George Vikram Paul

US Patent:

6681031, Jan 20, 2004

Filed:

Aug 10, 1999

Appl. No.:

09/371460

Inventors:

Charles J. Cohen - Ann Arbor MI
Glenn Beach - Ypsilanti MI
Brook Cavell - Ypsilanti MI
Gene Foulk - Ann Arbor MI
Charles J. Jacobus - Ann Arbor MI
Jay Obermark - Ann Arbor MI
George Paul - Ypsilanti MI

Assignee:

Cybernet Systems Corporation - Ann Arbor MI

International Classification:

G06K 900

US Classification:

382103, 382209, 701 45, 345473, 345474

Abstract:

A gesture recognition interface for use in controlling self-service machines and other devices is disclosed. A gesture is defined as motions and kinematic poses generated by humans, animals, or machines. Specific body features are tracked, and static and motion gestures are interpreted. Motion gestures are defined as a family of parametrically delimited oscillatory motions, modeled as a linear-in-parameters dynamic system with added geometric constraints to allow for real-time recognition using a small amount of memory and processing time. A linear least squares method is preferably used to determine the parameters which represent each gesture. Feature position measure is used in conjunction with a bank of predictor bins seeded with the gesture parameters, and the system determines which bin best fits the observed motion. Recognizing static pose gestures is preferably performed by localizing the body/object from the rest of the image, describing that object, and identifying that description. The disclosure details methods for gesture recognition, as well as the overall architecture for using gesture recognition to control of devices, including self-service machines.

US Patent:

6950534, Sep 27, 2005

Filed:

Jan 16, 2004

Appl. No.:

10/759459

Inventors:

Charles J. Cohen - Ann Arbor MI, US
Glenn Beach - Brooklyn MI, US
Brook Cavell - Ann Arbor MI, US
Gene Foulk - Ann Arbor MI, US
Charles J. Jacobus - Ann Arbor MI, US
Jay Obermark - Ann Arbor MI, US
George Paul - Bedford NH, US

Assignee:

Cybernet Systems Corporation - Ann Arbor MI

International Classification:

G06K009/00

US Classification:

382103, 382276

Abstract:

A gesture recognition interface for use in controlling self-service machines and other devices is disclosed. A gesture is defined as motions and kinematic poses generated by humans, animals, or machines. Specific body features are tracked, and static and motion gestures are interpreted. Motion gestures are defined as a family of parametrically delimited oscillatory motions, modeled as a linear-in-parameters dynamic system with added geometric constraints to allow for real-time recognition using a small amount of memory and processing time. A linear least squares method is preferably used to determine the parameters which represent each gesture. Feature position measure is used in conjunction with a bank of predictor bins seeded with the gesture parameters, and the system determines which bin best fits the observed motion. Recognizing static pose gestures is preferably performed by localizing the body/object from the rest of the image, describing that object, and identifying that description. The disclosure details methods for gesture recognition, as well as the overall architecture for using gesture recognition to control of devices, including self-service machines.

US Patent:

7036094, Apr 25, 2006

Filed:

Mar 31, 2000

Appl. No.:

09/540461

Inventors:

Charles J. Cohen - Ann Arbor MI, US
Glenn Beach - Ypsilanti MI, US
Brook Cavell - Ypsilanti MI, US
Gene Foulk - Ann Arbor MI, US
Charles J. Jacobus - Ann Arbor MI, US
Jay Obermark - Ann Arbor MI, US
George Paul - Belleville MI, US

Assignee:

Cybernet Systems Corporation - Ann Arbor MI

International Classification:

G09G 5/00

US Classification:

715863

Abstract:

A system for recognizing various human and creature motion gaits and behaviors is presented. These behaviors are defined as combinations of “gestures” identified on various parts of a body in motion. For example, the leg gestures generated when a person runs are different than when a person walks. The system described here can identify such differences and categorize these behaviors. Gestures, as previously defined, are motions generated by humans, animals, or machines. Where in the previous patent only one gesture was recognized at a time, in this system, multiple gestures on a body (or bodies) are recognized simultaneously and used in determining behaviors. If multiple bodies are tracked by the system, then overall formations and behaviors (such as military goals) can be determined.

US Patent:

7050606, May 23, 2006

Filed:

Nov 1, 2001

Appl. No.:

10/004058

Inventors:

George V. Paul - Belleville MI, US
Glenn J. Beach - Ypsilanti MI, US
Charles J. Cohen - Ann Arbor MI, US
Charles J. Jacobus - Ann Arbor MI, US

Assignee:

Cybernet Systems Corporation - Ann Arbor MI

International Classification:

G06K 9/00

US Classification:

382104, 348154, 701 45

Abstract:

A system and method tracks the movements of a driver or passenger in a vehicle (ground, water, air, or other) and controls devices in accordance with position, motion, and/or body or hand gestures or movements. According to one embodiment, an operator or passenger uses the invention to control comfort or entertainment features such the heater, air conditioner, lights, mirror positions or the radio/CD player using hand gestures. An alternative embodiment facilitates the automatic adjustment of car seating restraints based on head position. Yet another embodiment is used to determine when to fire an airbag (and at what velocity or orientation) based on the position of a person in a vehicle seat. The invention may also be used to control systems outside of the vehicle. The on-board sensor system would be used to track the driver or passenger, but when the algorithms produce a command for a desired response, that response (or just position and gesture information) could be transmitted via various methods (wireless, light, whatever) to other systems outside the vehicle to control devices located outside the vehicle.

