CN109528208A - A kind of optics mixes motion capture system with inertia - Google Patents
A kind of optics mixes motion capture system with inertia Download PDFInfo
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- CN109528208A CN109528208A CN201811326589.9A CN201811326589A CN109528208A CN 109528208 A CN109528208 A CN 109528208A CN 201811326589 A CN201811326589 A CN 201811326589A CN 109528208 A CN109528208 A CN 109528208A
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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
- A61B5/1121—Determining geometric values, e.g. centre of rotation or angular range of movement
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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
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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
- A61B5/1128—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 image analysis
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Abstract
This application involves a kind of optics to mix motion capture system with inertia, it include: inertial data receiver, multiple motion capture cameras, multiple optical inertial mixing acquisition modules and multiple inertia acquisition modules, wherein, each optical inertial mixing acquisition module includes: inertia acquisition mould group and at least one optical markings point, and optical markings point is mutually fixed with inertia acquisition mould group, it includes: inertial sensor and inertial data transmitter that inertia, which acquires mould group,；Each inertia acquisition module includes: inertial sensor and inertial data transmitter；Inertial data receiver wirelessly receives the inertial data of inertial data transmitter transmission, the optical data of the optical markings point in each each optical inertial mixing acquisition module of motion capture camera detection.Each optical inertial mixing acquisition module can acquire the inertial data and optical data at same position simultaneously, avoid the lower problem of accuracy as caused by single inertial data or optical data.
Description
Technical field
This application involves motion capture fields more particularly to a kind of optics to mix motion capture system with inertia.
Background technique
With computer hardware technique rapid development and cartoon making require raising, currently, it is motion-captured
Practical stage is entered, there are multiple commercial vendors to have launched the motion capture device of a variety of commercializations, is successfully used to virtual
Many aspects such as reality, game, ergonomics research, simulated training, biomechanics Research.
Motion capture is the key position setting tracker in moving object, then captures tracker by motion capture system
Real time position, using the data for the three dimensional space coordinate for obtaining tracker after computer disposal.
Existing common motion capture system has optics motion capture system and inertia action to capture system, applies for human hair
Existing, optics motion capture system will appear once optical markings point is blocked in practical applications dependent on optical markings point
Loss of data；And inertia action captures system and depends on inertial sensor, and although can capture continuous data, inertial sensor
Precision can be gradually reduced as time goes by, and be easy to be influenced by external environment magnetic field, for a long time using there is error
And offset, influence the accuracy of motion capture.
Summary of the invention
In order to solve the above-mentioned technical problem or it at least is partially solved above-mentioned technical problem, this application provides a kind of light
It learns and mixes motion capture system with inertia.
The embodiment of the present application provides a kind of optics and mixes motion capture system with inertia, comprising: inertial data receiver,
Multiple motion capture cameras, multiple optical inertial mixing acquisition modules and multiple inertia acquisition modules, wherein
Each optical inertial mixing acquisition module includes: that an inertia acquires mould group and at least one optical markings point,
And optical markings point is mutually fixed with the inertia acquisition module, each inertia acquisition mould group includes: inertial sensor and is used to
Property data source；Each inertia acquisition module includes: inertial sensor and inertial data transmitter；
The inertial data receiver and each motion capture camera are arranged in default scene, the inertia
Data sink wirelessly receives the inertial data that the inertial data transmitter is sent, and each motion capture is taken the photograph
The optical data of the optical markings point in each optical inertial mixing acquisition module is detected as head.
Optionally, the system also includes fusion treatment devices；
The fusion treatment device is connected with inertial data receiver and each motion capture camera respectively, described in reception
Inertial data that inertial data receiver is sent and receive each motion capture camera detection to optical data.
Optionally, the optical markings point is witch ball.
Optionally, the optical inertial mixing acquisition module includes a witch ball；
The optical inertial mixing acquisition module includes: pedestal；
The inertia acquisition mould group is mutually fixed with the pedestal, or, inertia acquisition mould group is located in the pedestal；
The witch ball is fixed on the outer surface of the pedestal.
Optionally, with the optical inertial mixing acquisition module of a witch ball, comprising:
For the head optical inertial mixing acquisition module on the head of tested human body to be arranged in, and/or, for setting in quilt
The back optical inertial mixing acquisition module at the back of human body is surveyed, and/or, the waist light of the waist for tested human body to be arranged in
Learn inertia mixing acquisition module.
