| 摘要 |
Described herein is a method and system for marker-less three-dimensional modelling, fitting and tracking of a skeletal representation of an object in a three-dimensional point cloud. In particular, it concerns the tracking of a human user skeletal representation with respect to time. The method comprises inputting a three-dimensional point cloud (210) derived from a depth map; predetermining a set of control points representing the skeleton of the user, determining a start-up skeleton pose, obtaining an orthographic representation of the user 3D point cloud projected onto a grid by sampling the 3D point cloud with a predetermined static size (220), determining a set of curvature centres points approximating central axes of main parts of the user, determining the torso plane, and refining and/or defining the principal direction of the body. The method comprises then the step of performing iterative local and global fittings of the set of control points onto the user 3D point cloud and the associated data such as the curvature centre points, using topological and geometric constraints (230) so that to track skeleton posture along the time. Stabilising the skeleton pose (240); resolving ambiguities (250); and providing a suitable output (260) are then the last steps of a preferred embodiment of the invention. |
