CN105832342A - Kinematics parameter capturing method based on visible spatial expansion of optical motion capturing system - Google Patents
Kinematics parameter capturing method based on visible spatial expansion of optical motion capturing system Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 34
- 230000005021 gait Effects 0.000 claims abstract description 27
- 238000002372 labelling Methods 0.000 claims description 20
- 238000002360 preparation method Methods 0.000 claims description 4
- 238000010276 construction Methods 0.000 claims description 3
- 238000003384 imaging method Methods 0.000 claims description 3
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- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000000338 in vitro Methods 0.000 abstract description 3
- 238000002474 experimental method Methods 0.000 abstract description 2
- 230000003100 immobilizing effect Effects 0.000 abstract 2
- 238000001727 in vivo Methods 0.000 abstract 2
- 238000005259 measurement Methods 0.000 description 7
- 210000003141 lower extremity Anatomy 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 241001481828 Glyptocephalus cynoglossus Species 0.000 description 1
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- 210000003414 extremity Anatomy 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 230000005764 inhibitory process Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000037023 motor activity Effects 0.000 description 1
- 102000005962 receptors Human genes 0.000 description 1
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- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/112—Gait analysis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1126—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb using a particular sensing technique
- A61B5/1127—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb using a particular sensing technique using markers
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Abstract
The invention discloses a kinematics parameter capturing method based on visible spatial expansion of an optical motion capturing system, and relates to a human body in vivo and in vitro joint kinematics parameter capturing technology, aiming at solving the problem that the least number of cameras of an optical motion capturing system is increased in the case that mark points are sheltered. The method comprises the following steps: arranging a plane reflector in front of cameras, so that the images of sheltered optical mark points are within the view field of the cameras; making a to-be-detected object walk along a gait path, and collecting optical mark point and image point coordinate data on the to-be-detected object; immobilizing the three optical mark points on the front side of a calibration tool, immobilizing a fourth optical mark point on the back side, and then making the calibration tool move along the gait path so as to collect optical mark point and image point coordinate data; and finally, calculating a relation between the image point coordinates and corresponding actual optical mark point coordinates, and reducing the image point coordinates of the to-be-detected object into the actual optical mark point coordinates. The kinematics parameter capturing method is applicable to human body in vivo and in vitro specimen motion experiments.
Description
Technical field
The present invention relates to the human body capturing technology at body Yu in vitro articular kinesiology parameter.
Background technology
Human body is in the motor activity experiment that body is done exercises and human body isolated preparation moves, and motion-captured is that one is widely used
Kinematics parameters acquisition methods.Human body attitude under body exercise testing refers to Human Body Gait Analysis and different daily routines is divided
Analysis, learns such as gait Time And Space Parameters；Described human body isolated preparation exercise testing refers to that the joint such as spinal column, extremity of corpse is in outside
Motion analysis under loading environment.
Motion capture method and device category in the market are various.From the point of view of real-time row, it is divided into real-time motion-captured
System and non real-time motion capture system；From the point of view of the working method of labelling point, it is divided into active and passive type；Former from work
From the point of view of Li, it is divided into electromechanical motion capture system, electromagnetic type motion capture system, acoustics formula motion capture system and optical profile type
The motion capture system of motion capture system four type.
