System and method for tracking motion
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 a target, the system comprising:
a video imaging system configured to capture a plurality of images of the target;
a lidar system configured to generate a range measurement or a Doppler velocity measurement for each of a plurality of points on the target; and
a processor configured to:
determine, from the plurality of images of the target, at least one first aspect of motion of the target based on the plurality of images of the target,
determine, from the range measurement or the Doppler velocity measurement for each of the plurality of points on the target, at least one second aspect of motion of the target, wherein the at least one first aspect of motion of the target is orthogonal to the at least one second aspect of motion of the target, and
combine the at least one first aspect of motion of the target determined from the plurality of images of the target and the at least one second aspect of motion of the target determined from the range measurement or the Doppler velocity measurement for each of the plurality of points on the target to determine the motion of the target.
2. The system of claim 1 , wherein the at least one first aspect of motion comprises a lateral motion of the target in an image plane of the plurality of images of the target, a vertical motion of the target in the image plane of the plurality of images of the target, or a rotation of the target in the image plane of the plurality of images of the target.
3. The system of claim 1 , wherein the processor configured to determine, from the plurality of images of the target, at least one first aspect of motion of the target based on the plurality of images of the target comprises the processor configured to determine at least three first aspects of motion of the target based on the plurality of images of the target.
4. The system of claim 3 , wherein the at least three first aspects of motion comprises a lateral motion of the target in an image plane of the plurality of images of the target, a vertical motion of the target in the image plane of the plurality of images of the target, and a rotation of the target in the image plane of the plurality of images of the target.
5. The system of claim 1 , wherein the lidar system is configured to generate the range measurement, and wherein the at least one second aspect of motion comprises a translational motion of the target in a direction of the range measurement or a rotational motion of the target orthogonal to the direction of the range measurement.
6. The system of claim 1 , wherein the processor configured to determine, from the range measurement or the Doppler velocity measurement for each of the plurality of points on the target, at least one second aspect of motion of the target comprises the processor configured to determine at least three second aspects of motion of the target.
7. The system of claim 6 , wherein the lidar system is configured to generate the range measurement, and wherein the at least three second aspects of motion comprises a translational motion of the target in a direction of the range measurement, a first rotational motion of the target orthogonal to the direction of the range measurement, and a second rotational motion of the target orthogonal to both the direction of the range measurement and the first rotational motion of the target.
8. A method for determining motion of a target, the method comprising:
capturing, via a video imaging system, a plurality of images of a target via a video imaging system;
generating, via a lidar system, a range measurement or a Doppler velocity measurement for each of a plurality of points on the target;
determining, from the plurality of images of the target, at least one first aspect of motion of the target;
determining, from the range measurement or the Doppler velocity measurement for each of the plurality of points on the target, at least one second aspect of motion of the target; and
combining the at least one first aspect of motion of the target and the at least one second aspect of motion of the target to determine the motion of the target.
9. The method of claim 8 , wherein determining, from the plurality of images of the target, at least one first aspect of motion of the target comprises determining a lateral motion of the target in an image plane of the plurality of images of the target, a vertical motion of the target in the image plane of the plurality of images of the target, or a rotation of the target in the image plane of the plurality of images of the target.
10. The method of claim 8 , wherein determining, from the plurality of images of the target, at least one first aspect of motion of the target comprises determining at least three first aspects of motion of the target.
11. The method of claim 10 , wherein determining at least three first aspects of motion of the target comprises determining a lateral motion of the target in an image plane of the plurality of images of the target, a vertical motion of the target in the image plane of the plurality of images of the target, and a rotation of the target in the image plane of the plurality of images of the target.
12. The method of claim 8 , wherein the lidar system is configured to generate the range measurement, and wherein determining at least one second aspect of motion comprises determining a translational motion of the target in a direction of the range measurement or a rotational motion of the target orthogonal to the direction of the range measurement.
13. The method of claim 8 , wherein determining, from the range measurement or the Doppler velocity measurement for each of the plurality of points on the target, at least one second aspect of motion of the target comprises determining at least three second aspects of motion of the target.
14. The method of claim 13 , wherein the lidar system is configured to generate the range measurement, and wherein determining at least three second aspects of motion comprises determining a translational motion of the target in a direction of the range measurement, a first rotational motion of the target orthogonal to the direction of the range measurement, and a second rotational motion of the target orthogonal to both the direction of the range measurement and the first rotational motion of the target.
15. A method for determining motion of a target, the method comprising:
capturing, via a video imaging system, a plurality of images of the target via a video imaging system;
generating, via a lidar system, a range measurement or a Doppler velocity measurement for each of a plurality of points on the target; and
combining, via a processor, the plurality of images of the target from the video imaging system with the range measurements or the Doppler velocity measurements from the lidar system to determine the motion of the target.