CN101782968A - Human skeleton extracting and orientation judging method based on geodetic survey model - Google Patents

Abstract

The invention relates to a human skeleton extracting and orientation judging method based on a geodetic survey model. Although different human bodies have differences, on the whole, the lengths of all parts of a human body have a relative fixed proportional relation and still have the relative fixed proportional relation when measured by a geodetic survey distance; and a model which is measured by the geodetic survey distance and reflects the proportional relation of the lengths of all parts of the human body is the geodetic survey model. The geodetic survey distance of a peak of the model is calculated by automatically extracting and recognizing five characteristic points in the four limbs and the tail end of the head top of the human body and adopting the characteristic points as start points according to the geodetic survey model; a center line of a curve family with equal geodetic survey distance is extracted; the position of an articulation point is confirmed, and the skeleton is extracted on the center line according to the information related to the positions of all articulation points in the geodetic survey model; a characteristic vector is established according to the relevance of the articulation points of the lower limbs and the orientation of the human body; and a classified hyperplane is constructed by utilizing a support vector machine theory to realize the judgment of the orientation of the human body. The invention can be suitable for human models in different postures, has high accuracy of calculating results and can fully and automatically realize the positioning of the articulation points, skeleton extraction and judgment of the orientation of the human body.

Description

Skeleton based on geodetic survey model extracts and orientation judging method

Technical field

The present invention relates to a kind of skeleton and extract and orientation judging method, be mainly used in computer animation based on geodetic survey model.

Background technology

The manikin bone extracts, and refers to by the analysis to geometric elements such as the point of component model, limit, faces, and in conjunction with the dissect physiology characteristics and the movement characteristic of human body, the articulation point of extraction model generates the bone of manikin.Because the complicacy and the scrambling of manikin, and the diversity of human body attitude variation make that the automatic extraction of model bone is very difficult.What occur at present extracts the method for bone from manikin, can be divided into following two classes according to the difference of required model:

(1) based on the method for dynamic model

Dynamic model is made up of the animation sequence of the different attitudes of the same human body of expression, the corresponding one group of vertex data of each attitude, roughly study thinking and be and select one of them attitude for reference to attitude, with face, limit or summit is base unit, calculating is with reference to variable quantity or the transformation matrix of attitude between other attitude, based on this variable quantity or transformation matrix cluster is carried out on summit or face, determine the articulation point position in abutting connection with situation according to class.(referring to document 1-Kirk A.G., O ' Brien J.F., Forsyth D.A.:Skeletal parameter estimation from optical motion capture data.In CVPR 2005 (2005), pp.782-788; Referring to document 2-Edilson de Aguiar, Christian Theobalt, Sebastian Thrun, Hans-Peter Seidel, Automatic Conversion of Mesh Animations into Skeleton-basedAnimations.EUROGRAPHICS 2008, Volume 27 (2008), and Number 2; Referring to document 3-Schaefer S., Yuksel C.:Example-based skeleton extraction.In SGP ' 07 (Aire-la-Ville, Switzerland, 2007), pp.153-162.)

These methods are prerequisite with the animation sequence data all, and the data volume of requirement is big, need carry out loaded down with trivial details data pre-service such as summit registration between different attitudes, and can the articulation point locating accuracy reflect fully that with animation data the motion conditions in each joint is relevant.

