Apparatus and method for tracking motion based on hybrid camera

An apparatus for tracking a motion using a hybrid camera, the apparatus comprising:

• a data collecting part configured to obtain high-resolution image data and low-resolution depth data of an object;
• a data fusion part configured to warp the obtained low-resolution depth data to a same image plane as that of the high-resolution image data, and fuse the high-resolution image data with high-resolution depth data upsampled from the low-resolution depth data on a pixel-by-pixel basis to produce high-resolution fused data;
• a data partitioning part configured to partition the high-resolution fused data by pixel and distinguish between object pixels and background pixels, wherein the object pixels represent the object and the background pixels represent a background of an object image, and partition all object pixels into object-part groups using depth values of the object pixels;
• a correspondence point tracking part configured to track a correspondence point between a current frame and a subsequent frame of the object pixel;
• and
• a joint tracking part configured to track a 3-dimensional (3D) position and angle of each joint of a skeletal model of the object, in consideration of a hierarchical structure and kinematic chain of the skeletal model, by using received depth information of the object pixels, information about an object part, and correspondence point information.