Optionally, the optical markings point in the optical inertial mixing acquisition module is at least three witch balls,
At least three witch ball is in spatial distribution, and the space layout of at least three witch balls is asymmetric.
Optionally, the optical inertial mixing acquisition module includes: pedestal and multiple reflective ball stands, wherein
The inertia acquisition mould group is mutually fixed with the pedestal, or, inertia acquisition mould group is located in the pedestal；
The quantity of the reflective ball stand and the quantity of the witch ball correspond；
One end of each reflective ball stand is mutually fixed with the base outer surface, and the other end is mutually solid with the witch ball
It is fixed, so that the witch ball is located at the chassis outer side.
Optionally, the quantity of the optical inertial mixing acquisition module at least three witch balls is one；It is described to have
The waist or chest of tested human body is arranged in the optical inertial mixing acquisition module of at least three witch balls；
Alternatively, the quantity of the optical inertial mixing acquisition module at least three witch balls is two, described two light
The space layout for learning the respective witch ball of inertia mixing acquisition module is not identical；Wherein, the light at least three witch balls
The waist that tested human body is arranged in inertia mixing acquisition module is learned, there is the optical inertial of at least three witch balls to mix for another
The chest of tested human body is arranged in acquisition module.
Optionally, the method also includes:
For the hand of tested human body to be arranged in and there is the hand optical inertial mixing acquisition module of a witch ball,
And/or the foot of human body is tested and with foot's optical inertial mixing acquisition module of a witch ball for being arranged in.
Optionally, the optical inertial mixing acquisition module further include: fixing belt；
The inertial sensor and each optical markings point are each attached in the fixing belt.
Above-mentioned technical proposal provided by the embodiments of the present application has the advantages that compared with prior art
The optics provided by the embodiments of the present application mixes in motion capture system with inertia, each optical inertial mixing acquisition
Module includes inertia acquisition mould group and optical markings point, when the optical inertial mixing acquisition module is fixed on one of human body
When position, the inertial data and optical data at the position can be acquired simultaneously, so it is subsequent carry out movement reduction when, using used
Property data and optical data match the accurate location that can determine the position, avoid due to single inertial data or optics number
According to the lower problem of caused accuracy.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows and meets implementation of the invention
Example, and be used to explain the principle of the present invention together with specification.
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, for those of ordinary skill in the art
Speech, without any creative labor, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the usage scenario signal that a kind of optics provided by the embodiments of the present application mixes motion capture system with inertia
Figure；
A kind of structural schematic diagram for optical inertial mixing acquisition module that Fig. 2 provides for the embodiment of the present application；
The structural schematic diagram for another optical inertial mixing acquisition module that Fig. 3 provides for the embodiment of the present application；
Fig. 4 is the stereoscopic schematic diagram of Fig. 3；
Fig. 5 is that a kind of human body provided by the embodiments of the present application dresses schematic diagram；
Fig. 6 is that another human body provided by the embodiments of the present application dresses schematic diagram.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the application, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, shall fall in the protection scope of this application.
Fig. 1 is the usage scenario signal that a kind of optics provided by the embodiments of the present application mixes motion capture system with inertia
Figure.
In Fig. 1, being tested human body is 100, as shown in Figure 1, the system may include: inertial data receiver 500, Duo Gedong
Make to capture camera 600, multiple optical inertial mixing acquisition modules 200 and multiple inertia acquisition modules 300.
Optical inertial mixing acquisition module 200 is bundled in the different location on tested human body 100, as shown in Figure 1, optics is used
Property mixing acquisition module 200 one or more in the chest in tested human body 100, waist, back and head can be set, separately
Outside, the end of limbs can also be arranged in optical inertial mixing acquisition module 200, such as: hand, foot and shoulder etc..Inertia
Acquisition module 300 is generally arranged on the limbs of tested human body, such as: the positions such as upper arm, lower arm, thigh and shank, in this Shen
Please be in embodiment, each inertia acquisition module 300 is independently installed wearing and work.