(2) based on the method for static model

Static model are meant the manikin that has only an expression human body a certain particular pose, based on the algorithm of static model by the geometrical Characteristics Analysis of model is extracted the articulation point position.Compare with dynamic model because data volume is few, the information that can obtain also less, though implement more conveniently, precision is not high.Oscar is (referring to document 4-Oscar Kin-Chung Au, Chiew-Lan Tai, Hung-Kuo Chu, Daniel Cohen-Or, Tong-Yee Lee:Skeleton extraction bymesh contraction.ACM Trans.Graph.27 (3): (2008)) adopts the global position constraint, it is smooth that model meshes is applied implicit Laplce, makes grid model be punctured into the skeleton line of zero volume, obtains skeleton model by connectedness processing, the face removal of subsiding etc. again.Ju is (referring to document 5-Ju Xiangyang, Werghi Naoufel, Siebert J Paul.Automatic segmentation of 3D human body scans[C] //Proc of the Computer Graphicsand Imaging.Las Vegas:[s.n.], 2000) utilize one group of horizontal section intercepting manikin, according to each layer cross section information model is divided into four limbs and first-class five parts of chest, perimeter change rule based on each part middle section elliptic contour extracts the articulation point that each part comprises.Joao is (referring to document 6-Oliveira J, Zhang D, SpanlangB, Buxton B.Animating scanned human models.Journal of WSCG, 2003,11 (2): 362-369.) people such as grade utilizes the horizontal section information of scan model, the center line of extraction model, extract the body local unique point according to local curvature, utilize the local feature point and the pass in joint to tie up to positioning joint point position on the center line again.The algorithm of document 5,6 all adopts the horizontal section truncated models, and its result of calculation changes with the change of factors such as model attitude, the bodily form, when manikin attitude and standard attitude differ big, can't obtain correct topological structure; Secondly, extract the not enough robust of feature (as profile girth, mean radius) that articulation center adopted, influenced by model accuracy, thereby result of calculation is not accurate enough.Werghi is (referring to document 7-Werghi N Yi jun Xiao, Siebert J P.A functional2based segmentation of human bodyscans in arbit rary postures[J] .IEEE Trans on Systems, Man, and Cybernetics, Part B:Cybernetics, 2006,36 (1): 1532165) etc. the people with geodesic line distance between the human body surface each point as the Morse function, constructed discrete Reeb figure (discrete Reeb graph, DRG), realized the piecemeal of any attitude scanning manikin according to the priori of this figure and anthropometry, but this algorithm has only been finished the piecemeal of manikin, does not realize the extraction of articulation center.Domestic in brave (referring to document 8-in brave Wang Zhao during its summer Hong Maotian reveal. the manikin bone extracting method that a kind of attitude is irrelevant. computer research and development, 2008,45 (07): 1249-1258) wait the same method acquisition human body topological structure that adopts based on geodesic distance of people, carry out location, bone joint by profile like circle property function, can realize the joint extraction that attitude is irrelevant.Though this algorithm is based on the hypothesis of human anatomy, the juxtra-articular cross sectional shape of model presents irregularly shaped, and the bone middle part presents class circle property, but because the cross section of this algorithm is from the beginning to back down the beginning to calculate geodesic distance, therefore there are deviation in cross section profile and medical science indication cross section, its anti-interference is poor, is subject to influences such as attitude, model accuracy.

In addition, these methods after extracting bone or human body be divided into each several part, do not provide judge human body towards algorithm, the bone that can't distinguish four limbs and four limbs belongs to left side or right side, has hindered its application in human body identification, data-driven animation.Hu Xiaoyan is (referring to document 9-Hu Xiaoyan, Liang Xiaohui, Zhao Qinping. automatic matching virtual human model and exercise data [J]. the software journal, 2006,17 (10): 218122191) proposed a kind of human body orientation judging algorithm, he thinks that the gravity center of human body can lean forward slightly, judge on this basis human body towards, realize the coupling of manikin and exercise data.Though this hypothesis is set up under some given pose, the gravity center of human body can change because of the variation of posture, the hypothesis that center of gravity leans forward under many postures and being false clearly, therefore can't as the irrelevant human body of attitude towards criterion.

In a word, the problem of prior art existence at present is: based on dynamic model, require the animation sequence of input model, if obtain sequence by scanning, the pre-service workload is very big, if by the model adjustment is produced dynamic sequence, under the situation that lacks bone, difficulty, workload are all very big; Based on static model, owing to have only an attitude, lack the movable information in joint, only with geological information and a simplex criteria of model, be difficult to accurately extract the articulation point position.

Summary of the invention

The technical problem to be solved in the present invention: overcome the deficiencies in the prior art, propose a kind of human body priori that makes full use of, based on the skeleton extraction of geodetic survey model and the method for human body orientation judging.This method can realize the automatic extraction of the manikin bone that attitude is irrelevant and human body towards judgement, has stronger robustness, because the use of geodetic survey model, dwindled articulation point location finding scope, improved the accuracy of algorithm computation speed and joint location, according to joint of lower extremity point and human body towards the pass series structure the reflection human body towards proper vector, have convenience of calculation, the advantage that linear separability is good.

