US 12,067,798 B2
Body pose tracking system and method
Roberto Lopez Mendez, Cambridge (GB); Daren Croxford, Swaffham Prior (GB); Peter James Samuel Ferguson, Cambridge (GB); Judicael Sean Eugene Clair, London (GB); Koki Mitsunami, Altrincham (GB); Benjamin Charles Clark, Cambridge (GB); Mina Ivanova Dimova, Great Shelford (GB); and Pavel Rudko, Cambridge (GB)
Assigned to Arm Limited, Cambridge (GB)
Filed by Arm Limited, Cambridge (GB)
Filed on Jan. 11, 2022, as Appl. No. 17/573,186.
Prior Publication US 2023/0222830 A1, Jul. 13, 2023
Int. Cl. G06T 7/50 (2017.01); G06T 7/73 (2017.01); G06V 10/82 (2022.01); G06V 40/10 (2022.01)
CPC G06V 40/10 (2022.01) [G06T 7/50 (2017.01); G06T 7/75 (2017.01); G06V 10/82 (2022.01); G06T 2207/10024 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/20081 (2013.01); G06T 2207/20084 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method, comprising:
acquiring an image of a body including a plurality of limb segments, where the body is configured in a pose and a plurality of marker bands are positioned around the limb segments;
acquiring depth information corresponding to distances to regions in the image;
determining two-dimensional (2D) locations in the image corresponding to visible portions of the marker bands;
determining, from the 2D locations and the depth information, three-dimensional (3D) locations of the visible portions of the marker bands;
fitting virtual bands to the 3D locations of the visible portions of the marker bands to generate 3D positions of the virtual bands;
determining the pose by fitting a skeletal model of the body to the 3D positions of the virtual bands; and
outputting the pose.