Posture estimation device, posture estimation method, and posture estimation program

摘要

A posture estimation device, which is able to estimate the posture of a humanoid articulated body with high precision, has: a head estimation unit (120) that estimates the position of a person's head from image information for an image that contains a person; a foot estimation unit (130) that, from the image information, estimates the position of the person's foot for which the sole of the foot is parallel to the floor surface; and a posture estimation unit (140) that estimates the posture of the person on the basis of the relative positional relationship between the estimated head position and the estimated foot position. For example, the posture estimation unit (140) estimates the side on which the foot is located, with respect to the head, as the front side of the person.

主权项

1. A posture estimation apparatus comprising:
a head estimation section that estimates a position of a head of a person from image information on an image including the person; a foot estimation section that estimates a position of a foot of the person from the image information, the foot including a sole being parallel with a floor; and a posture estimation section that estimates a posture of the person based on a relative positional relationship between the estimated position of the head and the estimated position of the foot, wherein the posture estimation section estimates that a side on which the position of the foot is located relative to the position of the head is a front side of the person, the foot estimation section comprises:
a sole estimation section that estimates a sole region of the person in the image from the image information; anda sole centroid estimation section that estimates, from the estimated sole region, a foot centroid position representing a centroid position of a region of the estimated sole region, the region of the estimated sole region being parallel with the floor, and that sets the estimated foot centroid position as the foot position, the image is generated by capturing an image of a real space including the person and the floor the floor is horizontal, the sole estimation section estimates a boundary between the foot and a background in the image from the image information and estimates the sole region based on the estimated boundary, and the sole centroid estimation section estimates the foot centroid position based on a comparison between a direction of the estimated boundary and a horizontal direction in the real space.