Calibrating cameras using human skeleton

A method of tracking an object, the method comprising:

• receiving image data comprising depth image data and two-dimensional image data of a space from a camera;
• detecting a person in the space via the image data;
• determining a skeletal representation for the person via the image data;
• determining over a period of time a plurality of locations at which a reference point of the skeletal representation is on a ground area in the image data;
• determining a ground plane of the three-dimensional representation based upon the plurality of locations at which the reference point of the skeletal representation is on the ground area in the image data;
• and
• tracking a location of an object within the space relative to the ground plane.

A computing system comprising:

• a processor;
• and
• storage comprising instructions executable by the processor to:
• receive a first image from a first camera and a second image from a second camera having an overlapping field of view with the first camera,
• detect a skeleton location of a person in the first image and detect the skeleton location of the person in the second image in a region of each image at which fields of view of the first camera and the second camera overlap,
• determine a geometric relationship between the cameras of the camera pair based upon comparing coordinates of the skeleton location of the person in the first camera and coordinates of the skeleton location of the person in the second camera,
• determine a camera connection graph based on the geometric relationships between the cameras of the camera pairs, and
• track an object that moves between fields of view of two or more cameras of the plurality of cameras based upon the coordinate mappings.