CN110516112A - A kind of human action search method and equipment based on hierarchical model - Google Patents
A kind of human action search method and equipment based on hierarchical model Download PDFInfo
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Abstract
The present invention relates to a kind of human action search method and equipment based on hierarchical model, method calculate position of the artis under world coordinate system the following steps are included: extract each artis information of each frame from human motion file；Determine the maximum artis of change in location and the main movement direction of the artis；The move file data are encoded according to hierarchical model；By file exercise data and its hierarchical model coding deposit motion database；All Files, which are encoded to, according to the corresponding hierarchical model of file each in database establishes index tree；Database is retrieved using hierarchical model coding.The present invention retains the main geometrical characteristic of exercise data using the coding based on hierarchical model, and the retrieval to compound movement data is converted into the retrieval to simple digital coding, greatly improves the time efficiency of retrieval.
Description
Technical field
The present invention relates to a kind of data retrieval method and equipment, in particular to a kind of human action inspection based on hierarchical model
Rope method and apparatus.
Background technique
As the rise of capturing movement technology and all kinds of optics, work capture the progress of equipment, present people
Have been able to a large amount of human action three-dimensional data files of quick obtaining.Since human action three-dimensional data file can more precisely
The total movement track recorded in experimenter's each period, human body can be obtained by capturing resulting data by analysis movement
The elaboration of movement greatly improves the convenience of action data related work acquisition and the reliability of data.Move number
According to multiplexing and the movement capturing technology that is established as of extensive motion database provide a kind of more time saving and economic scheme,
Meanwhile also to the tissue of motion database and search technique, more stringent requirements are proposed.
Motion retrieval technology is to realize a key technology of movement capturing data multiplexing.Human action sequence is a kind of allusion quotation
The higher-dimension time series of type, the processing for high dimensional information, if a large amount of operation will be expended by carrying out retrieval using conventional method
Time and memory headroom.Therefore, choosing suitable character representation method makes retrieval rate and retrieval quality that can receive to show
It obtains extremely important.The existing retrieval to motion database is mainly realized by extracting geometrical characteristic and calculating Euclidean distance
, its purpose is to realize the retrieval to motion database content, but the calculating to complex geometry feature and Euclidean distance
So that needing to expend a large amount of runing time when database retrieval, it is unable to satisfy real-time demand.
Summary of the invention
In view of the above-mentioned deficiencies in the prior art, it is an object of the present invention to provide a kind of human action retrieval based on hierarchical model
Method and apparatus realizes that the exercise data based on content is retrieved using new geometrical characteristic, improves the time of conventional retrieving methods
Efficiency.
In order to achieve the above objectives, the human action search method based on hierarchical model that the present invention provides a kind of, including with
Lower step:
The each artis information of each frame is extracted from human motion file, calculates the artis under world coordinate system
Position；
Determine the maximum artis of change in location and the main movement direction of the artis；
The move file data are encoded according to hierarchical model, one-level code corresponding position changes maximum artis,
Second level code corresponds to the main movement direction of the artis, and three-level code corresponds to motion frequency；
By file exercise data and its hierarchical model coding deposit motion database；
Be encoded to All Files according to the corresponding hierarchical model of file each in database and establish index tree, index tree it is non-
Leaf node includes the coding of corresponding level, and leaf node contains an index structure inode, records following index information:
{ hierarchical model coding, place filename, the pointer of previous inode, the pointer of next inode }；
When retrieving motion database, hierarchical model coding is carried out to the movement of inquiry first, coding is found in index tree
Similar leaf node finally searches the similar move file of all codings further according to the pointer information of inode to get to one
A similar movement alternative file set.
Preferably, in accordance with the following methods, the maximum artis of change in location and the main movement direction of the artis are determined:
Concussion factor S is set separatelyx、Sy、Sz, to record in human body skeletal architecture each artis in world coordinate system
The maximum displacement of lower X, Y, Z-direction；Find out Sx、Sy、SzMaximum value, that is, can determine the maximum artis of change in location and the pass
The main movement direction of node.
Preferably, each artis of each frame is calculated behind the position under world coordinate system, carries out the differentiation of key frame
With extraction, determine that the hierarchical model of file encodes using key frame data, and only by key frame exercise data and its level mould
Type coding deposit motion database.
