CN101859439A - Movement tracking device for man-machine interaction and tracking method thereof - Google Patents
Movement tracking device for man-machine interaction and tracking method thereof Download PDFInfo
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Abstract
The invention relates to a movement tracking device for man-machine interaction and a tracking method thereof. The invention comprises a movement tracking device and a target information processing device. The tracking method comprises the following steps of: (1) binding a micro inertial measurement unit and a specified-wavelength light source with a tested target; (2) transmitting target movement parameters to a target information processing system by the movement tracking device; (3) processing the acquired target movement information by the target information processing system; and (4) outputting accurate target movement information to a man-machine interaction interface through a target space coordinate and a movement posture information output interface. The invention provides the device and the tracking method thereof which can be applied to man-machine interaction, virtual reality, and enhancement of a real system and can effectively expand the movement tracking range.
Description
Technical field
The present invention relates to a kind of motion tracking device and method for tracing thereof that is applied in man-machine interaction, virtual reality and augmented reality field.
Background technology:
The fundamental purpose of motion tracking technology is the position and the motion change of real-time tracing and feedback target, obtains corresponding motion characteristic data such as position, i.e. Three-dimension Target space orientation and kinematic parameter thereof obtain.The method of motion tracking is divided into according to the difference of sensing element: inertia tracking, optical tracking, power and mechanical type are followed the trail of, electromagnetic type is followed the trail of, acoustics is followed the trail of or the like.At present, be inertia tracer technique and optical tracking technology in field of human-computer interaction motion tracking technology relatively more commonly used.The inertia tracer technique by Inertial Measurement Unit is set, measures data such as acceleration, angular velocity on target, use mathematical tool to resolve based on this, obtains the motion conditions of target.The characteristics that inertia is followed the trail of are to realize simply strong interference immunity; Shortcoming is to obtain the motion feature of tracked target all sidedly, can only finite sum reflects the movement characteristic of tracked target partly.The optical tracking technology is by the task that motion tracking is finished in the supervision and the tracking of specific luminous point on the target.In theory, for any one point in space, as long as it can then according to the same image and the camera parameters of two shot by camera in a flash, promptly can determine this locus of this point constantly simultaneously by two video camera findings.When video camera is taken continuously with sufficiently high speed, from image sequence, just can obtain the movement locus of this point.What wherein treatment of picture adopted is the three-dimensional image reconstruction technique, promptly by the camera record image, forms dummy object by digitized processing, demarcates by three dimensions then, determines the locus of object.The characteristics of optical tracking technology are the motion conditions that can reflect object all sidedly, the precision height; Shortcoming is to realize comparatively difficulty, and the scope of following the trail of is less.
Summary of the invention:
The invention provides a kind of application that can be implemented in man-machine interaction, virtual reality and the augmented reality system, and can effectively enlarge the device and the method for tracing thereof of motion tracking scope.
The present invention is achieved by the following technical solutions:
A kind of motion tracking device that is used for man-machine interaction includes motion tracking device and target information treating apparatus, and described motion tracking device includes micro inertial measurement unit, a specific wavelength light source and one group of video acquisition device; Described target information treating apparatus includes the inertial parameter extraction unit, movable information resolves unit, image characteristics extraction unit, three-dimensional fix unit and multi-sensor data integrated unit;
The signal output part of described micro inertial measurement unit is connected with described inertial parameter extraction unit signal input part;
The VT of described video acquisition device is connected with described image characteristics extraction cell signal input end;
The light signal of described specific wavelength light source is imported described video acquisition device;
The signal output part of described inertial parameter extraction unit resolves the cell signal input end with movable information and is connected;
The signal output part of described image characteristics extraction unit is connected with three-dimensional fix cell signal input end;
The signal output part that described movable information resolves unit and three-dimensional fix unit all is connected with multi-sensor data integrated unit signal input part;
Described multi-sensor data integrated unit signal output part is connected with the outer signal interface.
A kind of motion tracking device that is used for man-machine interaction, the signal output part of described micro inertial measurement unit and described inertial parameter extraction unit signal input part are by the wireless transmitter wireless connections.
A kind of motion tracking device that is used for man-machine interaction, described video acquisition device is a video camera.
A kind of motion tracking device that is used for man-machine interaction, described specific wavelength light source is for sending monochromatic light source.
A kind of motion tracking device that is used for man-machine interaction, described micro inertial measurement unit is used to measure the inertial parameter of bound targets.
A kind of motion tracking device that is used for man-machine interaction, described light source comprises at least one characteristic composition.
A kind of motion tracking device method for tracing that is used for man-machine interaction may further comprise the steps:
(1) with described micro inertial measurement unit and specific wavelength light source and measured target binding;
(2) the motion tracking device is sent to the target information disposal system with the parameters of target motion;
(3) the mark information handling system is handled the target travel information that obtains;
(4) export accurate target travel information to human-computer interaction interface by object space coordinate, athletic posture information output interface.