1, the technical solution used in the present invention is characterized in that having proposed geodetic survey model irrelevant with human body attitude, that the reflection partes corporis humani divides length ratio to concern:

Winter (referring to document 10-Winter.D.A.Biomechanics and Motor Control of Human Movement.[M] .2nd Edition, John Wiley﹠amp; Sons Canada, Ltd. (May 1990)) studies show that, though it is human because influence of various factors such as race, sex, regions, on individuality, there are differences, but as a complete unit, the various piece of human body exists statistical significance at aspects such as quality, centroid position, limbs length, and the relative scale between the various piece length on the human body all is a basic fixed.He provides the data of anthropometry, and the height of establishing the people is H, and then the partes corporis humani divides ratio with respect to height shown in Fig. 2 (a).This achievement in research has obtained using widely, but because he is with the length between the euclidean distance metric each several part joint, for the three-dimensional (3 D) manikin of only forming by surface mesh, owing to there is not skeletal layer, lack between joint and the grid vertex and contact directly, be difficult to directly use these anthropometry data.We with geodesic distance tolerance each several part length, calculate the proportionate relationship between the each several part length along the model meshes surface, found through experiments, and for different human body and different attitudes, also have metastable proportionate relationship.Therefore the present invention proposes to construct the human body geodetic survey model with being subjected to attitude to influence very little and calculating very easily geodesic distance and measure the length that the partes corporis humani divides.

Geodesic distance refers to connect on the curved surface length of shortest path between given 2, and the present invention is with g (x, y) geodesic distance between expression point x and the y.

Shown in Fig. 2 (b), manikin represents that with M trunk is M ₀, the four limbs that link to each other with trunk and first-class five outshots are respectively M ₁～M ₅, then These six parts are divided into vertical and horizontal two big classes, laterally are M ₂～M ₅, promptly the four limbs part comprises wrist, elbow, shoulder, ankle, knee, thigh etc.; Be M vertically ₀, M ₁, promptly head and torso portion comprise head, neck, tail bone portion etc.When calculating geodesic distance, at first at M ₁～M ₅On choose five unique points, lay respectively at the least significant end of the crown, middle finger, big toe, the geodesic distance of longitudinal component calculates the geodesic distance of each articulation point and distal point from crown unique point; The geodesic distance of lateral part is that starting point calculate geodesic distance as left finesse, left elbow, left side shoulder with left hand portion unique point to be that starting point is calculated from its nearest unique point, constructs the human body geodetic survey model of " soil " font thus.

The present invention has selected for use the model of 20 different human body and attitude to experimentize, at first calculate the geodesic distance between each several part, for the ease of between different models, comparing, we the geodesic distance between two hand-characteristic points as a unit, note is made 1L, and other length is carried out the dimension conversion.The average and the variance that record data are as shown in the table:

Table: the partes corporis humani divides geodesic distance to distribute

	Head	Neck	Tail bone	Wrist	Elbow	Shoulder	Ankle	Knee	Leg
										Average	??0.178L	??0.228L	??0.661L	??0.105L	??0.250L	??0.388L	??0.156L	??0.383L	??0.595L
Standard deviation	??0.00865??L	??0.00783??L	??0.0284L	??0.00838??L	??0.00838??L	??0.0154L	??0.0120L	??0.0236L	??0.027??8L

Has statistical significance when as can be seen from the table, partes corporis humani's branch length is represented with geodesic distance equally.The fluctuating range of knee, thigh, tail bone, shoulder joint is big relatively, and individual samples reaches 0.04L, be scaled the metric system greatly about about 7 centimetres, and the fluctuating range of wrist, ankle, elbow is all in the 0.01L scope, promptly about 1.5 centimetres.Also there is relatively more fixing proportionate relationship in the length that this shows the different human body each several part when measuring with geodesic distance, based on this proportionate relationship, we provide the length of each several part in the human body geodetic survey model, see Fig. 3-3.Because geodesic distance can directly calculate according to the grid vertex coordinate, and has the advantage that is subjected to the human body attitude variable effect little, therefore, our geodetic survey model that will be based upon on the geodesic distance basis is applied among articulation point location, bone extraction, feature point extraction and the identification.

