CN105832342B - Kinematics parameters method for catching based on the extension of automatic Optic Motion Capture System visible space - Google Patents
Kinematics parameters method for catching based on the extension of automatic Optic Motion Capture System visible space Download PDFInfo
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- CN105832342B CN105832342B CN201610145067.3A CN201610145067A CN105832342B CN 105832342 B CN105832342 B CN 105832342B CN 201610145067 A CN201610145067 A CN 201610145067A CN 105832342 B CN105832342 B CN 105832342B
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000003287 optical effect Effects 0.000 claims abstract description 66
- 230000005021 gait Effects 0.000 claims abstract description 27
- 238000002360 preparation method Methods 0.000 claims abstract description 5
- 238000010276 construction Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000000338 in vitro Methods 0.000 abstract description 2
- 238000005259 measurement Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 3
- 210000003141 lower extremity Anatomy 0.000 description 3
- 241001481828 Glyptocephalus cynoglossus Species 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- QBWCMBCROVPCKQ-UHFFFAOYSA-N chlorous acid Chemical compound OCl=O QBWCMBCROVPCKQ-UHFFFAOYSA-N 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005672 electromagnetic field Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000037023 motor activity Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
Classifications
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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
- A61B5/112—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
Abstract
Based on automatic Optic Motion Capture System visible space extension kinematics parameters method for catching, be related to human body body and in vitro articular kinesiology parameter capturing technology.Purpose is to cause minimum camera number to increase because mark point is blocked to solve the problems, such as that optical motion captures system.Plane mirror is placed in front of camera by the present invention, and the picture of the optical markings being blocked point is made to fall within the scope of camera view；It enables object to be measured walk along gait path, acquires optics mark point and picpointed coordinate data on object to be measured；Three optical markings points are fixed on calibration tool front, the 4th optical markings point is fixed on the back side, calibration tool is then made to be moved along gait path, acquires optical markings point and picpointed coordinate data；The relationship for finally calculating picpointed coordinate and corresponding true optical markings point coordinates, is reduced to true optical markings point coordinates by the picpointed coordinate of object to be measured, does exercises and human body isolated preparation exercise testing in body suitable for human body.
Description
Technical field
The present invention relates to human body body and in vitro articular kinesiology parameter capturing technology.
Background technology
Human body in body does exercises the motor activity experiment that moves with human body isolated preparation, it is motion-captured be it is a kind of extensively
The kinematics parameters acquisition methods used.Appearance of the human body in the case where body exercise testing refers to Human Body Gait Analysis and different daily routines
State is analyzed, such as gait Time And Space Parameters；The human body isolated preparation exercise testing refers to the joint such as backbone, four limbs of corpse in outside
Motion analysis under loading environment.
Motion capture method and device category currently on the market is various.From the point of view of real-time row, it is divided into real-time movement
Capture system and non real-time motion capture system；From the point of view of the working method of mark point, it is divided into active and passive type；From work
From the point of view of principle, 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 four type of motion capture system.
Four types it is motion-captured in, electromechanical motion capture system needs to consolidate the rigid body of belt sensor or connecting rod
Determine onto human body or sample, the method is at low cost, but installs and wear inconvenience, and makees to the larger obstruction of movement generation
With influencing the measurement of normal kinematics parameters；Acoustics formula is motion-captured, and the time of sound wave is mainly received by acoustic receiver
It is spaced to obtain kinematics parameters, at low cost, unobstructed problem, but this method is influenced greatly by environment (such as noise), it is real
When property is poor and precision is low；Electromagnetic type motion capture system, by transmitter emit electromagnetic field and receiver induced flux come
The space coordinate of movement mark position is obtained, at low cost, preferably still environmental requirement is high for real-time, and measuring does not allow in space
There is metal, and stronger magnetic interference cannot occur, measurement accuracy is relatively low, and cannot carry out high speed measurement.Optical profile type is transported
Dynamic capture system, by high speed camera, either linear CCD captures the space coordinate of optics witch ball or light emitting diode, from
And kinematics parameters are obtained, it marks spot size small and light weight, does not influence to move, high certainty of measurement, real-time is good, is wide at present
The general motion capture method used, but its equipment price is extremely expensive, if realizing, multiangular measurement (is captured from multiple angles
Movement mark point, to calculate the kinematics parameters in multiple joints) then need multiple devices collaborative work that could solve to block
Problem (occlusion issue refer to movement mark point during the motion by other joints block or mark point turn to the back side so that
Cannot be captured by optical lens in mark point), increasing minimum camera number, (minimum camera number refers in mark point
Any time any position in motion process, mark point all can at least be captured by three cameras, because camera position is solid
Appearance that is fixed and blocking needs to arrange that more than three cameras are captured from multiple angles, to make up the camera that is blocked
Loss of data, therefore minimum camera number is to ensure that mark point is not blocked required minimum camera number), lead
Equipment cost is caused to increase so that optical motion captures systematic difference and is extremely limited.
