Posture estimation system, posture estimation device and range image camera
The present invention discloses a posture estimation system including a range image camera for acquiring and outputting range image and an attitude estimation device connected via the network to the range image camera. The range image camera includes a range image sensor, a range image generator that extracts a region including foreground pixels from the input range image acquired from the range image sensor and generates a range image including the extracted area, a first posture estimator that estimates a first joint position from the range image, and a first communicator that transmits the range image and the estimated first joint position. The posture estimating device includes a second communicator that receives the range image from the range image camera and the first joint position, a range image receiver that receives the range image via the second communicator, a posture estimator that estimates recognizes a second joint position different from the first joint position based on the range image received by the range image receiving unit, and generates estimated posture information based on the first joint position and the second joint position, and an outputter that outputs the generated estimated attitude information, wherein the first communicator sends a range image used for extracting the second joint position to the network.
1. A posture estimation system comprising:
a range image camera for acquiring a first range image and outputting a second range image; and
an attitude estimation device connected via a network to the range image camera,
wherein the range image camera includes
a range image sensor that acquires the first range image,
a range image generator that extracts a region including foreground pixels from the first range image acquired from the range image sensor without background pixels and generates the second range image including the extracted region,
a first posture estimator that estimates a first joint position from the second range image, and
a first communicator that transmits the second range image and the estimated first joint position, wherein the first posture estimator includes a second communicator that receives the second range image from the range image camera and the first joint position, and a range image receiver that receives the second range image via the second communicator,
a second posture estimator that estimates a second joint position different from the first joint position based on the second range image received by the range image receiving unit, and generates estimated posture information based on the first joint position and the second joint position, and
an outputter that outputs the generated estimated attitude information, and
wherein the first communicator sends a range image used for extracting the second joint position to the network;
wherein the first and second posture estimators comprise:
a feature extractor that calculates a feature of a featured pixel from the foreground pixels;
a part recognizer that acquires a part label of the featured pixel based on the feature calculated by the feature extractor; and
a joint recognizer that acquires a center-of-gravity position for each part based on the region label of each featured pixel recognized by the part recognizing section and determines the joint position based on the acquired center-of-gravity position of each part.
2. The posture estimation system according to claim 1 ,
wherein the first communicator transmits a third range image excluding the first joint position from the second range image.
3. The posture estimation system according to claim 1 ,
wherein the second range image is a range image of a person and the first joint position and the second joint position are person's joint positions.
4. The posture estimation system according to claim 1 ,
wherein the first communicator transmits the coordinates of the first joint position.
5. A posture estimation device connected to a range image camera via a network, comprising:
a communicator for receiving a range image and a first joint position from the range image camera;
a range image receiver that receives the range image via the communicator;
a posture estimator that estimates a second joint position different from the first joint position based on the range image received by the range image receiving unit, and generates estimated posture information based on the first joint position and the second joint position; and
an outputter that outputs the generated estimated attitude information
wherein the posture estimator comprises:
a joint inputter receives the first joint position input from the range image camera via the communicator;
a feature extractor that calculates a feature of a featured pixel from the foreground pixels of the range image;
a part recognizer that acquires a part label of the featured pixel from the feature calculated by the feature extractor;
a parts recognizer that acquires a center-of-gravity position for each part based on a part label of each featured pixel recognized by the part recognizer and determines a joint position for determining the second joint position based on the acquired center-of-gravity position of each part; and
a joint integrator that integrates coordinates based on the second joint position recognized by the joint recognizer and the first joint position input to the joint inputter.
6. The posture estimation device according to claim 5 , wherein the posture estimator comprises:
a joint inputter that receives the first joint position input from the range image camera via the communication unit;
a range image converter that converts foreground pixels of the range image input via the communicator;
a voxel generator for generating voxel data from the foreground pixels converted by the range image converter;
a joint recognizer for identifying the second joint position from the voxel data generated by the voxel generator; and
a joint integrator for integrating coordinates based on the second joint coordinate identified by the joint recognizer and the first joint coordinate input to the joint inputter.
7. A range image camera for acquiring and outputting a distance image, comprising:
a range image sensor that acquires a first range image;
a range image generator that extracts a region including foreground pixels based on the first range image acquired from the range image sensor without background pixels and generates a second range image including the extracted region;
a posture estimator that estimates a joint position from the second range image; and
a communicator that transmits a third range image excluding the estimated joint position from the second range image and the estimated joint position to the outside;
wherein the posture estimator comprises:
a feature extractor that calculates a feature of a featured pixel from the foreground pixels;
a part recognizer that acquires a part label of the featured pixel based on the feature calculated by the feature extractor; and
a joint recognizer that acquires a center-of-gravity position for each part based on the region label of each featured pixel recognized by the part recognizing section and determines the joint position based on the acquired center-of-gravity position of each part.
8. The range image camera according to claim 7 , wherein the posture estimator comprises:
a range image converter for transforming coordinate of the foreground pixels;
a voxel generator that converts the foreground pixels converted by the range image converter into voxel data; and
a joint identifying unit for searching the voxel data converted by the voxel generator to estimate the joint position.