Preferably, after carrying out key-frame extraction, the period of motion is judged according to the position of each artis of each frame, and select
The key frame in a period of motion is taken to determine the maximum artis of change in location and the main movement direction of the artis.
Preferably, the data after dimensionality reduction are filtered, the current location of more each each data frame of artis
With the joint in entire movement the difference of maximum change location or minimum change position, if its difference is greater than the dynamic of the artis
Variation average value is then considered as interference information, i.e., the location information the artis under this data frame is deleted.
The present invention also provides a kind of storage equipment for human action retrieval, wherein it is stored with a plurality of instruction, it is described
Instruction is suitable for being loaded and being executed by processor:
The each artis information of each frame is extracted from human motion file, calculates the artis under world coordinate system
Position；
Determine the maximum artis of change in location and the main movement direction of the artis；
The move file data are encoded according to hierarchical model, one-level code corresponding position changes maximum artis,
Second level code corresponds to the main movement direction of the artis, and three-level code corresponds to motion frequency；
By file exercise data and its hierarchical model coding deposit motion database；
Be encoded to All Files according to the corresponding hierarchical model of file each in database and establish index tree, index tree it is non-
Leaf node includes the coding of corresponding level, and leaf node contains an index structure inode, records following index information:
{ hierarchical model coding, place filename, the pointer of previous inode, the pointer of next inode }；
When retrieving motion database, hierarchical model coding is carried out to the movement of inquiry first, coding is found in index tree
Similar leaf node finally searches the similar move file of all codings further according to the pointer information of inode to get to one
A similar movement alternative file set.
Preferably, described instruction in accordance with the following methods, determines the main of the maximum artis of change in location and the artis
The direction of motion:
Concussion factor S is set separatelyx、Sy、Sz, to record in human body skeletal architecture each artis in world coordinate system
The maximum displacement of lower X, Y, Z-direction；Find out Sx、Sy、SzMaximum value, that is, can determine the maximum artis of change in location and the pass
The main movement direction of node.
Preferably, described instruction calculates each artis of each frame behind the position under world coordinate system, carries out crucial
The differentiation and extraction of frame determine that the hierarchical model of file encodes using key frame data, and only by key frame exercise data and
Its hierarchical model coding deposit motion database.
Preferably, described instruction judges to move after carrying out key-frame extraction according to the position of each artis of each frame
Period, and the key frame chosen in a period of motion determines the maximum artis of change in location and the main movement of the artis
Direction.
Preferably, described instruction is filtered the data after dimensionality reduction, more each each data frame of artis
Current location and the joint difference of maximum change location or minimum change position in entire movement, if its difference is greater than the joint
The dynamic change average value of point is then considered as interference information, i.e., the location information the artis under this data frame is deleted.
Beneficial effect
Human action search method and equipment proposed by the present invention based on hierarchical model, uses the volume based on hierarchical model
Code retains the main geometrical characteristic of exercise data, and the retrieval to compound movement data is converted into the inspection to simple digital coding
Rope greatly improves the time efficiency of retrieval.
Detailed description of the invention
Fig. 1 is the flow chart of the method for the invention；
Fig. 2 is the file structure of BVH file header；
Fig. 3 is the file structure of BVH file data section.
Fig. 4 is using the joint Hips as the skeleton hierarchical model of root node.
Fig. 5 is the substantially planar schematic diagram of human motion.
Fig. 6 is human body motion layer time model.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
When traditional Motion Capture equipment acquires human body movement data, it will usually be stored as the original motion data
BVH file, the thought followed are the data conversion based on father and son's node relationships.Since BVH file is there are father and son's node relationships,
Therefore file generally can be divided into two parts, and one is the file header for storing skeleton hierarchical structure, as shown in Fig. 2, logical
It, can be clearly often using HIERARCHY as file origin identification, using ROOT as the mark of the starting point of human body skeletal layer time structure
Internal connection present in skeleton hierarchical structure is showed by succinct form, it also can be skeleton node
Required data class and data area are demarcated；Secondly to store the data segment of specific exercise data, such as Fig. 3 institute
Show, usually using MOTION as the origin identification of data segment, with Frames for the length mark comprising how many motion sequence, can incite somebody to action
Distinctive skeleton hierarchical structure is distinguished with specific exercise data.
