Floor estimation for human computer interfaces
AssigneeYouSpace, Inc.
InventorRalph Brunner
Life of this patent
Estimating the term…
Abstract
Human Computer Interfaces (HCI) may allow a user to interact with a computer via a variety of mechanisms, such as hand, head, and body gestures. Various of the disclosed embodiments allow information captured from a depth camera on an HCI system to be used to recognize such gestures. Particularly, the HCI system's depth sensor may capture depth frames of the user's movements over time. To discern gestures from these movements, the system may group portions of the user's anatomy represented by the depth data into classes. This grouping may require that the relevant depth data be extracted from the depth frame. Such extraction may itself require that appropriate clipping planes be determined. Various of the disclosed embodiments better establish floor planes from which such clipping planes may be derived.
Claims22
A computer system configured to determine a floor plane estimation from depth frame data comprising:
- a depth sensor device configured to acquire a frame of depth data;
- at least one processor;
- at least one memory comprising instructions configured to cause the at least one processor to cause the computer system to perform a method comprising:
- receiving a frame of depth data from the depth sensor, the depth data comprising a point cloud;
- determining an initial floor plane;
- generating a plurality of candidate floor planes by:
- rotating a normal associated with a reference floor plane;
- determining a metric value for each of the plurality of candidate floor planes, wherein determining a metric value for a candidate floor plane of the plurality of candidate for planes comprises:
- determining a first plurality of distances by projecting points from the point cloud upon the candidate floor plane;
- determining an origin of the candidate floor plane based upon a portion of the first plurality of distances;
- determining a second plurality of distances between points in the point cloud and the origin;
- and
- determining the metric value based upon the second plurality of distances;
- and
- selecting the candidate floor plane associated with the best metric value as the determined floor plane.
A computer-implemented method for determining a floor plane estimation from depth frame data, the depth frame data comprising a point cloud, the method comprising:
- receiving a frame of depth data captured by a depth sensor;
- determining an initial floor plane;
- generating a plurality of candidate floor planes by:
- rotating a normal associated with a reference floor plane;
- determining a metric value for each of the plurality of candidate floor planes, wherein determining a metric value for a candidate floor plane of the plurality of candidate for planes comprises:
- determining a first plurality of distances by projecting points from the point cloud upon the candidate floor plane;
- determining an origin of the candidate floor plane based upon a portion of the first plurality of distances;
- determining a second plurality of distances between points in the point cloud and the origin;
- and
- determining the metric value based upon the second plurality of distances;
- and
- selecting the candidate floor plane associated with the best metric value as the determined floor plane.
A non-transitory computer readable medium comprising instructions configured to cause a computer system to perform a method, comprising:
- receiving a frame of depth data from a depth sensor;
- determining an initial floor plane;
- generating a plurality of candidate floor planes by:
- rotating a normal associated with a reference floor plane;
- determining a metric value for each of the plurality of candidate floor planes, wherein determining a metric value for a candidate floor plane of the plurality of candidate for planes comprises:
- determining a first plurality of distances by projecting points from the point cloud upon the candidate floor plane;
- determining an origin of the candidate floor plane based upon a portion of the first plurality of distances;
- determining a second plurality of distances between points in the point cloud and the origin;
- and
- determining the metric value based upon the second plurality of distances;
- and
- selecting the candidate floor plane associated with the best metric value as the determined floor plane.
Dependencies are inferred from the claim text.