 1 , further configured to:
determine that only three co planar tangents are available in portions of the recorded images and fitting a circle instead of an ellipse for the portions of the recorded images, including:
calculating by a processor the three co planar tangents to observed edges of the control object appendage from the recorded images; and
fitting a circle by a processor to the cross-section of the control object appendage using at least the three co planar tangents.
8. The system of claim 7 , further including:
one or more processors coupled to memory, the memory loaded with computer instructions that, when executed on the processors, implement actions including:
for a complex control object model that includes a palm and multiple fingers, applying the actions of claim 7 to construct multiple fingers of control object appendages; and
fitting cross sections of a palm to observed edges from the images in positions correlated with the multiple fingers.
9. The system of claim 7 , further including:
one or more processors coupled to memory, the memory loaded with computer instructions that, when executed on the processors, implement actions including:
repeatedly applying the actions of claim 7 over time; and
calculating motion of the control object appendage over time based on differences between modeled locations of the control object appendage over time.
10. The system of claim 8 , further including:
one or more processors coupled to memory, the memory loaded with computer instructions that, when executed on the processors, implement actions including:
repeatedly applying a actions of claim 8 over time; and
calculating motion of a complex control object over time based on differences between modeled locations of the complex control object over time.
11. A non-transitory computer readable medium storing a plurality of instructions for programming one or more processors to locate a control object appendage in three dimensional (3D) space, the instructions, when executed on the processors, implementing 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.
12. The non-transitory computer readable medium of claim 11 , further configured to substitute one or more fitted parameters of a first fitted ellipse for one or more of the four co planar tangents and the assumed parameter when fitting an adjacent second ellipse.
13. The non-transitory computer readable medium of claim 11 , further configured to use a first fitted ellipse to filter fits of additional ellipses to the contiguous cross-sections.
14. The non-transitory computer readable medium of claim 12 , further including storing a plurality of instructions for programming one or more processors to locate a complex control object in 3D space, the instructions, when executed on the processors, implementing actions including:
for a complex control object model that includes a palm and multiple fingers, applying the actions of claim 12 to construct multiple fingers of control object appendages; and
fitting cross sections of a palm to observed edges from the images in positions correlated with the multiple fingers.
15. The non-transitory computer readable medium of claim 11 , further including storing a plurality of instructions for programming one or more processors to track motion of a control object appendage in 3D space, the instructions, when executed on the processors, implementing actions including:
repeatedly applying the actions of claim 11 over time; and
calculating motion of the control object appendage over time based on differences between modeled locations of the control object appendage over time.
16. The non-transitory computer readable medium of claim 13 , further including storing a plurality of instructions for programming one or more processors to locate a complex control object in 3D space, the instructions, when executed on the processors, implementing actions including:
repeatedly applying the actions of claim 13 over time; and
calculating motion of a complex control object over time based on differences between modeled locations of a complex control object over time.
17. The non-transitory computer readable medium of claim 11 , further configured to:
determine that only three co planar tangents are available in portions of the recorded images and fitting a circle instead of an ellipse for the portions of the recorded images, including:
calculating by a processor the three co planar tangents to observed edges of the control object appendage from the recorded images; and
fitting a circle by a processor to the cross-section of the control object appendage using at least the three co planar tangents.
18. The non-transitory computer readable medium of claim 17 , further including storing a plurality of instructions for programming one or more processors to locate a complex control object in 3D space, the instructions, when executed on the processors, implementing actions including:
for a complex control object model that includes a palm and multiple fingers, applying the actions of claim 17 to construct multiple fingers of control object appendages; and
fitting cross sections of a palm to observed edges from the images in positions correlated with the multiple fingers.
19. The non-transitory computer readable medium of claim 17 , further including storing a plurality of instructions for programming one or more processors to track motion of a control object appendage in 3D space, the instructions, when executed on the processors, implementing actions including:
repeatedly applying the actions of claim 17 over time; and
calculating motion of the control object appendage over time based on differences between modeled locations of the control object appendage over time.
20. The non-transitory computer readable medium of claim 18 , further including storing a plurality of instructions for programming one or more processors to track motion of a complex control object appendage in 3D space, the instructions, when executed on the processors, implementing actions including:
repeatedly applying the actions of claim 18 over time; and
calculating motion of a complex control object over time based on differences between modeled locations of a complex control object over time.