Inertial data receiver 500 is wirelessly communicated with optical inertial mixing acquisition module 200, and light is received
The collected inertial data of inertia mixing acquisition module 200 is learned, in the embodiment of the present application, inertial data receiver can be can
Think the transponder hub of multiport.Motion capture camera 600 is used to acquire the optics of optical inertial mixing acquisition module 200
Data.
Each optical inertial mixing acquisition module 200 includes: inertia acquisition mould group and at least one optical markings point.?
In the embodiment of the present application, optical markings point can be witch ball, and a in other embodiments, optical markings point can also be luminous
Ball etc..Optical markings point is tested to obtain for being tracked using position and posture of the optical signalling to tested human body
The optical data of human body.In the embodiment of the present application, the inertia in optical inertial mixing acquisition module acquires mould group and individually sets
300 structure of inertia acquisition module, the function set can be identical, and it is that the inertia acquisition modules of 300 labels is that difference, which is only that,
It is independently arranged, and there is mounting structure, such as may include: fixing belt etc., inertia acquisition module can be direct by fixing belt
It is fixed on human body, and the inertia acquisition mould group in optical inertial mixing acquisition module is mounted on light as a component part
It learns inside inertia mixing acquisition module, and be with the relationship in optical inertial mixing acquisition module between optical markings point is phase
Binding.
Inertia either in optical inertial mixing acquisition module acquires mould group, the inertia acquisition module being still separately provided
300, inside include: inertial sensor and inertial data transmitter.When inertial sensor is used for according to human motion is tested
Inertial data is acquired, such as: acceleration, angular speed etc..Inertial data transmitter is connected with the output end of the inertial sensor
It connects, for wirelessly sending the collected inertial data of inertial sensor, to inertial data
Reason.
Optical markings point is mutually fixed with inertia acquisition mould group.In the embodiment of the present application, optical markings point and inertia
Acquisition mould group is fixed together, be in order to and meanwhile acquire the optical data and inertial data at the same position of tested human body, for rear
For the processing equipment of platform, it is only necessary to the mark of the mark of optical markings point and inertial sensor is bound, it can be to two
The data of person are bound.
In Fig. 1, the scene where being tested human body has certain area, and tested human body can move in the scene.?
In the embodiment of the present application, inertial data receiver and each motion capture camera are arranged in default scene, and
The inertial data receiver wirelessly receives the inertial data that the inertial data transmitter is sent, in concrete application
In, inertial data transmitter sends wireless signal by the wireless signal of setpoint frequency, and inertial data receiver receives wireless communication
Number and extract its carrying inertial data.
The light of optical markings point in each each optical inertial mixing acquisition module of the motion capture camera detection
Learn data.By taking optical markings point is witch ball as an example, motion capture camera issues optical signal, and acquires the witch ball transmitting
The optical signal returned, and convert optical signals into optical data.
In the application one embodiment, as shown in Figure 1, the system also includes: fusion treatment device 400, in Fig. 1,
Fusion treatment device 400 is connected with inertial data receiver 500 and each motion capture camera 600 respectively, is specifically as follows
Electrical connection, or wireless signal connection.Fusion treatment device 400 at work, receives the inertial data receiver and sends
Inertial data and receive the optical data that each motion capture camera detection arrives, then can use inertial data and right
The optical data answered is merged, and is calibrated using two parameters to position, and then obtain accurate location information.
In the application one embodiment, optical inertial mixing acquisition module is directly anchored on tested human body, in order to just
In fixation, optical inertial mixing acquisition module further include: fixing belt；The inertial sensor and each optical markings point are fixed
In the fixing belt.In specific application, fixing belt directly can be fixed mutually with pedestal, and fixing belt is fixed on human body in this way
On, so that it may it realizes inertial sensor and each optical markings point on human body.
In the application one embodiment, the optical markings point in optical inertial mixing acquisition module can be witch ball,
And the quantity of witch ball can be one, as shown in Fig. 2, for a kind of optical inertial mixing acquisition provided by the embodiments of the present application
The structural schematic diagram of module, in Fig. 2, optical inertial mixing acquisition module includes: pedestal 1, inertia acquisition mould group 4 and witch ball
2, wherein
The inertia acquisition mould group 4 is fixed with 1 phase of pedestal, such as: card-bit part is provided in inertia acquisition mould group 4
Or mounting groove, the inertia acquisition mould group 4 are fixed in the card-bit part or mounting groove.Alternatively, the inertia acquires mould group 4
In the pedestal 1, such as: cavity is provided in pedestal 1, inertia acquisition mould group 4 is fixed in the cavity.
