The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Mar. 31, 2020
Filed:
Jan. 11, 2018
Toyota Research Institute, Inc., Los Altos, CA (US);
Brandon Northcutt, Mountain View, CA (US);
Kevin Stone, Palo Alto, CA (US);
Konstantine Mushegian, San Francisco, CA (US);
Katarina Bouma, Palo Alto, CA (US);
Kazuto Murase, Mountain View, CA (US);
Akiyoshi Ochiai, Sunnyvale, CA (US);
Toyota Research Institute, Inc., Los Altos, CA (US);
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.