Four types motion-captured in, electromechanical motion capture system needs to be fixed to rigid body or the connecting rod of belt sensor
On human body or specimen, the method low cost, but install and wear inconvenience, and motion is produced bigger inhibition,
Affect the measurement of normal kinematics parameters；Acoustics formula is motion-captured, between the main time by acoustic receiver reception sound wave
Every obtaining kinematics parameters, low cost, unobstructed problem, but the method is by environment (such as noise) impact greatly,
Poor real and precision are low；Electromagnetic type motion capture system, launches electromagnetic field and receptor induced flux by emitter
Obtaining the space coordinates of movement mark position, its low cost, preferably but environmental requirement is high, in measurement space not for real-time
Having allowed metal, and stronger magnetic interference can not have occurred, its certainty of measurement is relatively low, and can not carry out measuring at a high speed.Light
Formula motion capture system, catches optics witch ball or the sky of light emitting diode by high-speed camera head or linear CCD
Between coordinate, thus obtain kinematics parameters, labelling spot size is little and light weight, does not affect motion, and certainty of measurement is high, in real time
Property is good, is now widely used motion capture method, but its equipment price is extremely expensive, if realize multiangular measurement (from
Multiple angles capture movement mark point, thus calculate the kinematics parameters in multiple joint) then need multiple devices to work in coordination with work
(occlusion issue refers to that movement mark point is blocked by other joints or labelling point in motor process to make to solve occlusion issue
Turn to the back side to such an extent as to labelling point can not be captured by optical lens), add minimum photographic head number (minimum photographic head
Number refers to any time optional position in labelling point motor process, and labelling point the most at least can be caught by three photographic head
Arrive, because camera position is fixed and the appearance blocked, need layout to catch from multiple angles more than three photographic head, from
And making up the loss of data of the photographic head that is blocked, minimum photographic head number is for ensureing that labelling point is not blocked required
Minimum photographic head number), cause equipment cost to increase so that optical motion catches systematic difference and is extremely limited.
Summary of the invention
The invention aims to solve optical motion seizure system and cause minimum photographic head number because labelling point is blocked
The problem that mesh increases, it is provided that the kinematics parameters method for catching of a kind of optically-based motion capture system visible space extension.
The kinematics parameters method for catching of optically-based motion capture system visible space of the present invention extension is based on light
Learning what motion capture system, plane mirror and calibration tool realized, described automatic Optic Motion Capture System includes three photographic head,
Described calibration tool is slab construction, and described kinematics parameters method for catching is:
Step one, the optical markings point carried by automatic Optic Motion Capture System are fixed on object to be measured, are put by plane mirror
In three photographic head fronts, and setting gait route, plane mirror is not for observing photographic head in a gait cycle
Optical markings point carry out imaging, and in the range of making the picture point in mirror fall into camera view；
Step 2, startup automatic Optic Motion Capture System, make object to be measured walk along gait route, gather optics on object to be measured
Picture point coordinate data under world coordinate system in labelling point and mirror；
Step 3, three optical markings points being fixed on the front of calibration tool, described three optical markings points are triangle
Three summits, the 4th optical markings point is fixed on the back side of calibration tool, and make calibration tool just facing to shooting
Head, then makes calibration tool move along described gait route, picture in three optical markings points in collection calibration tool front and mirror
Point coordinate data under world coordinate system；
Step 4, the coordinate data utilizing step 3 to obtain obtain between picpointed coordinate and corresponding true optical markings point coordinates
Relation, and according to the relationships the picpointed coordinate in step 2 is reduced to true optical markings point coordinates.
The present invention extends the visible space of automatic Optic Motion Capture System by the reasonable Arrangement of plane mirror, solves optics
Labelling point occlusion issue in motion capture process, decreases minimum photographic head number in automatic Optic Motion Capture System, reduces
Equipment cost；By calibration tool being scanned demarcation, the picpointed coordinate in mirror is reverted to true optical markings point in the world
Coordinate under coordinate system, thus under minimum photographic head, realize multiple angle movement catch, and also ensure that certainty of measurement.Suitable
Do exercises and human body isolated preparation exercise testing at body for human body.
Accompanying drawing explanation
Fig. 1 is that plane mirror is arranged and walking path schematic diagram, wherein, 1 expression photographic head, 2 expression gait paths, 3
Representing plane mirror, A, B, C and D represent four optical markings points；
Fig. 2 is the principle schematic of direct reflection, and wherein 4 represent camera bracket, and three photographic head are each attached to photographic head
On support；
Fig. 3 is the structural representation of calibration tool, and E, F, G and H represent four optical markings points；
Fig. 4 is scanning calibration principle schematic diagram, and wherein 5 is calibration tool.
