Target orientation estimation using depth sensing

A computer readable medium for estimating an orientation of a target using depth image data, comprising a computer program that when executed by a computer processor implements the steps of:

• receiving a feed of depth images capturing a target, the depth images including pixel depth information;
• determining a correlation between each image and a corresponding orientation measure for a set of images in the feed, the set of images representative of a set of target orientations, and the correlation providing a match between an image and a corresponding orientation measure representative of the orientation of the target captured in the image, wherein determining the correlation comprises:
• determining a primary orientation by analyzing the set of images,
• assigning a reference orientation measure to the images in the set of images that capture the target in the primary orientation, and
• determining an orientation measure for images in the set of images that capture the target in orientations other than the primary orientation, the orientation measure based on optical flow of feature points in the images with respect to the reference orientation measure;
• storing the set of depth images of the target and the correlation;
• and
• comparing, based in appearance, a current depth image of the target with the depth images in the set of depth images to determine, based on the correlation, a corresponding orientation measure indicative of a current orientation of the target as captured in the current depth image.

A system for estimating an orientation of a target using depth image data, the system comprising:

• means for receiving a feed of depth images capturing a target, the depth images including pixel depth information;
• means for determining a correlation between each image and a corresponding orientation measure for a set of images in the feed, the set of images representative of a set of target orientations, and the correlation providing a match between an image and a corresponding orientation measure representative of the orientation of the target captured in the image, wherein the means for determining the correlation comprises:
• means for determining a primary orientation by analyzing the set of images,
• means for assigning a reference orientation measure to the images in the set of images that capture the target in the primary orientation, and
• means for determining an orientation measure for images in the set of images that capture the target in orientations other than the primary orientation, the orientation measure based on optical flow of feature points in the images with respect to the reference orientation measure;
• means for storing the set of depth images of the target and the correlation;
• and
• means for comparing, based in appearance, a current depth image of the target with the depth images in the set of depth images to determine, based on the correlation, a corresponding orientation measure indicative of a current orientation of the target as captured in the current depth image.