Pose estimation based on critical point analysis

A computer-readable medium storing a computer program product configured to perform a method for estimating a pose of a subject in an image, the method comprising:

• receiving the image including depth information associated with the subject;
• classifying one or more parts of the image as known parts of the subject;
• identifying critical points representing local horizontal minimums, local horizontal maximums, local vertical minimums, and local vertical maximums of unclassified parts of the image from the depth information;
• generating a skeletal structure for the subject from joint positions, the joint positions formed by connecting critical points within the unclassified parts of the image;
• and
• determining a pose of the subject based on the skeletal structure.

A system for estimating a pose of a subject in an image, comprising:;

• an input to receive the image including depth information associated with the subject;
• a critical points module, coupled in communication with the input, the critical points module configured to classify one or more parts of the image as known parts of the subject and identify critical points representing local horizontal minimums, local horizontal maximums, local vertical minimums, and local vertical maximums of unclassified parts of the image from the depth information;
• a skeletal generation module, coupled in communication with the critical points module, the skeletal generation module configured to form a skeletal structure for the subject from joint positions, the joint positions formed by connecting critical points within the unclassified parts of the image;
• and
• an estimation module, coupled in communication with the skeletal generation module, the estimation module configured to determine a pose of the subject based on the skeletal structure.