Detailed description of the invention
Detailed description of the invention one: combine Fig. 1 to Fig. 4 and present embodiment is described, the optically-based motion described in present embodiment
The kinematics parameters method for catching of seizure system visible space extension is optically-based motion capture system, plane mirror and mark
Determining what instrument realized, described automatic Optic Motion Capture System includes three photographic head, and described calibration tool is slab construction, described
Kinematics parameters method for catching is:
Step one, the optical markings point carried by automatic Optic Motion Capture System are fixed on object to be measured, are put by plane mirror
In three photographic head fronts, and setting gait path, plane mirror is not for observing photographic head in a gait cycle
Optical markings point carry out imaging, and in the range of making the picture point in mirror fall into camera view；
Step 2, startup automatic Optic Motion Capture System, make object to be measured walk along gait route, gather optics on object to be measured
Picture point coordinate data under world coordinate system in labelling point and mirror；
Step 3, three optical markings points being fixed on the front of calibration tool, described three optical markings points are triangle
Three summits, the 4th optical markings point is fixed on the back side of calibration tool, and make calibration tool just facing to shooting
Head, then makes calibration tool move along described gait path, picture in three optical markings points in collection calibration tool front and mirror
The coordinate data of point；
Step 4, utilize three optical markings points in calibration tool front to set up rectangular coordinate system, calculate the calibration tool back side
The relative position of optical markings point and the three of calibration tool front optical markings points, the calibration tool that integrating step three collects
The coordinate of three the optical markings points in front, obtains optical markings point truly the sitting under world coordinate system at the calibration tool back side
Mark, the picpointed coordinate of the calibration tool back surface optical labelling point that integrating step three collects, obtain demarcating on gait path work
Each position of tool back surface optical labelling point and the plane equation at the midpoint of corresponding picture point, i.e. minute surface equation；Then according to
Short distance matching principle determines the minute surface equation that in step 2, each picture point is corresponding, reduces this picture point further according to this minute surface equation
True coordinate；Described beeline matching principle is: for each picture point in step 2, find in step 3 with its away from
From nearest picture point, two corresponding same minute surface equations of picture point.
In said method, automatic Optic Motion Capture System refers to that current a few money is applied to motion-captured motion capture system and fortune thereof
Moving and catch a good shot, motion capture system includes Vicon, MotionAnalysis and NDI certus etc., wherein NDIcertus
The coordinate that motion capture system collects is the coordinate under world coordinate system, and described plane mirror is bathroom mirror.
Present embodiment utilizes direct reflection to carry out the visible space of expansion optical motion capture system, and utilizes calibration tool to carry out
Scanning is demarcated.Described direct reflection refers to holding plane mirror in place, and the labelling point being blocked passes through direct reflection,
Within the scope of making the virtual image in mirror occur in camera view, so that the labelling point being blocked is caught by photographic head again
Grasp, as shown in Figure 2.The scanning of labelling point demarcate refer to homemade calibration tool the labelling point that is blocked process
Again scan on path one time, and record true optical markings point and the coordinate of picture point in mirror of each position.Calibration tool
Including four optical markings points, wherein three optical markings points constitute a rigid body, are used for setting up local coordinate system, to calculate
The coordinate under world coordinate system of the 4th optical markings point；4th optical markings point, back to rigid body, passes through direct reflection
It is caught in, then obtains the coordinate of picture point in the mirror of the 4th point.According to the 4th optical markings point under world coordinate system
Coordinate and the coordinate of corresponding picture point, it is possible to calculate scanning and demarcate the same optical markings in optional position in paths traversed
The true point of point and the plane equation of place, the midpoint minute surface of picture point, thus obtain the plane equation of optional position on minute surface, have
Effect avoids the error brought because of minute surface out-of-flatness, it is ensured that the certainty of measurement of automatic Optic Motion Capture System.