Invention content
The purpose of the present invention is to solve optical motion capture systems to cause at least to image because mark point is blocked
The problem of head number increases, provides a kind of kinematics parameters capture side extended based on automatic Optic Motion Capture System visible space
Method.
Kinematics parameters method for catching of the present invention based on the extension of automatic Optic Motion Capture System visible space is base
It is realized in automatic Optic Motion Capture System, plane mirror and calibration tool, the automatic Optic Motion Capture System is taken the photograph including three
As head, the calibration tool is slab construction, and the kinematics parameters method for catching is：
Step 1: the optical markings point that automatic Optic Motion Capture System carries is fixed on object to be measured, by plane reflection
Mirror is placed in front of three cameras, and sets gait route, and plane mirror is for observing camera in a gait cycle
Less than optical markings point be imaged, and the picture point in mirror is made to fall within the scope of camera view；
Step 2: starting automatic Optic Motion Capture System, enables object to be measured walk along gait route, acquire object glazing to be measured
Learn coordinate data of the picture point under world coordinate system in mark point and mirror；
Step 3: three optical markings points to be fixed on to the front of calibration tool, three optical markings point constitutes three
4th optical markings point is fixed on the back side of calibration tool by three angular vertex, and make calibration tool just facing towards
Then camera makes calibration tool be moved along the gait route, the positive three optical markings point of acquisition calibration tool and mirror
Coordinate data of the middle picture point under world coordinate system；
Step 4: obtaining picpointed coordinate and corresponding true optical markings point coordinates using the coordinate data that step 3 obtains
Between relationship, and the picpointed coordinate in step 2 is reduced to true optical markings point coordinates according to the relationships.
The present invention extends the visible space of automatic Optic Motion Capture System by the reasonable Arrangement of plane mirror, solves
Occlusion issue of the optical markings point in motion capture process reduces minimum camera number in automatic Optic Motion Capture System,
Reduce equipment cost；Existed by the way that the picpointed coordinate in mirror is reverted to true optical markings point to the scanning calibration of calibration tool
Coordinate under world coordinate system to realize that multiple angle movement captures under minimum camera, and also ensures measurement accuracy.
It does exercises and human body isolated preparation exercise testing in body suitable for human body.
Description of the drawings
Fig. 1 is plane mirror arrangement and walking path schematic diagram, wherein 1 expression camera, 2 expression gait paths, and 3
Indicate that plane mirror, A, B, C and D indicate four optical markings points；
Fig. 2 is the principle schematic of mirror-reflection, wherein 4 indicate that camera bracket, three cameras are each attached to camera shooting
On head bracket；
Fig. 3 is the structural schematic diagram of calibration tool, and E, F, G and H indicate four optical markings points；
Fig. 4 is scanning calibration principle schematic diagram, wherein 5 be calibration tool.
Specific implementation mode
Specific implementation mode one：Illustrate present embodiment in conjunction with Fig. 1 to Fig. 4, being transported based on optics described in present embodiment
The kinematics parameters method for catching of dynamic capture system visible space extension be based on automatic Optic Motion Capture System, plane mirror and
What calibration tool was realized, the automatic Optic Motion Capture System includes three cameras, and the calibration tool is slab construction, described
Kinematics parameters method for catching is：
Step 1: the optical markings point that automatic Optic Motion Capture System carries is fixed on object to be measured, by plane reflection
Mirror is placed in front of three cameras, and sets gait path, and plane mirror is for observing camera in a gait cycle
Less than optical markings point be imaged, and the picture point in mirror is made to fall within the scope of camera view；
Step 2: starting automatic Optic Motion Capture System, enables object to be measured walk along gait route, acquire object glazing to be measured
Learn coordinate data of the picture point under world coordinate system in mark point and mirror；
Step 3: three optical markings points to be fixed on to the front of calibration tool, three optical markings point constitutes three
4th optical markings point is fixed on the back side of calibration tool by three angular vertex, and make calibration tool just facing towards
Then camera makes calibration tool be moved along the gait path, the positive three optical markings point of acquisition calibration tool and mirror
The coordinate data of middle picture point；
Step 4: establishing rectangular coordinate system using the positive three optical markings point of calibration tool, the calibration tool back of the body is calculated
The relative position of the optical markings point and the positive three optical markings point of calibration tool in face, in conjunction with the collected calibration of step 3
The coordinate of the three optical markings points in tool front, the optical markings point for obtaining the calibration tool back side are true under world coordinate system
Coordinate, in conjunction with the picpointed coordinate of the collected calibration tool back surface optical mark point of step 3, obtain demarcating work on gait path
Have the plane equation of each position and the midpoint of corresponding picture point of back surface optical mark point, i.e. minute surface equation；Then according to most
Short distance matching principle determines the corresponding minute surface equation of each picture point in step 2, and the picture point is restored further according to the minute surface equation
True coordinate；The shortest distance matching principle is：For each picture point in step 2, find in step 3 with its distance
Nearest picture point, two picture points correspond to the same minute surface equation.