2, the technical solution used in the present invention, it is characterized in that constructing the reflection human body towards proper vector and be used for the sorter of orientation judging:

Human body is towards the direction that is meant that trunk is faced, because pelvis has relative stability, we get vector that near the pelvis waist joint and left and right sides hip joint formed define human body towards, make O, R, L be respectively waist joint on the skeleton model, right hip joint, left hip joint

Then

Corresponding direction just be called human body towards.

Human body towards judgement be meant extract bone from the human body surface model after, which is not left hip joint in knowing two hip joints, which is under the situation of right hip joint, in the perpendicular both direction in the plane of judgement and waist joint and two hip joint decisions which direction be human body towards.So just two classification problems that are converted into towards judgement in the pattern-recognition, a class be human body towards direction, another kind of be human body towards opposite direction.

Human body is towards closely related with the state in each joint of lower limb, for this reason, our choice direction be six bone from the hip to the knee, from the knee to the ankle, from the ankle to the toe and human body towards angle as judging that human body towards geometric properties, has constituted the proper vector x=(φ of six dimensions ₁, φ ₂, φ ₃, φ ₄, φ ₅, φ ₆), φ _iSpan be [0, π].

The test findings that shows from Fig. 5 shows: φ ₁, φ ₄Reflected left and right sides thigh and human body towards angle be generally less than pi/2, promptly thigh is generally to front curve; And shank and human body towards included angle ₂, φ ₅Near pi/2, fluctuate, but greater than the situation of pi/2 more than situation less than pi/2, reflected that the recurvate situation of shank is more; φ ₃, φ ₆Most of value is also less than pi/2, and than thigh with towards angle littler, this has reflected that also direction from the heel to the tiptoe and human body are towards more approaching.In a word, the different posture of test explanation has different proper vector values corresponding with it, and the proper vector value has certain regularity with the variation of posture, because every bone and human body are π towards forward and reverse angle sum, but neither one φ _iValue all be positioned on the pi/2 or under, so can't be according to some φ _iDetermine human body towards.So adopt based on the support vector machine of structural risk minimization as the training human body towards sorter.

The concrete implementation step of structural classification device is as follows:

To each manikin as sample, by hereinafter mentioning method, extract each articulation point, then by manual sign left and right sides hip joint, calculate the reflection human body towards vector, calculate human body again towards proper vector x _i, the sample that constructs like this is as positive sample, i.e. y _i=1.Simultaneously, construct a negative sample, its proper vector obtains so can subtract positive sample characteristics vector by π by forming towards reciprocal angle with human body, and the classification of sample is y _i=-1, obtain the sample data collection:

{(x _i，y _i)|i＝1，…，N；x _i∈R ⁶，y _i∈{-1，+1}}

To sample data, adopt support vector machine to carry out the training of sorter, for the situation of linear separability, will find the solution following functional:

$\underset{\mathrm{\α}}{\min }\frac{1}{2}\underset{i,j=1}{\overset{N}{\mathrm{\Σ}}}{\mathrm{\α}}_i{\mathrm{\α}}_j{y}_i{y}_{j}k(x_i,x_j)-\underset{i=1}{\overset{N}{\mathrm{\Σ}}}{\mathrm{\α}}_i,$ $\mathrm{ST}.\underset{i=1}{\overset{N}{\mathrm{\Σ}}}{\mathrm{\α}}_i{y}_i=0,$ 0≤α _i，i＝1，…N

α wherein _iBe the Lagrange multiplier of each sample correspondence, k (x _i, x) be kernel function, adopt linear function and Gaussian function to carry out the sorter training respectively as kernel function, obtain being used for the decision function of orientation judging:

$f\left(x\right)=\mathrm{sgn}\{\underset{i=1}{\overset{N}{\mathrm{\Σ}}}{\mathrm{\α}}_i{y}_{i}k(x_i,x)-b\}$

Find with RBF to be that the sorter classifying quality of kernel function is better than the sorter that linear function is a kernel function by test.

