Patent ID: 8757804

Claim:
A system for determining motion of a feature of an individual, the system comprising: a video imaging system configured to capture a plurality of images of a face of the individual; a lidar system configured to generate a range measurement and a Doppler velocity measurement for each of a plurality of points on the face of the individual; and a processor configured to: determine, from the plurality of images of the face, a lateral motion of the face in an image plane of the plurality of images of the face, a vertical motion of the face in the image plane of the plurality of images of the face, and a rotation of the face in the image plane of the plurality of images, determine, from the range measurement and the Doppler velocity measurement for each of the plurality of points on the face, a translational motion of the face in a direction of the range measurement and two rotational motions of the face orthogonal to the direction of the range measurement, and combine the lateral motion of the face, the vertical motion of the face, and the rotation of the face determined from the plurality of images of the face with the translational motion of the face and the two rotational motions of the face determined from the range measurement and the Doppler velocity measurement for each of the plurality of points on the face to determine the motion of the face of the individual.