Detailed description of the invention two: combine Fig. 1 to Fig. 4 and present embodiment is described, present embodiment uses NDIcertus fortune
Dynamic seizure system, simultaneously captures the optics mark being pasted onto lower limb both sides by the reasonable Arrangement of plane mirror and direct reflection
Note point, thus obtain the kinematic data of both sides.As it is shown in figure 1, respectively paste two optics in the lower limb both sides of object to be measured
Labelling point, wherein A point and B point are located close to the side of photographic head, C point and D point and are located close to the side of plane mirror.
Described NDIcertus motion capture system includes three photographic head, for minimum photographic head number.
The position of plane mirror must assure that at a selected gait cycle apart from interior, picture point formed by plane mirror
(i.e. C point and the picture point of D point) is not blocked by trunk or lower limb, and its method for arranging is as shown in Figure 1.Described plane
Mirror is common bathroom mirror.
Object to be measured moves along the gait path set, and in moving process, NDIcertus motion capture system constantly gathers
A point and the coordinate of B point and C point and the picpointed coordinate of D point.
After object to be measured covers whole gait path, calibration tool is utilized to be scanned demarcating.The concrete grammar that scanning is demarcated is,
At three optical markings points of a surface mount of calibration tool, i.e. E point, F point and G point, and these three optical markings
Put the most on the same line, at the 4th optical markings point of another surface mount of calibration tool, i.e. H point；According to be measured
Calibration tool is moved in the gait path that object is passed by, and make E point, F point and G point towards photographic head, make H point towards
Plane mirror；In moving process, NDIcertus motion capture system constantly gather the coordinate of E point, F point and G point with
And the picpointed coordinate of H point；Utilize E point, F point and G point to set up rectangular coordinate system, calculate H point under this rectangular coordinate system
True coordinate, the data collected in conjunction with NDIcertus motion capture system, calculate any one position on gait path
The true coordinate of upper H point and the plane equation at the place, midpoint of the coordinate of picture point in mirror, obtain minute surface equation storehouse.
Then all picpointed coordinates of the picpointed coordinate of C point on optional position on gait path with H point are compared, from H
All picture points of point select the picture point of a H point closest with the picture point of C point on this position, chosen H point
Picture point with on this position with the picture point of C point corresponding same minute surface equation, utilize this minute surface equation by the picture of C point on this position
Point coordinates is reduced into the true coordinate of C point, after the same method, and reduction C point other positions true on gait path
Coordinate and D point true coordinate of all positions on gait path.
Claims (6)
- The kinematics parameters method for catching of the most optically-based motion capture system visible space extension, it is characterised in that described fortune Dynamic parameter method for catching of learning is that optically-based motion capture system, plane mirror and calibration tool realize, described smooth student movement Dynamic seizure system includes three photographic head, and described calibration tool is slab construction, and described kinematics parameters method for catching is:Step one, the optical markings point carried by automatic Optic Motion Capture System are fixed on object to be measured, are put by plane mirror In three photographic head fronts, and setting gait route, plane mirror is not for observing photographic head in a gait cycle Optical markings point carry out imaging, and in the range of making the picture point in mirror fall into camera view；Step 2, startup automatic Optic Motion Capture System, make object to be measured walk along gait route, gather optics on object to be measured Picture point coordinate data under world coordinate system in labelling point and mirror；Step 3, three optical markings points being fixed on the front of calibration tool, described three optical markings points are triangle Three summits, the 4th optical markings point is fixed on the back side of calibration tool, and make calibration tool just facing to shooting Head, then makes calibration tool move along described gait route, picture in three optical markings points in collection calibration tool front and mirror Point coordinate data under world coordinate system；Step 4, the coordinate data utilizing step 3 to obtain obtain between picpointed coordinate and corresponding true optical markings point coordinates Relation, and according to the relationships the picpointed coordinate in step 2 is reduced to true optical markings point coordinates.