It is found that human body bone level is using Hips as root node, as shown in Figure 4 from the example of Fig. 2 and Fig. 3.Each
Relative to father node, in the translational movement under local coordinate system, the skeleton framework in BVH file defines in part skeletal joint point
It obtains, the rotational component relative to father node obtains in each data frame.Root node data in data frame includes six dimensions
The information of degree, rotary angle information under the displacement of root node and local coordinate system respectively under world coordinate system.Data in Fig. 3
(- 195.76,92.90,76.64) are the displacement informations of root node start frame, and data (6.83, -1.04,91.45) are root sections
The rotary angle information of point start frame.In addition to root node data, the data of any bone node are all only by three rotational angle datas
It constitutes, respectively each skeletal joint point is relative to the pitch angle of father node, roll angle, course deviation angular data.By these data,
Position of the available each artis of each frame under world coordinate system.
Common movement either in daily life or the sports type games on stadium, skeleton it is each important
Artis regular space-time characteristic and motion frequency is all presented, constitute the semantic feature of human motion.Human motion
One important space-time characteristic is exactly the maximum artis of change in location and the main movement direction of the artis, passes through semanteme spy
Sign can distinguish most of type of sports.Thought of the invention is exactly the semantic feature using human motion, is realized
The efficiently human action retrieval based on content.
In human body movement data processing, usually the substantially planar of human body can be defined as horizontal plane, frontal plane, sagittal
Three, face plane, wherein horizontal plane is the section that crosscutting body is parallel to the ground under upright state, and body is divided into upper and lower two
Point；Frontal plane is that human body is divided into forward and backward two parts using body bilateral diameter as longitudal section made by tangent line；Sagittal plane is with body
Body anteroposterior diameter is longitudal section made by tangent line, and human body is divided into left and right two parts；By the basic axis of human body be defined as frontal axis,
Vertical axis, sagittal axis, wherein frontal axis is X-axis, and perpendicular to sagittal plane, it is frontal plane and horizontal plane that direction, which is left and right direction,
Intersection；Vertical axis is Y-axis, and perpendicular to horizontal plane, it is the intersection of frontal plane and sagittal plane that direction, which is upper and lower direction,；Sagittal axis is Z
Axis, perpendicular to frontal plane, it is the intersection of sagittal plane and horizontal plane that direction, which is front and back direction,.
By taking the movement of most common human body running as an example, clearly it is displaced as shown in figure 5, human body has in sagittal plane.Wherein, trunk
Part is in horizontal plane, frontal plane without obviously significantly shaking；Four limbs have obvious and regular swing in sagittal plane, and under
Limb amplitude of fluctuation is much larger than upper limb, thus judges lower limb for main powered member；Simultaneously according to four limbs hunting frequency and place-exchange
Speed can determine whether specific exercise intensity.Therefore, retain each artis of human skeleton model in the location information of sagittal plane, so that it may
Determine its main semantic feature.
Based on this thought, the embodiment of the present invention 1 realizes a kind of human action search method based on hierarchical model, including
Following steps:
S1: each artis information of each frame is extracted from human motion file, calculates the artis in world coordinate system
Under position；
S2: the maximum artis of change in location and the main movement direction of the artis are determined；
S3: encoding the move file data according to hierarchical model, and one-level code corresponding position changes maximum joint
Point, second level code correspond to the main movement direction of the artis, and three-level code corresponds to motion frequency；
S4: by file exercise data and its hierarchical model coding deposit motion database；
S5: All Files are encoded to according to the corresponding hierarchical model of file each in database and establish index tree, index tree
N omicronn-leaf child node include corresponding level coding, leaf node contains an index structure inode, records following index letter
Breath: { hierarchical model coding, place filename, the pointer of previous inode, the pointer of next inode }；
S6: when retrieval motion database, hierarchical model coding is carried out to the movement of inquiry first, finds and compiles in index tree
The similar leaf node of code finally searches the similar move file of all codings further according to the pointer information of inode to get arriving
One similar movement alternative file set.
