Real time markerless motion tracking using linked kinematic chains
US7257237B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Mar 4, 2004 |
| Grant date | Aug 14, 2007 |
| Priority date | — |
| Expiry date | Feb 4, 2026 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30196
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A markerless method is described for tracking the motion of subjects in a three dimensional environment using a model based on linked kinematic chains. The invention is suitable for tracking robotic, animal or human subjects in real-time using a single computer with inexpensive video equipment, and does not require the use of markers or specialized clothing. A simple model of rigid linked segments is constructed of the subject and tracked using three dimensional volumetric data collected by a multiple camera video imaging system. A physics based method is then used to compute forces to align the model with subsequent volumetric data sets in real-time. The method is able to handle occlusion of segments and accommodates joint limits, velocity constraints, and collision constraints and provides for error recovery. The method further provides for elimination of singularities in Jacobian based calculations, which has been problematic in alternative methods.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.