Granted Patent B2

US 12,554,320 · App. 18/760,022 · Granted Feb 17, 2026

Inventors: YuHui Hsu (Taoyuan, TW); Yen-Jung Lee (Taoyuan, TW)

Assignee: HTC Corporation

G06F3/012G06T7/70G06T2207/30196

Abstract

Claims (70)

1 . A body tracking method, comprising:

obtaining an environment map of a real world around a user;

obtaining tracker data from a tracker, wherein the tracker is adapted to be mounted on a foot or a leg of the user;

determining a foot location of the foot of the user based on the environment map and the tracker data;

determining a ground shape of the foot location of the user based on the environment map and a ground location, wherein the ground shape is a shape of a ground that the foot is stepping on;

determining foot step information including a stepping foot shape of the foot on the ground location based on the ground shape; and

determining a body pose of the user based on the foot step information.

2 . The body tracking method according to claim 1 , further comprising:

obtaining the environment map based on a scene understating algorithm, wherein the environment map comprises a plurality of scene meshes.

3 . The body tracking method according to claim 2 , further comprising:

determining one of the plurality of scene meshes as the ground shape based on the tracker data.

4 . The body tracking method according to claim 1 , further comprising:

obtaining the environment map in real time through a camera.

5 . The body tracking method according to claim 4 , wherein the camera is disposed on the tracker.

6 . The body tracking method according to claim 1 , further comprising:

determining the body pose starting from the foot of the user.

7 . The body tracking method according to claim 1 , further comprising:

determining a foot pose based on the tracker data;

determining a head pose of a head of the user based on head data from a head-mounted device, wherein the head-mounted device is adapted to be mounted on the head; and

determining the body pose based on the foot pose and the head pose.

8 . The body tracking method according to claim 1 , further comprising:

performing a body tracking based on the foot step information; and

determining the body pose based on the body tracking.

9 . The body tracking method according to claim 1 , further comprising:

inputting the ground shape into a foot step model; and

determining the foot step information based on the foot step model.

10 . The body tracking method according to claim 1 , further comprising:

obtaining the body pose based on an inside-out algorithm and the tracker data; and

optimizing the body pose based on the foot step information.

11 . A body tracking system, comprising:

a camera, configured to obtain an environment image of an environment around a user in a real world;

a tracker, configured to obtain tracker data and adapted to be mounted on a foot or a leg of the user; and

a host, comprising:

a storage circuit, configured to store a program code; and

a processor, coupled to the storage circuit and accessing the program code to execute:

obtaining an environment map of the real world around the user in real time base on the environment image;

obtaining tracker data from the tracker;

determining a foot location of the foot of the user based on the environment map and the tracker data;

determining a ground shape of the foot location of the user based on the environment map and a ground location, wherein the ground shape is a shape of a ground that the foot is stepping on;

determining foot step information including a stepping foot shape of the foot on the ground location based on the ground shape; and

determining a body pose of the user based on the foot step information.

12 . The body tracking system according to claim 11 , wherein the processor is further configured to access the program code to execute:

obtaining the environment map based on a scene understating algorithm, wherein the environment map comprises a plurality of scene meshes.

13 . The body tracking system according to claim 12 , wherein the processor is further configured to access the program code to execute:

determining one of the plurality of scene meshes as the ground shape based on the tracker data.

14 . The body tracking system according to claim 11 , wherein the camera is disposed on the tracker.

15 . The body tracking system according to claim 11 , wherein the processor is further configured to access the program code to execute:

determining the body pose starting from the foot of the user.

16 . The body tracking system according to claim 11 , wherein the processor is further configured to access the program code to execute:

determining a foot pose based on the tracker data;

determining a head pose of a head of the user based on head data from a head-mounted device, wherein the head-mounted device is adapted to be mounted on the head; and

determining the body pose based on the foot pose and the head pose.

17 . The body tracking system according to claim 11 , wherein the processor is further configured to access the program code to execute:

performing a body tracking based on the foot step information; and

determining the body pose based on the body tracking.

18 . The body tracking system according to claim 11 , wherein the processor is further configured to access the program code to execute:

inputting the ground shape into a foot step model; and

determining the foot step information based on the foot step model.

19 . The body tracking system according to claim 11 , wherein the processor is further configured to access the program code to execute:

obtaining the body pose based on an inside-out algorithm; and

optimizing the body pose based on the foot step information.

20 . A host, comprising:

a storage circuit, configured to store a program code; and

a processor, coupled to the storage circuit and accessing the program code to execute:

obtaining an environment map of a real world around a user;

obtaining tracker data from a tracker, wherein the tracker is adapted to be mounted on a foot or a leg of the user;

determining a foot location of the foot of the user based on the environment map and the tracker data;

determining a ground shape of the foot location of the user based on the environment map and a ground location, wherein the ground shape is a shape of a ground that the foot is stepping on;

determining foot step information including a stepping foot shape of the foot on the ground location based on the ground shape; and

determining a body pose of the user based on the foot step information.

Assignments (1)

Continuity (2)

References Cited (9)