System and method for tracking motion
View Patent ↗Detecting position information related to a face, and more particularly to an eyeball in a face, using a detection and ranging system, such as a Radio Detection And Ranging (“RADAR”) system, or a Light Detection And Ranging (“LIDAR”) system. The position information may include a location of the eyeball, translational motion information related to the eyeball (e.g., displacement, velocity, acceleration, jerk, etc.), rotational motion information related to the eyeball (e.g., rotational displacement, rotational velocity, rotational acceleration, etc.) as the eyeball rotates within its socket.
1. A system for determining motion of an individual, the system comprising:
a video imaging system configured to capture a plurality of images of a face of the individual;
a lidar system configured to generate a range measurement and a Doppler velocity measurement for each of a plurality of points on the face of the individual; and
a processor configured to:
determine, from the plurality of images of the face, at least one first degree of motion of the face based on the plurality of images of the face,
determine, from the range measurement and the Doppler velocity measurement for each of the plurality of points on the face, at least one second degree of motion of the face, wherein the at least one first degree of motion of the face is orthogonal to the at least one second degree of motion of the face, and
combine the at least one first degree of motion of the face determined from the plurality of images of the face and the at least one second degree of motion of the face determined from the range measurement and the Doppler velocity measurement for each of the plurality of points on the face to determine the motion of the face of the individual.
2. The system of claim 1 , wherein the processor is further configured to adjust a position or a motion of a feature of the individual using the motion of the face of the individual.
3. The system of claim 2 , wherein the processor is configured to adjust a position or a motion of an eyeball of the individual using the motion of the face of the individual.
4. A method for determining motion of an individual, the method comprising:
capturing, via a video imaging system, a plurality of images of a face of the individual via a video imaging system;
generating, via a lidar system, a range measurement and a Doppler velocity measurement for each of a plurality of points on the face of the individual;
determining, from the plurality of images of the face, at least one first degree of motion of the face;
determining, from the range measurement and the Doppler velocity measurement for each of the plurality of points on the face, at least one second degree of motion of the face; and
combining the at least one first degree of motion of the face and the at least one second degree of motion of the face to determine the motion of the face of the individual.
5. The method of claim 4 , further comprising adjusting a position or a motion of a feature of the individual using the motion of the face of the individual.
6. The method of claim 5 , wherein adjusting a position or a motion of the feature of the individual using the motion of the face of the individual comprises adjusting a position or a motion of an eyeball of the individual using the motion of the face of the individual.
7. A method for determining motion of an individual, the method comprising:
capturing, via a video imaging system, a plurality of images of the individual via a video imaging system;
generating, via a lidar system, a range measurement and a Doppler velocity measurement for each of a plurality of points on the individual; and
combining, via a processor, the plurality of images of the individual from the video imaging system with the range measurements and the Doppler velocity measurements from the lidar system to determine the motion of the individual.
8. The method of claim 7 , further comprising adjusting a position or a motion of a feature of the individual using the motion of the individual.
9. The system of claim 1 , wherein the at least one first degree of motion comprises a lateral motion of the face in an image plane of the plurality of images of the face, a vertical motion of the face in the image plane of the plurality of images of the face, or a rotation of the face in the image plane of the plurality of images of the face.
10. The system of claim 1 , wherein the at least one first degree of motion comprises a lateral motion of the face in an image plane of the plurality of images of the face, a vertical motion of the face in the image plane of the plurality of images of the face, and a rotation of the face in the image plane of the plurality of images of the face.
11. The system of claim 1 , wherein the at least one second degree of motion comprises a translational motion of the face in a direction of the range measurement or a rotational motion of the face orthogonal to the direction of the range measurement.
12. The system of claim 1 , wherein the at least one second degree of motion comprises a translational motion of the face in a direction of the range measurement, a first rotational motion of the face orthogonal to the direction of the range measurement, and a second rotational motion of the face orthogonal to both the direction of the range measurement and the first rotational motion of the face.
13. The system of claim 10 , wherein the at least one second degree of motion comprises a translational motion of the face in a direction of the range measurement, a first rotational motion of the face orthogonal to the direction of the range measurement, and a second rotational motion of the face orthogonal to both the direction of the range measurement and the first rotational motion of the face.
14. The method of claim 4 , wherein determining at least one first degree of motion of the face comprises determining a lateral motion of the face in an image plane of the plurality of images of the face, a vertical motion of the face in the image plane of the plurality of images of the face, or a rotation of the face in the image plane of the plurality of images of the face.
15. The method of claim 4 , wherein determining at least one first degree of motion of the face comprises determining a lateral motion of the face in an image plane of the plurality of images of the face, a vertical motion of the face in the image plane of the plurality of images of the face, and a rotation of the face in the image plane of the plurality of images of the face.
16. The method of claim 4 , wherein determining at least one second degree of motion comprises determining a translational motion of the face in a direction of the range measurement or a rotational motion of the face orthogonal to the direction of the range measurement.
17. The method of claim 4 , wherein determining at least one second degree of motion comprises determining a translational motion of the face in a direction of the range measurement, a first rotational motion of the face orthogonal to the direction of the range measurement, and a second rotational motion of the face orthogonal to both the direction of the range measurement and the first rotational motion of the face.
18. The method of claim 15 , wherein determining at least one second degree of motion comprises determining a translational motion of the face in a direction of the range measurement, a first rotational motion of the face orthogonal to the direction of the range measurement, and a second rotational motion of the face orthogonal to both the direction of the range measurement and the first rotational motion of the face.
19. The system of claim 9 , wherein the at least one second degree of motion comprises a translational motion of the face in a direction of the range measurement, a first rotational motion of the face orthogonal to the direction of the range measurement, or a second rotational motion of the face orthogonal to both the direction of the range measurement and the first rotational motion of the face.
20. The method of claim 14 , wherein the at least one second degree of motion comprises a translational motion of the face in a direction of the range measurement, a first rotational motion of the face orthogonal to the direction of the range measurement, or a second rotational motion of the face orthogonal to both the direction of the range measurement and the first rotational motion of the face.