Treat decision model after extracting articulation point, then from the both direction of waist and hip joint decision careless to specify a direction be human body towards, calculate proper vector, again according to decision function calculate human body towards, if the result is 1, then specified direction be human body towards, otherwise human body is oriented the opposite direction of specified direction.In case established human body towards, also just identified left and right sides hip joint and left and right sides lower limb, in like manner, by waist joint and right and left shoulders joint constitute the direction on plane and human body towards relation, just can judge left and right sides upper limbs, realized identification to human limb.

3, the skeleton based on geodetic survey model extracts and orientation judging method, it is characterized in that may further comprise the steps:

(1) extraction of aspect of model point and identification

Aspect of model point is meant the summit that is positioned at head and limb end, and we will be the geodesic distance that starting point is calculated each articulation point with these unique points, realizes the articulation point location.At first appoint and get a bit at model surface, calculate the geodesic distance that this puts other summit of model surface, geodesic distance is got peaked point as first unique point, similarly, be starting point with this unique point again, geodesic distance is got at peaked o'clock as second unique point, when asking third and fourth unique point, will arrive the geodesic distance of the unique point of having tried to achieve and get peaked as Next unique point.When extracting the 5th unique point, increased by one to extract minutiae distance greater than the constraint condition of certain value, to prevent getting a plurality of unique points at same position.With g (x, y) geodesic distance between expression summit x and the y.Specific algorithm is as follows:

(a), initialization

Feature point set F={ φ }

(b), calculate first unique point f ₁

$\∀v^{\′}\∈M$

${\mathrm{<figure-callout\; id="1"\; label="f"\; filenames="612057DEST\_PATH\_HSB00000097169500012.png,HSA00000017214400027.png"\; state="\{\{state\}\}">f</figure-callout>}}_1=\underset{v_i}{\arg \max }\left(g(v^{\&prime;},v_i)\right),$ v _i∈M

F＝FU{f ₁}

(c), calculate second and third, four unique point f ₂, f ₃, f ₄

For?i＝2?to?4

${\mathrm{<figure-callout\; id="1"\; label="f"\; filenames="612057DEST\_PATH\_HSB00000097169500012.png,HSA00000017214400027.png"\; state="\{\{state\}\}">f</figure-callout>}}_1=\underset{v_i}{\arg \max }\left(\underset{j=1}{\overset{i-1}{\mathrm{\&Sigma;}}}g(f_j,v_i)\right),$ v _i∈M， $\&ForAll;f_j\&Element;F$

F＝FU{f _i}

End?for

(d), find the solution the 5th unique point f ₅

g _min＝αg(f ₁，f ₂)

${\mathrm{<figure-callout\; id="5"\; label="f"\; filenames="HSA00000017214400028.png,HSA00000017214400031.png"\; state="\{\{state\}\}">f</figure-callout>}}_5=\underset{v_i}{\arg \max }\left(\underset{j=1}{\overset{4}{\mathrm{\&Sigma;}}}g(f_j,v_i)\right),$ v _i∈ M and g (v _i, f _j)＞g _Min, $\&ForAll;f_j\&Element;F$

F＝FU{f ₅}

According to the distance between each unique point in the geodetic survey model, extrapolate α and get about 0.28, evidence, in (d), add constraint condition after, can prevent to get a plurality of unique points at same position.After trying to achieve five unique points, symmetry by geodetic survey model, can from five unique points, identify the head feature point, again according to a distance in one's hands less than head to the distance of pin, homonymy trick distance less than heteropleural trick distance, can distinguish hand and foot's unique point, and judge whether the trick unique point is positioned at homonymy or heteropleural, but can't be positioned at right-hand man and left and right sides pin by the distinguishing characteristic point.

(2) locate based on the articulation point of human body geodetic survey model

When step (1) extract minutiae, the geodesic distance on each summit of surface model that four unique points are starting point before having obtained, calculating with the 5th unique point again is the geodesic distance of starting point.Then respectively at each unique point, according to geodetic survey model, calculate the part that links to each other with it etc. geodesic line, shown in Fig. 4 (c), head feature point for example, then calculate from the beginning back down begin geodesic distance less than in the 0.661L scope etc. geodesic line.Etc. geodesic calculating, by to the geodesic line intersection edges on the linear interpolation on two summits, obtain waiting the point of geodesic distance, then geodesic distance values such as these have and the dot sequency that is interconnected are connected, obtain waiting the geodesic distance off-line, for the curve of each sealing wherein, calculate its center, the center of adjacent layers is connected, and the line of formation is referred to as center line, shown in Fig. 4 (d).On center line, geodesic distance according to each articulation point that is provided in the geodetic survey model, determine candidate's scope of each articulation point, in candidate's scope, at first according to the characteristics of the angle minimalization of articulation point position, be that the present invention is referred to as the method based on angle, determine the articulation point position, if angle is excessive, getting threshold value according to experiment among the present invention is 150 degree, and then again according near geodesic line length variations such as the articulation point, i.e. the present invention is referred to as based on local girth gradient vector method, determine the articulation point position, realize that skeleton extracts.