A kind of motion tracking device method for tracing that is used for man-machine interaction, described step (2) comprises that micro inertial measurement unit records the inertial parameter of target travel, uses wireless launcher will record the inertial parameter extraction unit that parameter is sent to described target information disposal system in real time; Step (2) also comprises the characteristic composition on the described specific wavelength light source of video capture device collection simultaneously and measured target binding, and the characteristic composition of collection is sent to the image characteristics extraction unit.
A kind of motion tracking device method for tracing that is used for man-machine interaction, described step (3) comprise and resolve the unit by movable information to resolve the inertial parameter that extracts from the inertial parameter extraction unit be the linear differential equation of parameter; Micro inertial measurement unit can measure the data of 6DOF at least; It can be parameter with the data that obtain from the inertial parameter extraction unit that movable information resolves the unit, resolves linear differential equation; The three-dimensional fix unit is handled pretreated image, obtains the picture position of characteristic composition; Two video capture devices are arranged on the display device, and the characteristic composition image that is obtained according to described image characteristics extraction unit by the three-dimensional fix unit is by using the three dimensional space coordinate of stereoscopic vision algorithm computation characteristic composition; The movement locus of processing feature composition is a characteristic composition three dimensional space coordinate point sequence; Described movable information is resolved the unit to the multi-sensor data integrated unit and the three-dimensional fix unit resolves the target travel information fusion that obtains, and output.
A kind of motion tracking device and method for tracing that is used for man-machine interaction provided by the present invention, owing to adopted Redundancy Design, inertia is followed the trail of and the compound use of optical tracking, measured target is carried out motion tracking, by the target information disposal system, with the physical location precise quantification of tracked target, it can be used in man-machine interaction environment, its realization is simple and convenient, follows the trail of the precision height, processing ease.
Description of drawings
Accompanying drawing is the apparatus structure schematic block diagram.
Embodiment
Shown in accompanying drawing.
The present invention includes motion tracking device and target information treating apparatus 4, the motion tracking device includes micro inertial measurement unit 5, a specific wavelength light source 1 and one group of video acquisition device 2,3; Target information treating apparatus 4 includes inertial parameter extraction unit 41, movable information resolves unit 42, image characteristics extraction unit 43, three-dimensional fix unit 44 and multi-sensor data integrated unit 45; The signal output part of micro inertial measurement unit 5 is connected with described inertial parameter extraction unit 41 signal input parts; The signal output part of micro inertial measurement unit 5 and inertial parameter extraction unit 41 signal input parts are by the wireless transmitter wireless connections.The VT of video acquisition device 2,3 is connected with image characteristics extraction unit 43 signal input parts; The light signal input video harvester 2,3 of specific wavelength light source 1; The signal output part of inertial parameter extraction unit 41 resolves unit 42 signal input parts with movable information and is connected; The signal output part of image characteristics extraction unit 43 is connected with three-dimensional fix unit 44 signal input parts; The signal output part that movable information resolves unit 42 and three-dimensional fix unit 44 all is connected with multi-sensor data integrated unit 45 signal input parts; Multi-sensor data integrated unit 45 signal output parts are connected with outer signal interface 6.Video acquisition device 2,3 is a video camera.Specific wavelength light source 1 is for sending monochromatic light source.Micro inertial measurement unit 5 is used to measure the inertial parameter of bound targets.Light source comprises at least one characteristic composition.Be used for the motion tracking device method for tracing of man-machine interaction, may further comprise the steps:
Target is in the positive motion of described display device, will measure the information sequence of one group of 6DOF with the described micro inertial measurement unit 5 of target bind, is sent to described target information disposal system 4 by wireless transport module; Video capture device 2,3 is caught a stack features image sequence of described specific wavelength light source 1 simultaneously, and it is sent to described target information disposal system 4; The accurate movable information that 4 pairs of data that obtain of target information disposal system are resolved, data fusion obtains target, and be sent to corresponding data-interface 6, by corresponding coordinate transform, it is mapped to virtual three-dimensional space, export display device to by graphic system, obtain image output, realize man-machine interaction.
Apparatus structure is described with embodiment 1.It realizes that method for tracing is:
(1) with described micro inertial measurement unit 5 and specific wavelength light source 1 and measured target binding;
(2) the motion tracking device is sent to target information disposal system 4 with the parameters of target motion;
Micro inertial measurement unit 5 records the inertial parameter of target travel, uses wireless launcher will record the inertial parameter extraction unit 41 that parameter is sent to described target information disposal system 4 in real time; Simultaneously video capture device 2,3 is gathered the characteristic composition on the described specific wavelength light source 1 with the measured target binding, and the characteristic composition of gathering is sent to image characteristics extraction unit 43.
