Patent ID: 7940960
Filing Date: 2011-05-10
Classification: G06K

Abstract:
1. A pose estimating device comprising: a dictionary memory configured to store a pose dictionary that includes: an image feature extracting unit configured to extract observed image feature information from an image of the articulated object; a past information storing unit configured to store past pose estimating information of the articulated object; a pose predicting unit configured to predict a present pose on the basis of the past pose estimating information and a predetermined motion model; a node predicting unit configured to calculate a prior probability as to whether or not each nodes in respective layers of the tree structure includes a pose of a correct solution corresponding to the present pose based on the predicted pose; a two class identifying unit configured to calculate a likelihood of the observed image feature information for each node in the upper layers by using the two class discriminative function stored in the node; a node probability calculating unit configured to calculate a probability in which the pose of the correct solution is in the node in the upper layers from the prior probability and the likelihood; and a pose estimating unit configured to calculate pose information with respect to the lowermost layer by transforming the observed image feature information by the mapping functions stored in the pose dictionary.