(3) human body orientation judging

According to the articulation point position that step (2) is tried to achieve, suppose in two hip joints one for right R,, another is left L, waist joint is 0, calculate perpendicular to waist and hip joint the vector of unit length on definite plane:

$\stackrel{\&RightArrow;}{\mathrm{OP}}=\stackrel{\&RightArrow;}{\mathrm{OR}}\&times;\stackrel{\&RightArrow;}{\mathrm{OL}}/|\stackrel{\&RightArrow;}{\mathrm{OR}}\&times;\stackrel{\&RightArrow;}{\mathrm{OL}}|,$

Calculate again With the angle of six bones from the hip to the knee, from the knee to the ankle, from the ankle to the toe, constituted the proper vector x=(φ of six dimensions ₁, φ ₂, φ ₃, φ ₄, φ ₅, φ ₆), the discriminant function below this proper vector substitution:

$f\left(x\right)=\mathrm{sgn}\{\underset{i=1}{\overset{N}{\mathrm{\&Sigma;}}}{\mathrm{\&alpha;}}_i{y}_{i}k(x_i,x)-b\}$

If f (x)=1, then

Direction be human body towards, the hypothesis of left and right sides hip joint is set up;

If f (x)=-1, then

Direction be human body towards opposite direction, left and right sides hip joint is just in time opposite with the situation of hypothesis.

In case established human body towards with left and right sides hip joint, also just identified left and right sides lower limb, in like manner, by waist joint and right and left shoulders joint constitute the direction on plane and human body towards relation, just can judge left and right sides upper limbs, realized identification to human limb.

Description of drawings

The process flow diagram that Fig. 1 adopts for the present invention;

Fig. 2 a is the illustration that compares between the human body various piece length of Winter, Fig. 2 b human body piecemeal;

Fig. 3 is human body geodetic survey model figure of the present invention, and wherein the geodesic distance between two hands is 1L;

Fig. 4 a is a manikin; Fig. 4 b is a unique point; Geodesic lines such as Fig. 4 c is; Fig. 4 d is a center line; Fig. 4 e joint; Fig. 4 f is a proper vector;

Fig. 5 is the absolute error comparison diagram of the articulation point position of adopting the present invention and determining; Wherein Fig. 5 a is a wrist joint point absolute error; Fig. 5 b is an elbow joint point absolute error; Fig. 5 c is an ankle articulation point absolute error; Fig. 5 d is a knee joint point absolute error;

Fig. 6 is the fundamental function curve map: wherein characteristic pattern 6a and Fig. 6 d be human body towards with the angle of left and right sides thigh, Fig. 6 b and Fig. 6 e be human body towards with the angle of left and right sides shank, Fig. 6 c and Fig. 6 f be human body towards with the angle of left and right sides sole;

Fig. 7 is used part manikin among the present invention: Fig. 7 a is the Dance manikin; Fig. 7 b is the SCAPE manikin;

The sorter of Fig. 8 for going out with Dance and SCAPE model training, when calculating Dance and SCAPE model, the curve map of function g (x), $g\left(x\right)=\underset{i=1}{\overset{N}{\mathrm{\&Sigma;}}}{\mathrm{\&alpha;}}_i{y}_{i}k(x_i,x)-b;$

Fig. 9 is the cross matching test result: Fig. 9 a is the sorter test SCAPE model with the Dance training; Fig. 9 b is the sorter test Dance model with the SCAPE training.