In the above method, automatic Optic Motion Capture System refer to current several moneys be applied to motion-captured motion capture system and
Its motion-captured camera lens, motion capture system include Vicon, MotionAnalysis and NDI certus etc., wherein
The collected coordinate of NDIcertus motion capture systems is the coordinate under world coordinate system, and the plane mirror is bath
Room mirror.
Present embodiment using mirror-reflection come the visible space of expansion optical motion capture system, and utilize calibration tool
It is scanned calibration.The mirror-reflection refers to that holding plane mirror, the mark point being blocked are anti-by minute surface in place
It penetrates so that within the scope of the virtual image in mirror appears in camera view, so that the mark point being blocked is imaged again
Head captures, as shown in Figure 2.The scanning calibration of mark point refers to being passed through in the mark point being blocked with homemade calibration tool
Path on scan again one time, and record the coordinate of the true optical markings point of each position and picture point in mirror.Demarcate work
Tool includes four optical markings points, wherein three optical markings points constitute a rigid body, for establishing local coordinate system, to calculate
The coordinate under world coordinate system of 4th optical markings point；4th optical markings point passes through mirror-reflection back to rigid body
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 corresponding picture point coordinate, can calculate scanning calibration paths traversed on the same optical markings in any position
The plane equation of the true point and minute surface where the midpoint of picture point of point has to obtain the plane equation of any position on minute surface
Effect avoids the error brought by minute surface out-of-flatness, ensure that the measurement accuracy of automatic Optic Motion Capture System.
Specific implementation mode two：Illustrate that present embodiment, present embodiment are moved using NDIcertus in conjunction with Fig. 1 to Fig. 4
Capture system captures the optical markings for being pasted onto lower limb both sides by the reasonable Arrangement and mirror-reflection of plane mirror simultaneously
Point, to obtain the kinematic data of both sides.As shown in Figure 1, respectively pasting two optical markings in the lower limb both sides of object to be measured
Point, wherein A point and B points are located at close to the side of camera, and C points and D points are located at close to the side of plane mirror.Described
NDIcertus motion capture systems include three cameras, are minimum camera number.
The position of plane mirror must assure that in selected gait cycle distance, plane mirror imaging
Point (i.e. the picture point of C points and D points) is not blocked by trunk or lower limb, and method for arranging is as shown in Figure 1.The plane mirror is
Common bathroom mirror.
Object to be measured is moved along the gait path set, and in moving process, NDIcertus motion capture systems are constantly adopted
Collect A points and the coordinate of B points and the picpointed coordinate of C points and D points.
After object to be measured covers entire gait path, calibration is scanned using calibration tool.Scan the specific side of calibration
Method is, in three optical markings points of a surface mount of calibration tool, i.e. E points, F points and G points, and these three optical markings
Point not on the same line, in the 4th optical markings point of another surface mount of calibration tool, i.e. H points；According to be measured right
As the gait path movement calibration tool passed by, and make E points, F points and G points towards camera, makes H points towards plane reflection
Mirror；In moving process, the picture point that NDIcertus motion capture systems constantly acquire E points, the coordinate of F points and G points and H points is sat
Mark；Rectangular coordinate system is established using E points, F points and G points, calculates the true coordinate of H points under the rectangular coordinate system, in conjunction with
The collected data of NDIcertus motion capture systems institute, calculate the true coordinate of H points on any one position on gait path
With the plane equation where the midpoint of the coordinate of picture point in mirror, minute surface equation library is obtained.