Witch ball is fixed on the outer surface of the pedestal, and witch ball can be fixed on pedestal by fixed link or viscose glue
Outer surface on, and witch ball protrudes the outer surface of the pedestal, this is allowed for when carrying out optical signalling acquisition, as far as possible
Reduce the problem of pedestal blocks.
In another embodiment of the application, the quantity of the witch ball of the optical markings point in optical inertial mixing acquisition module
Can be to be multiple, multiple witch balls can combine to form specific shape, and then not only can use the optical data and determined
Position, but also can use the shape that multiple witch balls are formed and distinguish different optical inertial mixing acquisition modules.
As shown in figure 3, the structure of another optical inertial mixing acquisition module provided for the embodiment of the present application is shown
It is intended to, in Fig. 3, optical inertial mixing acquisition module includes: pedestal 1, inertia acquisition mould group 4 and four witch balls 2, wherein
Four witch balls are in spatial distribution, and the space layout of at least three witch balls is asymmetric, as shown in figure 4, for signal shown in Fig. 3
The stereoscopic schematic diagram of figure.The space layout of witch ball is asymmetric, and the purpose is to polyhedral structure that witch ball is formed tools
There is unique identity, is convenient for when by multiple optical inertial mixing acquisition modules, it can using the polyhedron that witch ball forms
Can identify.
In figs. 3 and 4, each witch ball 2 is correspondingly arranged a reflective ball stand 3, i.e., the described reflective ball stand 3
Quantity and the quantity of the witch ball 2 correspond；One end of each reflective ball stand 3 and the 1 outer surface phase of pedestal
Fixed, the other end is fixed with 2 phase of witch ball, so that the protrusion of the witch ball 2 is in the outside of the pedestal 1.
The embodiment of the present application, in practical applications, as shown in figure 5, can be shown in Fig. 3 in the waist of user setting one
Optical inertial mixing acquisition module can determine the position of waist by the inertial data and optical data that acquire waist
Position, and then body other positions can be modified according to the position of waist.Furthermore it is also possible to which the chest in user is arranged one
A optical inertial mixing acquisition module shown in Fig. 3, can be to chest by the inertial data and optical data that acquire chest
Position is positioned, and then can be modified according to the position of chest to body other positions.
It is calibrated of course for the position to hand, as shown in figure 5, can also be respectively set in the position of two hands
One optical inertial mixing acquisition module 10 can be adopted for hand using the optical inertial mixing of only 1 witch ball
Collect module.In addition, as shown in figure 5, can also distinguish in the position of Liang Ge foot in order to which the position to foot is calibrated
One optical inertial mixing acquisition module 20 is set, it, can be using only for foot for carrying out position correction to foot
There is the optical inertial mixing acquisition module of 1 witch ball.
In addition, in the application other embodiments, it is contemplated that the volume of optical inertial mixing acquisition module shown in Fig. 3 compared with
Greatly, inconvenient to carry and installation site is easy to fall off or misplaces, as shown in fig. 6, can also be in head, the chest for being tested human body
The optical inertial mixing acquisition module with 1 witch ball is respectively set with waist, wherein as shown in fig. 6, setting can on head
Think head optical inertial mixing acquisition module 41, chest is arranged in can be chest optical inertial mixing acquisition module 42,
Waist is arranged in can be waist optical inertial mixing acquisition module 43.By be arranged in the head of tested human body, chest and
Three optical inertial mixing acquisition modules of waist can be equally accurately positioned with the torso portion of human body, improve motion capture
The position precision of the human body of reduction.
In addition, the data of tested human bodies different at this time are likely to occur mixed when multiple tested human bodies appear in Same Scene
Disorderly, for this purpose, the chest in tested human body can also be arranged an optical inertial mixing acquisition module shown in Fig. 3, and if
The back of tested human body is also equipped with acquisition module shown in Fig. 3, then reflective in two acquisition modules before and after tested human body
The shape of ball is different, and the shape of the witch ball of the acquisition module of different tested human chest settings is also different, in order to logical
The shape for crossing witch ball distinguishes the tested human body of difference.