In embodiment 1, step S2 in accordance with the following methods, determines the maximum artis of change in location and the master of the artis
Want the direction of motion:
Concussion factor S is set separatelyx、Sy、Sz, to record in human body skeletal architecture each artis in world coordinate system
The maximum displacement of lower X, Y, Z-direction；Find out Sx、Sy、SzMaximum value, that is, can determine the maximum artis of change in location and the pass
The main movement direction of node.
Step S3 is the core procedure of the present embodiment search method, embodies core of the invention thought.Human motion
One important space-time characteristic is exactly the maximum artis of change in location and the main movement direction of the artis, passes through semanteme spy
Sign can distinguish most of type of sports.The semantic feature based on human motion, the present invention construct human motion
Hierarchical model, as shown in fig. 6, and the efficiently human action retrieval based on content based on this model realization.In human motion
In hierarchical model, the first level is using main position of having an effect as motor area minute mark standard, by human motion according to the artis of manikin
It distinguishes；Second level is divided into and generating in X-axis using the main movement direction of main movable joint point of having an effect as motor area minute mark standard
The movement of displacement generates the movement of displacement, in the movement of Z axis generation displacement in Y-axis；Third level is using motion frequency as motor area
Minute mark is quasi-, user by customized threshold value, by motion frequency be defined as it is fast, in, the different sizes such as slow move with distinguishing definition.
According to the hierarchical model defined, all movements can be encoded.Table 1 is that the hierarchical model of embodiment 1 is compiled
Code example, the motion encoded number for artis of the 1st level, the motion encoded value of the second level are { 0,1,2 }, respectively indicate master
Wanting the direction of motion is the exercise data of X-axis, Y-axis and Z axis, and the motion encoded value of third level is { 0,1,2 }, respectively indicates movement
Frequency be it is fast, in, slow exercise data.
1 human action hierarchical model of table coding
Based on thought of the invention, the definition of hierarchical model can have many variations.For example, group can be carried out to artis
It closes, is divided into upper limb master have an effect movement, the trunk master of movement, lower limb master that have an effect and has an effect movement, comprehensive movement of having an effect.It can thus incite somebody to action
Main position of having an effect is determined as 4 kinds of situations.Hierarchical model is encoded, it can be according to shown in table 1, with specific decimal number table
Show each classification, such as the artis that number is 12 is expressed as 12, binary system also can be used, with two binary digit tables
Show corresponding three reference axis of the direction of motion, if main position of having an effect is determined as 4 kinds of situations, so that it may with two binary digit tables
Show.
In step s 4, by file exercise data and its hierarchical model coding deposit motion database.
In step s 5, All Files are encoded to according to the corresponding hierarchical model of file each in database and establish index
Tree, the n omicronn-leaf child node of index tree include the coding of corresponding level, and leaf node contains an index structure inode, are recorded
Following index information: { hierarchical model coding, place filename, the pointer of previous inode, the pointer of next inode }；
In the normal retrieval of motion database, if necessary to carry out content-based retrieval, it usually needs extract geometry
Feature, and Euclidean distance is calculated, in the building of index and during retrieval each time, need to be related to complicated geometry meter
It calculates, to take a substantial amount of time.According to the present invention, the main geometry of exercise data is retained using the coding based on hierarchical model
Retrieval to compound movement data is converted into the retrieval to simple digital coding, can greatly improve database by feature
Recall precision, the motion retrieval application scenarios for the coarseness that is highly suitable for carrying out classifying etc. to exercise data, is also applied for file
The retrieval of grade.
Step S6 is the step of retrieval using the database for establishing index: right first when retrieval motion database
The movement of inquiry carries out hierarchical model coding, finds in index tree and encodes similar leaf node, finally further according to inode's
Pointer information searches the similar move file of all codings to get to a similar movement alternative file set.
Embodiment 2 on the basis of embodiment 1, has carried out further optimization, comprising:
1) each artis of each frame is calculated behind the position under world coordinate system, is carried out the differentiation of key frame and is mentioned
It takes, carries out subsequent processing using key frame data.The continuity of human motion makes the skeleton within the lesser unit time
Each artis location variation has extremely strong similitude in framework, this directly results in the redundancy of human action data information.
In order to improve the effective rate of utilization of data, reduce redundancy, need to carry out human action data the differentiation and extraction of key frame.
