Patent ID: 9378559
Filing Date: 2016-06-28
CPC Classification: G06T

Claim Text:
1. A system for motion estimation, comprising: a plurality of motion sensors mounted near joints of a body and configured to provide motion information; a depth sensor configured to provide 3-dimensional image information having a 3-dimensional coordinate for each pixel; and a motion estimation device configured to estimate a motion by use of the motion information and the 3-dimensional image information, wherein the motion estimation device comprises: a converging unit configured to compute mounting position information of the motion sensors by performing an initialization process by converging the motion information and the 3-dimensional image information; and an estimating unit configured to estimate the motion by computing a state vector including the mounting position information and the motion information, wherein the estimating unit is configured to compute a step length value for each of the motion sensors and the depth sensor based on information observed through each of the motions sensors and the depth sensor, compute a traveled distance by accumulating the computed step length values, and compensate the traveled distance if a difference between the two step length values is greater than or equal to a predetermined critical value.