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公开(公告)号：US20180322616A1
公开(公告)日：2018-11-08
申请号：US15739482
申请日：2016-06-20
申请人： SoftKinetic Software
发明人： Laurent Guigues
IPC分类号： G06T5/00
CPC分类号： G06T5/002 , G06T2207/10028 , G06T2207/20012 , G06T2207/20192
摘要： Described herein is a method for signal processing in which noise in an input signal comprising an intensity which is a function of at least a first coordinate and a second coordinate. A noise reduction or de-noising process is applied to the input signal in respect of the first coordinate to generate an intermediate de-noised signal. A second noise reduction or de-noising process is applied to the intermediate de-noised signal in respect of the second coordinate to generate an output de-noised signal. For each coordinate, noise reduction processes are applied in two directions, the results of these processes being averaged to provide the de-noised signals. Weighting is applied in accordance with the detection of an edge within the signal used as input in the de-noising process.
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公开(公告)号：US09578310B2
公开(公告)日：2017-02-21
申请号：US14130256
申请日：2013-01-14
申请人： SOFTKINETIC SOFTWARE
CPC分类号： H04N13/246 , G06T7/50 , G06T7/80 , G06T7/85 , G06T2207/30244
摘要： Described herein is a method of calibrating a three-dimensional imaging system. During calibration, a position and an orientation of the three-dimensional imaging system is determined with respect to a first parameter comprising a real world vertical direction (Vw) and to a second parameter comprising an origin of a three-dimensional scene captured by the imaging system. The first and second parameters are used to derive a calibration matrix (MC2w) which is used to convert measurements from a virtual coordinate system (Mc) of the three-dimensional imaging system into a real coordinate system (Mw) related to the real world. The calibration matrix (MC2w) is used to rectify measurements prior to signal processing. An inverse calibration matrix (Mw2c) is also determined. Continuous monitoring and adjustment of the setup of the three-dimensional imaging system is carried out and the calibration matrix (Mc2w) and its inverse (Mw2c) are adjusted accordingly.
摘要翻译： 这里描述了校准三维成像系统的方法。 在校准期间，相对于包括真实世界垂直方向（Vw）的第一参数和包括由成像捕获的三维场景的原点的第二参数来确定三维成像系统的位置和取向 系统。 第一和第二参数用于导出用于将测量从三维成像系统的虚拟坐标系（Mc）转换为与真实世界相关的实际坐标系（M w）的校准矩阵（MC2w）。 校准矩阵（MC2w）用于在信号处理之前纠正测量结果。 还确定了逆校准矩阵（Mw2c）。 进行三维成像系统的建立的连续监视和调整，并相应地调整校准矩阵（Mc2w）及其逆（Mw2c）。
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公开(公告)号：US09426444B2
公开(公告)日：2016-08-23
申请号：US14127827
申请日：2012-06-22
申请人： Laurent Guigues , Michel Samuel , Julien Thollot
发明人： Laurent Guigues , Michel Samuel , Julien Thollot
CPC分类号： H04N13/128 , G01S17/89 , G06T5/005 , G06T2207/10028 , H04N2013/0081
摘要： Described herein is a method for correcting defective depth values in depth map images. Defective values correspond to “noisy pixels” located on continuous flat surfaces and interpolated “flying pixels” located along an edge between a foreground object and a background object. The method comprising the steps of accessing a depth map of a scene which includes the foreground and background objects, detecting and identifying noisy and interpolated depth measurements within the depth map using a method, defining and applying a correction to each of the detected defective noisy and interpolated depth measurements using a specifically defined weighted correction factor. By providing the corrected defective depth values in depth map images, edges are sharpened in depth and continuous surfaces are flattened, enabling higher efficiency and robustness of further image processing.
摘要翻译： 这里描述了一种用于校正深度图图像中的有缺陷的深度值的方法。 不良值对应于位于连续平坦表面上的“噪声像素”，并且沿着前景物体和背景物体之间的边缘插入“插入像素”。 该方法包括以下步骤：访问包括前景和背景对象的场景的深度图，使用方法来检测和识别深度图内的噪声和内插深度测量，定义并应用校正到每个检测到的有缺陷的噪声，以及 使用特定的加权校正因子进行内插深度测量。 通过在深度图图像中提供校正的有缺陷的深度值，边缘的深度被锐化并且连续的表面被压平，从而能够实现进一步的图像处理的更高的效率和鲁棒性。
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公开(公告)号：US09081999B2
公开(公告)日：2015-07-14
申请号：US13519502
申请日：2010-12-28
IPC分类号： G06K9/00
CPC分类号： G06K9/00201 , G06K9/00234
摘要： Described herein is a method for recognizing a human head in a source image. The method comprises detecting a contour of at least part of a human body in the source image, calculating a depth of the human body in the source image. From the source image, a major radius size and a minor radius size of an ellipse corresponding to a human head at the depth is calculated, and, for at least several of a set of pixels of the detected contour, generating in an accumulator array at least one segment of an ellipse centered on the position of the contour pixel and having the major and minor radius sizes. Positions of local intensity maxima in the accumulator array are selected as corresponding to positions of the human head candidates in the source image.