(3) the target travel information of 4 pairs of acquisitions of target information disposal system is handled;
Comprise and resolve unit 42 by movable information to resolve the inertial parameter that extracts from inertial parameter extraction unit 41 be the linear differential equation of parameter; Micro inertial measurement unit 5 can measure the data of 6DOF at least; It can be parameter with the data that obtain from inertial parameter extraction unit 41 that movable information resolves unit 42, resolves linear differential equation; The 44 pairs of pretreated images in three-dimensional fix unit are handled, and obtain the picture position of characteristic composition; Two video capture devices 2,3 are arranged on the display device, and the characteristic composition image that is obtained according to described image characteristics extraction unit 43 by three-dimensional fix unit 44 is by using the three dimensional space coordinate of stereoscopic vision algorithm computation characteristic composition; The movement locus of processing feature composition is a characteristic composition three dimensional space coordinate point sequence; Described movable information is resolved unit 42 to multi-sensor data integrated unit 45 and three-dimensional fix unit 44 resolves the target travel information fusion that obtains, and output.
(4) export accurate target travel information to human-computer interaction interface by object space coordinate, athletic posture information output interface 6.
Claims (9)
1. a motion tracking device that is used for man-machine interaction includes motion tracking device and target information treating apparatus, it is characterized in that described motion tracking device includes micro inertial measurement unit, a specific wavelength light source and one group of video acquisition device; Described target information treating apparatus includes the inertial parameter extraction unit, movable information resolves unit, image characteristics extraction unit, three-dimensional fix unit and multi-sensor data integrated unit;
The signal output part of described micro inertial measurement unit is connected with described inertial parameter extraction unit signal input part;
The VT of described video acquisition device is connected with described image characteristics extraction cell signal input end;
The light signal of described specific wavelength light source is imported described video acquisition device;
The signal output part of described inertial parameter extraction unit resolves the cell signal input end with movable information and is connected;
The signal output part of described image characteristics extraction unit is connected with three-dimensional fix cell signal input end;
The signal output part that described movable information resolves unit and three-dimensional fix unit all is connected with multi-sensor data integrated unit signal input part;
Described multi-sensor data integrated unit signal output part is connected with the outer signal interface.
2. a kind of motion tracking device that is used for man-machine interaction according to claim 1 is characterized in that the signal output part of described micro inertial measurement unit and described inertial parameter extraction unit signal input part pass through the wireless transmitter wireless connections.
3. a kind of motion tracking device that is used for man-machine interaction according to claim 1 is characterized in that described video acquisition device is a video camera.
4. a kind of motion tracking device that is used for man-machine interaction according to claim 1 is characterized in that described specific wavelength light source is for sending monochromatic light source.
5. a kind of motion tracking device that is used for man-machine interaction according to claim 1 is characterized in that described micro inertial measurement unit is used to measure the inertial parameter of bound targets.
6. according to claim 1 or 4 described a kind of motion tracking devices that are used for man-machine interaction, it is characterized in that described light source comprises at least one characteristic composition.
7. motion tracking device method for tracing that is used for man-machine interaction may further comprise the steps:
(1) with described micro inertial measurement unit and specific wavelength light source and measured target binding;
(2) the motion tracking device is sent to the target information disposal system with the parameters of target motion;
(3) the mark information handling system is handled the target travel information that obtains;
(4) export accurate target travel information to human-computer interaction interface by object space coordinate, athletic posture information output interface.
8. a kind of motion tracking device method for tracing that is used for man-machine interaction according to claim 7, it is characterized in that step (2) comprises that micro inertial measurement unit records the inertial parameter of target travel, use wireless launcher will record the inertial parameter extraction unit that parameter is sent to described target information disposal system in real time; Step (2) also comprises the characteristic composition on the described specific wavelength light source of video capture device collection simultaneously and measured target binding, and the characteristic composition of collection is sent to the image characteristics extraction unit.
9. a kind of motion tracking device method for tracing that is used for man-machine interaction according to claim 7 is characterized in that described step (3) comprises to resolve the unit by movable information to resolve the inertial parameter that extracts from the inertial parameter extraction unit be the linear differential equation of parameter; Micro inertial measurement unit can measure the data of 6DOF at least; It can be parameter with the data that obtain from the inertial parameter extraction unit that movable information resolves the unit, resolves linear differential equation; The three-dimensional fix unit is handled pretreated image, obtains the picture position of characteristic composition; Two video capture devices are arranged on the display device, and the characteristic composition image that is obtained according to described image characteristics extraction unit by the three-dimensional fix unit is by using the three dimensional space coordinate of stereoscopic vision algorithm computation characteristic composition; The movement locus of processing feature composition is a characteristic composition three dimensional space coordinate point sequence; Described movable information is resolved the unit to the multi-sensor data integrated unit and the three-dimensional fix unit resolves the target travel information fusion that obtains, and output.
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