The extraction of key frame is focused on, will not have the invalid frame mistake in representative interference frame and movement in special circumstances
Filter is rejected, and still needs to keep the global consistency with human motion in former human motion three-dimensional data file at the same time.
2) after carrying out key-frame extraction, the period of motion is judged according to the position of each artis of each frame, and choose one
Key frame in a period of motion carries out subsequent processing.Since the data in the different motion period have extremely strong similitude, because
This chooses a period of motion data and is calculated, and simplifies treatment process.
3) data after dimensionality reduction are filtered.Human body movement data is adopted in wearing motion capture equipment
During collection, participate between the Different Individual of sample collection that there is inevasible individual sports habit and limbs postures
Difference has fraction invalid information or has strong interference which results in special case of the experimental data in a certain degree
Information is present in human body movement data.The filtering method that embodiment 2 uses are as follows: the more a certain each data frame of artis is worked as
Front position and the joint difference of maximum change location or minimum change position in entire movement, if its difference is greater than the artis
Dynamic change average value be then considered as interference information, i.e., location information the artis under this data frame is deleted, with
This realizes to invalid data and interferes the filtering of data.
Embodiment 3 realizes a kind of storage equipment for human action retrieval, wherein it is stored with a plurality of instruction, the finger
It enables and is suitable for being loaded by processor and executing method as shown in Figure 1:
The each artis information of each frame is extracted from human motion file, calculates the artis under world coordinate system
Position；
Determine the maximum artis of change in location and the main movement direction of the artis；
The move file data are encoded according to hierarchical model, one-level code corresponding position changes maximum artis,
Second level code corresponds to the main movement direction of the artis, and three-level code corresponds to motion frequency；
By file exercise data and its hierarchical model coding deposit motion database；
Be encoded to All Files according to the corresponding hierarchical model of file each in database and establish index tree, index tree it is non-
Leaf node includes the coding of corresponding level, and leaf node contains an index structure inode, records following index information:
{ hierarchical model coding, place filename, the pointer of previous inode, the pointer of next inode }；
When retrieving motion database, hierarchical model coding is carried out to the movement of inquiry first, coding is found in index tree
Similar leaf node finally searches the similar move file of all codings further according to the pointer information of inode to get to one
A similar movement alternative file set.
3 described instruction of embodiment in accordance with the following methods, determines the main of the maximum artis of change in location and the artis
The direction of motion:
Concussion factor S is set separatelyx、Sy、Sz, to record in human body skeletal architecture each artis in world coordinate system
The maximum displacement of lower X, Y, Z-direction；Find out Sx、Sy、SzMaximum value, that is, can determine the maximum artis of change in location and the pass
The main movement direction of node.
3 described instruction of embodiment calculates each artis of each frame behind the position under world coordinate system, carries out crucial
The differentiation and extraction of frame determine that the hierarchical model of file encodes using key frame data, and only by key frame exercise data and
Its hierarchical model coding deposit motion database.
3 described instruction of embodiment judges to move after carrying out key-frame extraction, according to the position of each artis of each frame
Period, and the key frame chosen in a period of motion determines the maximum artis of change in location and the main movement of the artis
Direction.
3 described instruction of embodiment is filtered the data after dimensionality reduction, more each each data frame of artis
Current location and the joint difference of maximum change location or minimum change position in entire movement, if its difference is greater than the joint
The dynamic change average value of point is then considered as interference information, i.e., the location information the artis under this data frame is deleted.
Although the embodiments of the invention are described in conjunction with the attached drawings, but those skilled in the art can not depart from this hair
Various modifications and variations are made in the case where bright spirit and scope, such modifications and variations each fall within the claims in the present invention
Within limited range.
