Enhanced techniques for real-time multi-person three-dimensional pose tracking using a single camera

A system comprising:

• memory;
• instructions;
• and
• at least one processor circuit to be programmed based on the instructions to:
• generate, based on two-dimensional image data representing a first person and a second person, first two-dimensional positions of body parts associated with the first person, the two-dimensional image data from a camera;
• generate, based on the two-dimensional image data, second two-dimensional positions of body parts associated with the second person;
• cause a deep neural network to generate, based on the first two-dimensional positions, a first root-relative three-dimensional pose regression of the body parts associated with the first person;
• cause the deep neural network to generate, based on the second two-dimensional positions, a second root-relative three- dimensional pose regression of the body parts associated with the second person;
• identify, based on the first two-dimensional positions and the first root-relative three-dimensional pose regression, contact between a ground plane and a foot of the first person;
• identify, based on the second two-dimensional positions and the second root-relative three-dimensional pose regression, contact between the ground plane and a foot of the second person;
• generate a first absolute three-dimensional position of the contact between the ground plane and the foot of the first person;
• generate a second absolute three-dimensional position of the contact between the ground plane and the foot of the second person;
• identify two-dimensional positions of the ground plane based on the two-dimensional image data;
• generate a homographic matrix to map the two-dimensional positions of the ground plane to three-dimensional positions of the ground plane;
• generate extrinsic parameters of the camera based on the homographic matrix and a focal length of the camera, the extrinsic parameters including a rotation matrix and a translation vector associated with the camera;
• determine, based on the extrinsic parameters, differences between the first absolute three-dimensional position and at least some of the first two-dimensional positions;
• generate, based on the first absolute three-dimensional position and the differences, a first three-dimensional pose of the body parts represented by the first person;
• and
• generate, based on the second absolute three-dimensional position, a second three-dimensional pose of the body parts represented by the second person.

An apparatus comprising:

• means for generating two dimensional body part positions, the means for generating two dimensional body part positions to:
• generate, based on two-dimensional image data representing a first person and a second person, first two-dimensional positions of body parts associated with the first person;
• and
• generate, based on the two-dimensional image data, second two-dimensional positions of body parts associated with the second person;
• means for generating root-relative three-dimensional pose regression, the means for generating root-relative three-dimensional pose regression to:
• generate, based on a deep neural network and the first two-dimensional positions, a first root-relative three-dimensional pose regression of the body parts associated with the first person;
• and
• generate, based on the deep neural network and the second two-dimensional positions, a second root-relative three-dimensional pose regression of the body parts associated with the second person;
• means for identifying ground plane contact, the means for identifying ground plane contact to:
• identify, based on the first two-dimensional positions and the first root-relative three-dimensional pose regression, contact between a ground plane and a foot of the first person;
• and
• identify, based on the second two-dimensional positions and the second root-relative three-dimensional pose regression, contact between the ground plane and a foot of the second person;
• means for generating absolute three-dimensional ground contact positions, the means for generating absolute three-dimensional ground contact positions to:
• generate a first absolute three-dimensional position of the contact between the ground plane and the foot of the first person;
• means for generating and
• generate a second absolute three-dimensional position of the contact between the ground plane and the foot of the second person;
• and
• means for generating poses, the means for generating poses to:
• generate, based on the first absolute three-dimensional position, a first three-dimensional pose of the body parts associated with the first person;
• and
• generate, based on the second absolute three-dimensional position, a second three-dimensional pose of the body parts represented by the second person.