Test findings of the present invention:

Data model of the present invention comprises the Dance manikin of Massachusetts Institute of Technology (MIT), the SCAPE manikin of Stanford University and 20 three parts such as model that oneself scanning is made, wherein Dance and SCAPE are made up of the human body of 201 and 71 different gestures respectively, and Fig. 7 has shown department pattern wherein.All experiments are all at a P43.4GHz, in save as on the PC of 2GB and carry out, programmed environment is Windows Visual C++.net 2005 environment.All manikins that experiment is adopted constitute by triangle gridding, and model dough sheet number is between 14000 to 25000, and number of vertex is between 7000 to 12500.

(1) articulation point location

We choose the wrist joint that is subjected to the attitude variable effect bigger, elbow joint, ankle joint, knee joint as tested object, will geodetic survey model according to the present invention in conjunction with the algorithm of local girth gradient vector and angle, with comparing in the existing algorithm, the relatively relative error of result of calculation based on seemingly round property with based on the girth algorithm.Fig. 4 is each algorithm computation comparison diagram of relative error as a result, wherein Y-axis is for being the relative error of the geodesic distance of starting point from the nearest unique point of this articulation point, therefore, wrist joint, elbow joint are starting point with the hand-characteristic point, ankle joint, knee joint are starting point with foot's unique point, elbow joint, kneed geodesic distance are bigger, so their relative error is less.

From Fig. 5 (a) as can be seen, for wrist joint,, bigger than normal than actual value based on the wrist joint point position that the method like the circle property obtains based on the less stable as a result that the method like circle property and girth obtains, this perhaps with wrist near the structural change complexity, be difficult to simple with judging like justifying property.Based on the method for girth, several model errors in left side are little among the figure, but several model errors on right side are bigger, because these several model wrists have bending by a relatively large margin, cause the position of girth minimum value to be moved toward the elbow joint direction.Result of calculation based on Angle Method is bigger than normal than actual value, relative error is (7%, 23%) in the scope, be scaled absolute error at (1.5cm, 5cm), this is owing to connect the palm portion structure more complicated of wrist joint, is subjected to the attitude variable effect of hand bigger as the center line of articulation point candidate region, and not resemble arm segment so straight at the center of palm portion, influenced the calculating of angle.Method result of calculation based on local girth gradient vector is more stable, and relative error is in (15% ,+15%) scope.

For elbow joint, as Fig. 5 (b), the elbow joint point that obtains based on the method for girth is bigger by about 10% than actual value, this be because: near the elbow joint minimum value of perimeter of section usually above the joint 5cm obtain at the place, thereby cause algorithm systematic error to occur.All in (5%, 5%) scope, and bigger based on Angle Method error on indivedual models, this is because the elbow joint of this model is more straight to the elbow joint relative error that other three kinds of methods calculate, and causes changing not obvious along the center line angle.

Fig. 5 (c), (d) are the comparison diagram of the relative error of ankle articulation point, knee joint point, because the ankle joint all is in case of bending usually, seldom there is the ankle joint to be in its straight state, so adopt relatively goodly based on the method effect of angle, relative error is in (7%, 7%) scope, be scaled absolute error at (2cm, 2cm) in the scope, close based on the effect of local girth gradient vector method with it, on indivedual models 12% relative error has appearred only.Other two kinds of method result of calculations are less than normal than actual value, and relative error is in (0 ,-28%) scope.For knee joint, two kinds of algorithm relative errors of this paper are in (5% ,-5%) scope, and the stability of result of calculation, accuracy all obviously are better than back two kinds of algorithms.

By above-mentioned analysis as can be known, two kinds of methods based on geodetic survey model that this paper proposes obviously are better than in accuracy, aspect stable based on like the circle property with based on the method for girth.

(2) linear separability of proper vector

We lump together all samples of Dance manikin, SCAPE manikin as training sample, and to construct positive negative sample with human body direction and reciprocal angle, be the kernel function training classifier with LINER, RBF respectively, again these samples are tested, the result as shown in Figure 8, the left side is the Dance manikin, the right side is the SCAPE manikin, from the value of discriminant function g (x) as can be seen, the selected proper vector of this paper has good linear separability, and kernel function is that the classification results of RBF slightly is better than LINER.