- The kinematics parameters seizure side of optically-based motion capture system visible space the most according to claim 1 extension Method, it is characterised in that the preparation method of relation between picpointed coordinate and corresponding true optical markings point coordinates in step 4 For: calculate the optical markings point at the calibration tool back side and the relative position of the three of calibration tool front optical markings points, in conjunction with Coordinate data under the world coordinate system that step 3 collects, obtains the optical markings point at the calibration tool back side at world coordinate system Under coordinate, and then obtain the midpoint of each position of calibration tool back surface optical labelling point and corresponding picture point on gait route Plane equation, i.e. minute surface equation, described minute surface equation is between picpointed coordinate and corresponding true optical markings point coordinates Relation.
- The kinematics parameters seizure side of optically-based motion capture system visible space the most according to claim 2 extension Method, it is characterised in that in step 4, is reduced to the seat calibration method of true optical markings point by the coordinate of picture point in step 2 For: determine, according to the coordinate data of picture point in step 2, the minute surface equation that each picture point is corresponding, reduce further according to this minute surface equation True optical markings point corresponding to this picture point coordinate under world coordinate system.
- The kinematics parameters method for catching of optically-based motion capture system visible space the most according to claim 3 extension, It is characterized in that, determine, according to beeline matching principle, the minute surface equation that in step 2, each picture point is corresponding, described the shortest Distance matching principle is: for each picture point in step 2, find picture point closest with it in step 3, two pictures The corresponding same minute surface equation of point.
- 5. the kinesiology ginseng extended according to the optically-based motion capture system visible space described in claim 1,2,3 or 4 Number method for catching, it is characterised in that described automatic Optic Motion Capture System uses NDIcertus motion capture system to realize.
- 6. the kinesiology ginseng extended according to the optically-based motion capture system visible space described in claim 1,2,3 or 4 Number method for catching, it is characterised in that described plane mirror is bathroom mirror.
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Cited By (7)
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| CN108830132A (en) * | 2018-04-11 | 2018-11-16 | 深圳市瑞立视多媒体科技有限公司 | A kind of sphere points distributing method and capture ball, system for optical motion capture |
| CN109343546A (en) * | 2018-10-10 | 2019-02-15 | 上海海洋大学 | A kind of submersible six-freedom motion real-time measurement system |
| CN109620142A (en) * | 2018-11-08 | 2019-04-16 | 山东大学 | A kind of cervical vertebrate active degree measuring system and method based on machine vision |
| CN111832456A (en) * | 2020-07-01 | 2020-10-27 | 四川大学 | Optical motion capture experimental system for animals |
| CN113284169A (en) * | 2021-04-20 | 2021-08-20 | 天津市天波科达科技有限公司 | Human body walking mark point analysis method and device and electronic equipment |
| CN113811234A (en) * | 2019-05-06 | 2021-12-17 | 皇家飞利浦有限公司 | Food processing equipment and formula guiding method |
| CN113887280A (en) * | 2021-08-27 | 2022-01-04 | 北京机械设备研究所 | Motion capture test method and position detection method of shielding point in motion capture process |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109620142B (en) * | 2018-11-08 | 2020-08-25 | 山东大学 | Cervical vertebra mobility measuring system and method based on machine vision |
| CN113811234A (en) * | 2019-05-06 | 2021-12-17 | 皇家飞利浦有限公司 | Food processing equipment and formula guiding method |
| CN111832456A (en) * | 2020-07-01 | 2020-10-27 | 四川大学 | Optical motion capture experimental system for animals |
| CN113284169A (en) * | 2021-04-20 | 2021-08-20 | 天津市天波科达科技有限公司 | Human body walking mark point analysis method and device and electronic equipment |
| CN113887280A (en) * | 2021-08-27 | 2022-01-04 | 北京机械设备研究所 | Motion capture test method and position detection method of shielding point in motion capture process |
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