It should be noted that, in this document, the relational terms of such as " first " and " second " or the like are used merely to one
A entity or operation with another entity or operate distinguish, without necessarily requiring or implying these entities or operation it
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant are intended to
Cover non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or setting
Standby intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in the process, method, article or apparatus that includes the element.
The above is only a specific embodiment of the invention, is made skilled artisans appreciate that or realizing this hair
It is bright.Various modifications to these embodiments will be apparent to one skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and applied principle and features of novelty phase one herein
The widest scope of cause.
Claims (10)
1. a kind of optics mixes motion capture system with inertia characterized by comprising inertial data receiver, multiple movements
Capture camera, multiple optical inertial mixing acquisition modules and multiple inertia acquisition modules, wherein
Each optical inertial mixing acquisition module includes: that an inertia acquires mould group and at least one optical markings point, and light
It learns mark point mutually to fix with the inertia acquisition module, each inertia acquisition mould group includes: inertial sensor and inertia number
According to transmitter；Each inertia acquisition module includes: inertial sensor and inertial data transmitter；
The inertial data receiver and each motion capture camera are arranged in default scene, the inertial data
Receiver wirelessly receives the inertial data that the inertial data transmitter is sent, each motion capture camera
Detect the optical data of the optical markings point in each optical inertial mixing acquisition module.
2. motion capture system according to claim 1, which is characterized in that the system also includes: fusion treatment device；
The fusion treatment device is connected with inertial data receiver, each motion capture camera respectively, receives the inertia
Inertial data that data sink is sent and receive each motion capture camera detection to optical data.
3. motion capture system according to claim 2, which is characterized in that the optical markings point is witch ball.
4. motion capture system according to claim 3, which is characterized in that the optical inertial mixing acquisition module includes
One witch ball；
The optical inertial mixing acquisition module includes: pedestal；
The inertia acquisition mould group is mutually fixed with the pedestal, or, inertia acquisition mould group is located in the pedestal；
The witch ball is fixed on the outer surface of the pedestal.
5. motion capture system according to claim 4, which is characterized in that the optical inertial mixing with a witch ball
Acquisition module, comprising:
For the head optical inertial mixing acquisition module on the head of tested human body to be arranged in, and/or, for setting in tested person
The back optical inertial mixing acquisition module at the back of body, and/or, it is used for the waist optics of waist of tested human body to be arranged in
Property mixing acquisition module.
6. motion capture system according to claim 3, which is characterized in that in the optical inertial mixing acquisition module
Optical markings point is at least three witch balls,
At least three witch ball is in spatial distribution, and the space layout of at least three witch balls is asymmetric.
7. motion capture system according to claim 6, which is characterized in that the optical inertial mixing acquisition module packet
It includes: pedestal and multiple reflective ball stands, wherein
The inertia acquisition mould group is mutually fixed with the pedestal, or, inertia acquisition mould group is located in the pedestal；
The quantity of the reflective ball stand and the quantity of the witch ball correspond；
One end of each reflective ball stand is mutually fixed with the base outer surface, and the other end is mutually fixed with the witch ball,
So that the witch ball is located at the chassis outer side.
8. motion capture system according to claim 5, which is characterized in that the optical inertial at least three witch balls
The quantity for mixing acquisition module is one；The optical inertial mixing acquisition module for having at least three witch balls is arranged in quilt
Survey the waist or chest of human body；
Alternatively, the quantity of the optical inertial mixing acquisition module at least three witch balls is two, described two optics are used
Property the respective witch ball of mixing acquisition module space layout it is not identical；Wherein, the optics at least three witch balls is used
Property mixing acquisition module the waist of tested human body is set, there is optical inertial of at least three witch balls to mix acquisition for another
The chest of tested human body is arranged in module.
9. according to the described in any item motion capture systems of claim 4-5, which is characterized in that the method also includes:
For the hand of tested human body to be arranged in and with the hand optical inertial mixing acquisition module of a witch ball, and/
Or, being tested the foot of human body and with foot's optical inertial mixing acquisition module of a witch ball for being arranged in.
10. motion capture system according to claim 1, which is characterized in that the optical inertial mixing acquisition module is also
It include: fixing belt；
The inertial sensor and each optical markings point are each attached in the fixing belt.
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