摘要翻译： 这里描述了一种用于识别源图像中的人头的方法。 该方法包括检测源图像中的人体的至少一部分的轮廓，计算源图像中人体的深度。 从源图像中，计算对应于深度处的人头的椭圆的主半径尺寸和小半径尺寸，并且对于检测到的轮廓的一组像素中的至少几个，在累积器阵列中生成 以轮廓像素的位置为中心并且具有主半径和次半径尺寸的椭圆的至少一个部分。 选择累加器阵列中局部强度最大值的位置作为源图像中的人头候选者的位置。
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公开(公告)号：US09081419B2
公开(公告)日：2015-07-14
申请号：US13931332
申请日：2013-06-28
申请人： Softkinetic Software
发明人： Juan Carlos Tocino Diaz , Kevin Simons , Gilles Pinault , Xavier Baele , Julien Thollot , David Dal Zot
CPC分类号： G06F3/017 , A63F13/06 , A63F2300/1087 , A63F2300/6045 , G06F3/0304 , G06K9/00355
摘要： Described herein is a user interface that provides contextual feedback, controls and interface elements on a display screen of an interactive three-dimensional imaging system. A user interacts with the interface to provide control signals in accordance with those recognized by the system to a makes use of at least one POI in a three-dimensional scene that is imaged by the imaging system to provide control signals for the user interface. Control signals are provided by means of gestures which are analyzed in real-time by gesture recognition processes that analyze statistical and geometrical properties of POI motion and trajectories.
摘要翻译： 这里描述的是在交互式三维成像系统的显示屏幕上提供上下文反馈，控制和界面元素的用户界面。 用户与界面交互以根据由系统识别的那些提供控制信号，利用由成像系统成像的三维场景中的至少一个POI来提供用于用户界面的控制信号。 通过手势提供控制信号，手势通过手势识别过程实时分析，该过程分析POI运动和轨迹的统计和几何属性。
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公开(公告)号：US09189855B2
公开(公告)日：2015-11-17
申请号：US14366640
申请日：2013-06-06
申请人： Softkinetic Software
发明人： Laurent Guigues , Olivier Feys , Kevin Simons , Yunshu Hou , Aliaksandr Kamovich
CPC分类号： G06T7/0042 , G06T7/246 , G06T7/73 , G06T2207/10028 , G06T2207/30196
摘要： Described herein is a method for detecting, identifying and tracking hand, hand parts, and fingers on the hand (500) of a user within depth images of a three-dimensional scene. Arms of a user are detected, identified, segmented from the background of the depth images, and tracked with respect to time. Hands of the user are identified and tracked and the location and orientation of its parts, including the palm and the fingers (510, 520, 530, 540, 550) are determined and tracked in order to produce output information enabling gesture interactions.
摘要翻译： 这里描述了一种用于在三维场景的深度图像内的用户的手（500）上检测，识别和跟踪手，手部和手指的方法。 从深度图像的背景中检测，识别，分割用户的武器，并且相对于时间进行跟踪。 识别和跟踪用户的手，并且确定和跟踪其部分（510,520,530,540,550）的部分的位置和方位，以产生能够进行手势交互的输出信息。
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公开(公告)号：US09092863B2
公开(公告)日：2015-07-28
申请号：US13519510
申请日：2010-12-28
申请人： Xavier Baele , Julien Thollot
发明人： Xavier Baele , Julien Thollot
CPC分类号： G06T7/004 , A63F2300/1093 , A63F2300/6045 , G06F3/011 , G06F17/18 , G06K9/40 , G06T5/002 , G06T5/50 , G06T7/70 , G06T2200/24 , G06T2207/10016 , G06T2207/30196
摘要： The present invention relates to a method for stabilizing a series of measurements of a physical variable captured by a digital sensor. This method comprises the steps of: capturing at least a first measurement, a second measurement, and a third measurement of said physical variable and storing each measurement in a digital memory. The first and second measurements are compared and, if a difference between the first measurement and the second measurement is below a predetermined threshold, the second measurement is replaced in the memory by a corrected second measurement where the difference with respect to said first measurement has been reduced using a first filtering strength. The corrected second measurement and the third measurement are compared and, if a difference between the filtered value of the corrected second measurement and said third measurement is also below the threshold, said the third measurement is replaced by a corrected third measurement where a difference with respect to said corrected second measurement has been reduced using a second filtering strength that is lower than the first filtering strength. This method has the advantage of filtering noise while still allowing slow but relevant variations in the series of measurements.