Claims (10)
1. a kind of human action search method based on hierarchical model, which comprises the following steps:
The each artis information of each frame is extracted from human motion file, calculates position of the artis under world coordinate system
It sets；
Determine the maximum artis of change in location and the main movement direction of the artis；
The move file data are encoded according to hierarchical model, one-level code corresponding position changes maximum artis, second level
The main movement direction of the corresponding artis of code, three-level code correspond to motion frequency；
By file exercise data and its hierarchical model coding deposit motion database；
All Files, which are encoded to, according to the corresponding hierarchical model of file each in database establishes index tree, the non-leaf of index tree
Node includes the coding of corresponding level, and leaf node contains an index structure inode, records following index information: { level
Model based coding, place filename, the pointer of previous inode, the pointer of next inode }；
When retrieving motion database, hierarchical model coding is carried out to the movement of inquiry first, it is similar that coding is found in index tree
Leaf node, finally search the similar move file of all codings further according to the pointer information of inode to get to a phase
Like motion candidates file set.
2. human action search method according to claim 1, which is characterized in that in accordance with the following methods, determine that position becomes
Change maximum artis and the main movement direction of the artis:
Concussion factor S is set separatelyx、Sy、Sz, to record in human body skeletal architecture each artis under world coordinate system X,
Y, the maximum displacement of Z-direction；Find out Sx、Sy、SzMaximum value, that is, can determine the maximum artis of change in location and the artis
Main movement direction.
3. human action search method according to claim 2, which is characterized in that calculate each artis of each frame and exist
Behind position under world coordinate system, the differentiation and extraction of key frame are carried out, the hierarchical model of file is determined using key frame data
Coding, and only by key frame exercise data and its hierarchical model coding deposit motion database.
4. human action search method according to claim 3, which is characterized in that after carrying out key-frame extraction, according to
The position of each each artis of frame judges the period of motion, and the key frame chosen in a period of motion determines change in location most
The main movement direction of big artis and the artis.
5. human action search method according to claim 4, which is characterized in that be filtered place to the data after dimensionality reduction
Reason, the current location of more each each data frame of artis maximum change location or minimum change in entire movement with the joint
The difference for changing position is considered as interference information if the dynamic change average value that its difference is greater than the artis, i.e., the artis
Location information under this data frame is deleted.
6. a kind of storage equipment, which is characterized in that be wherein stored with a plurality of instruction, described instruction is suitable for being loaded and being held by processor
Row:
The each artis information of each frame is extracted from human motion file, calculates position of the artis under world coordinate system
It sets；
Determine the maximum artis of change in location and the main movement direction of the artis；
The move file data are encoded according to hierarchical model, one-level code corresponding position changes maximum artis, second level
The main movement direction of the corresponding artis of code, three-level code correspond to motion frequency；
By file exercise data and its hierarchical model coding deposit motion database；
All Files, which are encoded to, according to the corresponding hierarchical model of file each in database establishes index tree, the non-leaf of index tree
Node includes the coding of corresponding level, and leaf node contains an index structure inode, records following index information: { level
Model based coding, place filename, the pointer of previous inode, the pointer of next inode }；
When retrieving motion database, hierarchical model coding is carried out to the movement of inquiry first, it is similar that coding is found in index tree
Leaf node, finally search the similar move file of all codings further according to the pointer information of inode to get to a phase
Like motion candidates file set.
7. storage equipment according to claim 6, which is characterized in that described instruction in accordance with the following methods, determines that position becomes
Change maximum artis and the main movement direction of the artis:
Concussion factor S is set separatelyx、Sy、Sz, to record in human body skeletal architecture each artis under world coordinate system X,
Y, the maximum displacement of Z-direction；Find out Sx、Sy、SzMaximum value, that is, can determine the maximum artis of change in location and the artis
Main movement direction.
8. storage equipment according to claim 7, which is characterized in that described instruction calculates each artis of each frame and exists
Behind position under world coordinate system, the differentiation and extraction of key frame are carried out, the hierarchical model of file is determined using key frame data
Coding, and only by key frame exercise data and its hierarchical model coding deposit motion database.
9. storage equipment according to claim 8, which is characterized in that described instruction after carrying out key-frame extraction, according to
The position of each each artis of frame judges the period of motion, and the key frame chosen in a period of motion determines change in location most
The main movement direction of big artis and the artis.
10. storage equipment according to claim 9, which is characterized in that described instruction is filtered the data after dimensionality reduction
Processing, the current location and the joint of more each each data frame of artis maximum change location or minimum in entire movement
The difference of change location is considered as interference information if the dynamic change average value that its difference is greater than the artis, i.e., the joint
Location information of the point under this data frame is deleted.
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