Then by the picpointed coordinate of C points is compared with all picpointed coordinates of H points on any position on gait path, from
The picture point of a selection H point nearest with the picture point distance of C points in this position, the picture of chosen H points in all picture points of H points
Point and the corresponding same minute surface equation with the picture point of C points in this position are sat the picture point of the points of C in this position using the minute surface equation
Mark is reduced into the true coordinates of C points, after the same method, restore the true coordinate of C points other positions on gait path with
And the true coordinate of D points all positions on gait path.
Claims (6)
1. the kinematics parameters method for catching based on the extension of automatic Optic Motion Capture System visible space, which is characterized in that the fortune
Dynamic parameter method for catching of learning is realized based on automatic Optic Motion Capture System, plane mirror and calibration tool, the optics fortune
Dynamic capture system includes three cameras, and the calibration tool is slab construction, and the kinematics parameters method for catching is：
Step 1: the optical markings point that automatic Optic Motion Capture System carries is fixed on object to be measured, plane mirror is set
In front of three cameras, and gait route is set, plane mirror is not for observing camera in a gait cycle
Optical markings point be imaged, and the picture point in mirror is made to fall within the scope of camera view；
Step 2: starting automatic Optic Motion Capture System, enables object to be measured walk along gait route, acquire optics mark on object to be measured
Coordinate data of the picture point under world coordinate system in note point and mirror；
Step 3: three optical markings points to be fixed on to the front of calibration tool, three optical markings point is triangle
Three vertex, the 4th optical markings point is fixed on the back side of calibration tool, and make calibration tool just facing towards camera shooting
Then head makes calibration tool be moved along the gait route, picture in the positive three optical markings point of acquisition calibration tool and mirror
Coordinate data of the point under world coordinate system；
Step 4: being obtained between picpointed coordinate and corresponding true optical markings point coordinates using the coordinate data that step 3 obtains
Relationship, and the picpointed coordinate in step 2 is reduced to true optical markings point coordinates according to the relationships.
2. the kinematics parameters capture side according to claim 1 based on the extension of automatic Optic Motion Capture System visible space
Method, which is characterized in that the preparation method of the relationship in step 4 between picpointed coordinate and corresponding true optical markings point coordinates
For：The relative position for calculating the optical markings point and the positive three optical markings point of calibration tool at the calibration tool back side, in conjunction with
Coordinate data under the collected world coordinate system of step 3 obtains the optical markings point at the calibration tool back side in world coordinate system
Under coordinate, and then obtain the midpoint of each position and corresponding picture point of calibration tool back surface optical mark point on gait route
Plane equation, i.e., minute surface equation, the minute surface equation are between picpointed coordinate and corresponding true optical markings point coordinates
Relationship.
3. the kinematics parameters capture side according to claim 2 based on the extension of automatic Optic Motion Capture System visible space
Method, which is characterized in that in step 4, the coordinate of picture point in step 2 is reduced to the seat calibration method of true optical markings point
For：The corresponding minute surface equation of each picture point is determined according to the coordinate data of picture point in step 2, is restored further according to the minute surface equation
Coordinate of the corresponding true optical markings point of the picture point under world coordinate system.
4. the kinematics parameters capture side according to claim 3 based on the extension of automatic Optic Motion Capture System visible space
Method, which is characterized in that determine the corresponding minute surface equation of each picture point in step 2 according to shortest distance matching principle, it is described most
Short distance matching principle is：For each picture point in step 2, find in step 3 with it apart from nearest picture point, two pictures
The corresponding same minute surface equation of point.
5. the kinematics parameters according to claim 1,2,3 or 4 based on the extension of automatic Optic Motion Capture System visible space
Method for catching, which is characterized in that the automatic Optic Motion Capture System is realized using NDIcertus motion capture systems.
6. the kinematics parameters according to claim 1,2,3 or 4 based on the extension of automatic Optic Motion Capture System visible space
Method for catching, which is characterized in that the plane mirror is bathroom mirror.
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| CN108830132B (en) * | 2018-04-11 | 2022-01-11 | 深圳市瑞立视多媒体科技有限公司 | Sphere point distribution method for optical motion capture, capture sphere and system |
| 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 |
| CN109620142B (en) * | 2018-11-08 | 2020-08-25 | 山东大学 | Cervical vertebra mobility measuring system and method based on machine vision |
| EP3735880A1 (en) * | 2019-05-06 | 2020-11-11 | Koninklijke Philips N.V. | Food processing device and recipe guidance methods |
| CN111832456A (en) * | 2020-07-01 | 2020-10-27 | 四川大学 | Optical motion capture experimental system for animals |
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