Patent ID: 11922576
Assignee: TRIANGULATE LABS, INC.
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 0:
1. A system for capturing and bio-registering imagery of a living subject, comprising:
a. a camera,
b. a processing unit configured to receive images of a surface of skin of the subject from the camera, the processing unit controlling the camera to develop images including a plurality of images at close range to the subject, each image capturing less than the subject's whole body in its field of view, the processing unit further causing images to be taken at different times, wherein movement occurs between those different times causing deformation of the skin of the subject,
c. a memory containing a parameterized mathematical model characterizing the subject and its dynamics and kinematics of motion, the memory including a representation of a reference body coordinate system affixed to the subject's body and flexing with the surface of the body as the subject moves, and
i. a program on the processing unit to calculate estimates of parameters of the mathematical model characterizing the subject and its motion and the camera's pose and motion,

wherein the processor:
determines a location within the reference body coordinate system of pixels in each collected image that capture the skin of the subject, and
minimizes a distance between the coordinates of the pixels from more than one image pertaining to a common skin feature, as measured in the reference body coordinate system or in a projection thereof to each image, such that subject motion between the points in time at which the images were taken is consistent with the mathematical model's characterization of subject motion.