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Systems and methods for generating three dimensional skeleton representations

U.S. Patent 10,607,079

Brandon D. Northcutt Kevin Stone Konstantine Mushegian Katarina Bouma Kazuto Murase Akiyoshi Ochiai
generating three dimensional skeleton representation drawing
Systems and methods for generating three dimensional skeleton representations

Abstract

Systems, robots, and methods for generating three-dimensional skeleton representations of people are disclosed. A method includes generating, from a two-dimensional image, a two-dimensional skeleton representation of a person present in the two-dimensional image. The two-dimensional skeleton representation includes a plurality of joints and a plurality of links between individual joints of the plurality of joints. The method further includes positioning a cone around one or more links of the plurality of links, and identifying points of a depth cloud that intersect with the cone positioned around the one or more links of the two-dimensional skeleton. The points of the depth cloud are generated by a depth sensor and each point provides depth information. The method also includes projecting the two-dimensional skeleton representation into three-dimensional space using the depth information of the points that intersect with the cone, thereby generating the three-dimensional skeleton representation of the person.

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