(3) cross matching of human body orientation judging

With the Dance manikin is training sample, positive negative sample has 402, be the kernel function training classifier with LINER, RBF respectively, produce 27 support vectors with LINER, produce 24 support vectors with RBF, respectively with these two sorter test SCAPE manikins, each 71 of positive negative samples, test result is shown in Fig. 9 (a), with two kinds of kernel functions to all test sample books can both accurately judge human body towards, but when testing, have only pair of sample with the LINER sorter | g (x) | be 0.147, all the other are all greater than 0.7; And when testing with the RBF sorter, | g (x) | minimum value be 0.018, have 20 pairs less than 0.5, therefore, the hard interval of LINER sorter is greater than the RBF sorter.

With the SCAPE manikin is training sample, positive negative sample has 142, be the kernel function training classifier with LINER, RBF respectively also, produce 28 support vectors with LINER, produce 56 support vectors with RBF, respectively with these two sorter test Dance manikins, each 201 of positive negative samples, test result is shown in Fig. 9 (b), the human body that also can both accurately judge all test sample books with two kinds of kernel functions towards, and the classifying quality of two kinds of sorters is very approaching, all samples | g (x) | and all greater than 0.55.

Two kinds of cross-beta situations are compared, be that the effect of training sample is better than with Dance with SCAPE be the effect of training sample, this can find reason from Fig. 7, though the manikin quantity of SCAPE is lacked than Dance, but its attitude amplitude of variation is bigger than Dance, sample has more representativeness, so the sorter better effects if that trains.

Claims (4)

1. extract and orientation judging method based on the skeleton of geodetic survey model, it is characterized in that, constructed the reflection human body towards proper vector and be used for the sorter of orientation judging:

(1) waist joint O, right hip joint R, left hip joint L on the skeleton model calculate

Then

Corresponding direction be called human body towards; Choice direction be bone from the hip joint to the knee joint, from the knee joint to the ankle-joint, from the ankle-joint to the toe and human body towards angle as judging that human body towards geometric properties, constructs sextuple proper vector;

(2) with selected every bone and human body in the step (1) towards the sample data that angle generated of positive dirction as positive sample, with human body towards sample data that reciprocal angle generated as negative sample, by support vector machine, training obtains being used for the sorter of human body orientation judging.

2. the skeleton based on geodetic survey model extracts and orientation judging method, it is characterized in that may further comprise the steps:

(1) according to the physiological structure characteristics of human body, manikin is divided into the vertical and horizontal two large divisions, laterally forms, comprise both sides wrist, elbow, shoulder, ankle, knee, thigh by four limbs; Be head and trunk vertically, comprise head, neck, tail bone portion; As unique point, calculate the geodesic distance of each articulation point with five points being positioned at the crown, middle finger, big toe least significant end, the geodesic distance of longitudinal component is from crown unique point; The geodesic distance of lateral part is from its nearest unique point to be starting point calculating, construct the human body geodetic survey model of " soil " font by the geodesic distance proportionate relationship between articulation point, distal point, described human body geodetic survey model and human body attitude are irrelevant, the reflection partes corporis humani divides the length ratio relation, and have characteristics at the grid model convenience of calculation, utilize the feature of described human body geodetic survey model, carry out human body feature point identification, bone extraction, orientation judging; Utilizing the geodesic distance of model surface, extract five unique points being positioned at the outshot of head and four limbs after, according to the each several part proportionate relationship that the human body geodetic survey model is provided, judge the position that five unique points are affiliated;

(2) be starting point with each unique point, calculate the geodesic distance on each several part summit, calculating waits the center point coordinate of geodesic distance off-line and line, and adjacent center is connected the structure center line, according to the partes corporis humani's branch length that is provided on the geodetic survey model, determine the position of articulation point on center line;

(3) calculate perpendicular to waist and hip joint the vector of unit length on definite plane, go out to be used for towards the proper vector of judging by this vector calculation, proper vector is sent into sorter, according to classification results, judge this vector of unit length be human body towards or human body towards opposite direction.

3. the skeleton based on geodetic survey model according to claim 1 extracts and orientation judging method, and it is characterized in that: described method can be applicable to right-hand man and the left and right sides leg of judging human body simultaneously.

4. the skeleton based on geodetic survey model according to claim 1 extracts and orientation judging method, and it is characterized in that: described method can be used for the coupling between the different attitude models.

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