摘要翻译： 本发明涉及一种用于稳定由数字传感器捕获的物理变量的一系列测量的方法。 该方法包括以下步骤：捕获所述物理变量的至少第一测量，第二测量和第三测量，并将每个测量值存储在数字存储器中。 对第一和第二测量进行比较，如果第一测量和第二测量之间的差值低于预定阈值，则通过校正的第二测量在存储器中替换第二测量，其中相对于所述第一测量的差已经被 减少使用第一过滤强度。 比较校正的第二测量和第三测量，并且如果校正的第二测量的滤波值与所述第三测量之间的差也低于阈值，则所述第三测量被校正的第三测量代替，其中与 使用低于第一滤波强度的第二滤波强度减小到所述校正的第二测量。 该方法具有过滤噪声的优点，同时仍然允许在一系列测量中缓慢而相关的变化。
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公开(公告)号：US08891825B2
公开(公告)日：2014-11-18
申请号：US13518989
申请日：2010-12-28
CPC分类号： G06T7/0079 , G06K9/00201 , G06K9/6223 , G06T7/10
摘要： The present invention relates to a method for tracking at least one object in a sequence of frames, each frame comprising a pixel array, wherein a depth value is associated to each pixel. The method comprises grouping at least some of said pixels of each frame into several regions, grouping said regions into clusters (B1, . . . , B5) of interconnected regions; and determining that a cluster (B2, . . . , B5) which is adjacent to another cluster (B1) in a two-dimensional projection belongs to an object partially occluded by said other cluster (B1) if it has a different depth value than said other cluster (B1).
摘要翻译： 本发明涉及一种用于跟踪帧序列中的至少一个对象的方法，每个帧包括像素阵列，其中深度值与每个像素相关联。 该方法包括将每个帧的至少一些所述像素分组成多个区域，将所述区域分组成互连区域的簇（B1 ...，B5）; 并且如果二维投影中的另一个簇（B1）相邻的一个簇（B2，...，B5）具有与所述另一个簇（B1）不同的深度值 其他集群（B1）。
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公开(公告)号：US09864433B2
公开(公告)日：2018-01-09
申请号：US14413411
申请日：2013-07-12
申请人： SOFTKINETIC SOFTWARE
CPC分类号： G06F3/017 , G06F3/011 , G06F3/0304 , G06K9/00389
摘要： Described herein is a method for enabling human-to-computer three-dimensional hand gesture-based natural interactions from depth images provided by a range finding imaging system. The method enables recognition of simultaneous gestures from detection, tracking and analysis of singular points of interests on a single hand of a user and provides contextual feedback information to the user. The singular points of interest of the hand: include hand tip(s), fingertip(s), palm center and center of mass of the hand, and are used for defining at least one representation of a pointer. The point(s) of interest is/are tracked over time and are analyzed to enable the determination of sequential and/or simultaneous “pointing” and “activation” gestures performed by a single hand.
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公开(公告)号：US09317741B2
公开(公告)日：2016-04-19
申请号：US14119406
申请日：2013-05-16
申请人： SOFTKINETIC SOFTWARE
发明人： Laurent Guigues , Antoine Rennuit , Jeremie Roy
CPC分类号： G06K9/00342 , G06K9/44 , G06K9/469 , G06K9/6232 , G06T7/251 , G06T2207/10028 , G06T2207/20044 , G06T2207/30196
摘要： Described herein is a method and system for marker-less three-dimensional modelling, fitting and tracking of a skeletal representation of an object in a three-dimensional point cloud. In particular, it concerns the tracking of a human user skeletal representation with respect to time. The method comprises inputting a three-dimensional point cloud derived from a depth map; predetermining a set of control points representing the skeleton of the user, determining a start-up skeleton pose, obtaining an orthographic representation of the user 3D point cloud projected onto a grid by sampling the 3D point cloud with a predetermined static size, determining a set of curvature centers points approximating central axes of main parts of the user, determining the torso plane, and refining and/or defining the principal direction of the body. The method comprises then the step of performing iterative local and global fittings of the set of control points onto the user 3D point cloud and the associated data such as the curvature center points, using topological and geometric constraints so that to track skeleton posture along the time. Stabilizing the skeleton pose; resolving ambiguities; and providing a suitable output are then the last steps of a preferred embodiment of the invention.
摘要翻译： 这里描述了一种用于无标记三维建模，拟合和跟踪三维点云中的对象的骨架表示的方法和系统。 特别地，它涉及关于时间跟踪人类用户骨骼表示。 该方法包括输入从深度图导出的三维点云; 预先确定表示用户骨架的一组控制点，确定启动骨架姿势，通过以预定的静态尺寸对3D点云进行采样，获得投影到网格上的用户3D点云的正交表示，确定一组 的曲率中心点近似于用户的主要部分的中心轴，确定躯干平面，以及精炼和/或限定身体的主要方向。 该方法包括以下步骤：使用拓扑和几何约束，将该组控制点的迭代局部和全局配件执行到用户3D点云上以及相关联的数据，例如曲率中心点，以便沿着时间跟踪骨架姿势 。 稳定骨骼姿势; 解决歧义 并且提供合适的输出是本发明的优选实施例的最后步骤。
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