US Patent:

7121946, Oct 17, 2006

Filed:

Jun 29, 2001

Appl. No.:

09/896150

Inventors:

George V. Paul - Belleville MI, US
Glenn J. Beach - Ypsilanti MI, US
Charles J. Cohen - Ann Arbor MI, US
Charles J. Jacobus - Ann Arbor MI, US

Assignee:

Cybernet Systems Corporation - Ann Arbor MI

International Classification:

A63F 13/10

US Classification:

463 36

Abstract:

A real-time computer vision system tracks the head of a computer user to implement real-time control of games or other applications. The imaging hardware includes a color camera, frame grabber, and processor. The software consists of the low-level image grabbing software and a tracking algorithm. The system tracks objects based on the color, motion and/or shape of the object in the image. A color matching function is used to compute three measures of the target's probable location based on the target color, shape and motion. The method then computes the most probable location of the target using a weighting technique. Once the system is running, a graphical user interface displays the live image from the color camera on the computer screen. The operator can then use the mouse to select a target for tracking. The system will then keep track of the moving target in the scene in real-time.

US Patent:

7460690, Dec 2, 2008

Filed:

Sep 14, 2005

Appl. No.:

11/226831

Inventors:

Charles J. Cohen - Ann Arbor MI, US
Glenn Beach - Ypsilanti MI, US
Brook Cavell - Ypsilanti MI, US
Gene Foulk - Ann Arbor MI, US
Charles J. Jacobus - Ann Arbor MI, US
Jay Obermark - Ann Arbor MI, US
George Paul - Bedford NH, US

Assignee:

Cybernet Systems Corporation - Ann Arbor MI

International Classification:

G06K 9/00
G06K 9/36
G06F 3/033

US Classification:

382103, 382276, 715863

Abstract:

A gesture recognition interface for use in controlling self-service machines and other devices is disclosed. A gesture is defined as motions and kinematic poses generated by humans, animals, or machines. Specific body features are tracked, and static and motion gestures are interpreted. Motion gestures are defined as a family of parametrically delimited oscillatory motions, modeled as a linear-in-parameters dynamic system with added geometric constraints to allow for real-time recognition using a small amount of memory and processing time. A linear least squares method is preferably used to determine the parameters which represent each gesture. Feature position measure is used in conjunction with a bank of predictor bins seeded with the gesture parameters, and the system determines which bin best fits the observed motion. Recognizing static pose gestures is preferably performed by localizing the body/object from the rest of the image, describing that object, and identifying that description. The disclosure details methods for gesture recognition, as well as the overall architecture for using gesture recognition to control of devices, including self-service machines.

US Patent:

7668340, Feb 23, 2010

Filed:

Dec 2, 2008

Appl. No.:

12/326540

Inventors:

Charles J. Cohen - Ann Arbor MI, US
Glenn J. Beach - Grass Lake MI, US
Brook Cavell - Ann Arbor MI, US
Eugene Foulk - Ann Arbor MI, US
Charles J. Jacobus - Ann Arbor MI, US
Jay Obermark - Ann Arbor MI, US
George V. Paul - Belleville MI, US

Assignee:

Cybernet Systems Corporation - Ann Arbor MI

International Classification:

G06K 9/00
G06F 3/033

US Classification:

382103, 715863

Abstract:

A gesture recognition interface for use in controlling self-service machines and other devices is disclosed. A gesture is defined as motions and kinematic poses generated by humans, animals, or machines. Specific body features are tracked, and static and motion gestures are interpreted. Motion gestures are defined as a family of parametrically delimited oscillatory motions, modeled as a linear-in-parameters dynamic system with added geometric constraints to allow for real-time recognition using a small amount of memory and processing time. A linear least squares method is preferably used to determine the parameters which represent each gesture. Feature position measure is used in conjunction with a bank of predictor bins seeded with the gesture parameters, and the system determines which bin best fits the observed motion. Recognizing static pose gestures is preferably performed by localizing the body/object from the rest of the image, describing that object, and identifying that description. The disclosure details methods for gesture recognition, as well as the overall architecture for using gesture recognition to control of devices, including self-service machines.

US Patent:

7684592, Mar 23, 2010

Filed:

Jan 14, 2008

Appl. No.:

12/013717

Inventors:

George V. Paul - Belleville MI, US
Glenn J. Beach - Brooklyn MI, US
Charles J. Cohen - Ann Arbor MI, US
Charles J. Jacobus - Ann Arbor MI, US

Assignee:

Cybernet Systems Corporation - Ann Arbor MI

International Classification:

G06K 9/00

US Classification:

382103, 382107, 382164, 382165, 382209

Abstract:

A real-time computer vision system tracks one or more objects moving in a scene using a target location technique which does not involve searching. The imaging hardware includes a color camera, frame grabber and processor. The software consists of the low-level image grabbing software and a tracking algorithm. The system tracks objects based on the color, motion and/or shape of the object in the image. A color matching function is used to compute three measures of the target's probable location based on the target color, shape and motion. The method then computes the most probable location of the target using a weighting technique. Once the system is running, a graphical user interface displays the live image from the color camera on the computer screen. The operator can then use the mouse to select a target for tracking. The system will then keep track of the moving target in the scene in real-time.