Motion tracking using pure tones
Apparatus is provided to detect motion of a target reflecting one or more pure tone signals, comprising transmission of one or more pure tone acoustic signals, reception of the signal reflected by a target ensonified by the transmitted signal, and motion detection of the ensonified target from analysis of the Discrete Fourier Transform (DFT) of the received signal, in particular values of the time-variance of energy within adjacent frequency bins in the signal DFT, where the emitted tone has a frequency at the boundary between the two adjacent frequency bins.
1. An apparatus for tracking motion of a target, comprising:
a speaker configured to transmit a pure tone acoustic signal;
a microphone configured to sample a signal reflected by a target ensonified by the transmitted pure tone acoustic signal; and
processor configured to:
control the speaker and the microphone;
estimate motion of the target based on analysis of a plurality of Discrete Fourier Transformations (DFTs) of the sampled signal, wherein the plurality of DFTs are represented by a plurality of energy values in each of a respective plurality of frequency bins, such that the analysis is based on a time-variance of energy values in at least a pair of frequency bins centered around the frequency of the transmitted pure tone acoustic signal, and any DFT of the plurality of DFTs is configured such that either:
a boundary between two adjacent frequency bins is at the frequency of the transmitted pure tone acoustic signal; or
the center of a frequency bin is at the frequency of the transmitted pure tone acoustic signal;
the apparatus further comprising output means configured to output the estimated motion of the target.
2. The apparatus of claim 1 , wherein the pair of frequency bins centered around the frequency of the transmitted pure tone acoustic signal are adjacent to each other, and the boundary between the two adjacent frequency bins is at the frequency of the transmitted pure tone acoustic signal,
wherein estimating motion of the target further comprises determining a direction of movement of the target based on a comparison of the time-variance of energy values in the adjacent frequency bins.
3. The apparatus of claim 1 , wherein the pair of frequency bins centered around the frequency of the transmitted pure tone acoustic signal are separated by, and are adjacent to, a frequency bin comprising the frequency of the transmitted pure tone acoustic signal,
wherein estimating motion of the target further comprises determining a direction of movement of the target based on a comparison of the time-variance of energy values in the pair of frequency bins.
4. The apparatus of claim 1 , wherein the analysis of Discrete Fourier Transformation of the sampled signal comprises:
performing a first DFT of the sampled signal, wherein the first DFT is based on a first number of samples;
performing a second DFT of the sampled signal, wherein the second DFT is based on a second number of samples which is at least double the first number of samples;
estimating motion of the target based on analysis of a combination of the first DFT and the second DFT;
wherein the boundary between two adjacent frequency bins of the first DFT is at the frequency of the transmitted pure tone acoustic signal; and
wherein the center of a frequency bin of the second DFT is at the frequency of the transmitted pure tone acoustic signal frequency of the transmitted pure tone acoustic signal.
5. The apparatus of claim 1 , wherein the processor is further configured to infer velocity of motion of the target based on a calculation of a centroid of differential energy values, in the frequency domain, between sequential DFTs.
6. The apparatus of claim 1 , wherein the processor is further configured to:
infer velocity of motion of the target based on a calculation of a centroid of differential energy values, in the frequency domain, between sequential DFTs; and
estimate displacement of the target from the inferred velocity of motion of the target and a duration of the estimated motion.
7. The apparatus of claim 6 , wherein the output means is configured to output a sound according to one or more gestures determined from the estimated motion of the target, wherein the apparatus is a musical instrument.
8. The apparatus of claim 6 , wherein the apparatus is a gaming apparatus and the processor is configured to control a game character according to one or more gestures determined from the estimated motion of the target.
9. The apparatus of claim 8 , wherein the processor is arranged to control a user interface in accordance with one or more gestures estimated from the estimated motion.
10. The apparatus of claim 8 , wherein:
the processor is arranged to control a user interface in accordance with one or more gestures estimated from the estimated motion; and
the one or more gestures are estimated from the estimated motion in one predetermined direction.
11. The apparatus of claim 1 , wherein the apparatus is a sleep-tracking apparatus comprising a means for performing sleep analysis based on the estimated motion of the target.
12. The apparatus of claim 1 , wherein:
the apparatus is a sleep-tracking apparatus;
the sleep-tracking apparatus comprises a means for performing sleep analysis is based on the estimated motion of the target; and
the output means is configured to output an alarm within a predetermined time of the means for performing sleep analysis determining arousal or light sleep of the target.
13. The apparatus of claim 1 , wherein the output means is configured to output an alarm or notification according to an estimated occurrence of motion.
14. The apparatus of claim 13 , wherein the output means is configured to further display a visual representation of the estimated motion of the target.
15. The apparatus of claim 1 , wherein the processor is further configured to determine environmental noise, and to determine a frequency of the pure tone acoustic signal based on the environmental noise determined at each of the plurality of frequencies.
16. The apparatus of claim 1 , wherein the processor is further configured to adjust a volume of the pure tone acoustic signal in dependence upon a measurement of the energy in the sampled signal.
17. A computer-implemented method for tracking motion of a target, the method comprising:
transmitting a pure tone acoustic signal;
sampling a signal reflected by a target ensonified by the transmitted pure tone acoustic signal; and
estimating motion of the target based on analysis of a plurality of Discrete Fourier Transformations (DFTs) of the sampled signal, wherein the plurality of DFTs are represented by a plurality of energy values in each of a respective plurality of frequency bins, such that the analysis is based on a time-variance of energy values in at least a pair of frequency bins centered around the frequency of the transmitted pure tone acoustic signal, and any DFT of the plurality of DFTs is configured such that either:
a boundary between two adjacent frequency bins is at the frequency of the transmitted pure tone acoustic signal; or
the center of a frequency bin is at the frequency of the transmitted pure tone acoustic signal; and
outputting the estimated motion of the target.
18. The method of claim 17 , wherein:
the method is performed on a sleep-tracking apparatus;
the sleep-tracking apparatus comprises a means for performing sleep analysis based on the estimated motion of the target; and
the output includes an alarm within a predetermined time of the means for performing sleep analysis determining arousal or light sleep of the target.
19. The method of claim 18 , further comprising: determining environmental noise, and to determine a frequency of the pure tone acoustic signal based on the environmental noise determined at each of the plurality of frequencies.
20. A computer program product being tangibly embodied on a non-transitory computer-readable storage medium and including instructions which, when executed by a processor, is arranged to perform the instructions comprising:
transmitting a pure tone acoustic signal;
sampling a signal reflected by a target ensonified by the transmitted pure tone acoustic signal; and
estimating motion of the target based on analysis of a plurality of Discrete Fourier Transformations (DFTs) of the sampled signal, wherein the plurality of DFTs are represented by a plurality of energy values in each of a respective plurality of frequency bins, such that the analysis is based on a time-variance of energy values in at least a pair of frequency bins centered around the frequency of the transmitted pure tone acoustic signal, and any DFT of the plurality of DFTs is configured such that either:
a boundary between two adjacent frequency bins is at the frequency of the transmitted pure tone acoustic signal; or
the center of a frequency bin is at the frequency of the transmitted pure tone acoustic signal; and
outputting the estimated motion of the target.