CN111862170A - Optical motion capture system and method - Google Patents
Optical motion capture system and method Download PDFInfo
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- CN111862170A CN111862170A CN202010846612.8A CN202010846612A CN111862170A CN 111862170 A CN111862170 A CN 111862170A CN 202010846612 A CN202010846612 A CN 202010846612A CN 111862170 A CN111862170 A CN 111862170A
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- 230000003287 optical effect Effects 0.000 title claims abstract description 47
- 238000000034 method Methods 0.000 title claims abstract description 18
- 239000011324 bead Substances 0.000 claims abstract description 20
- 239000000758 substrate Substances 0.000 claims abstract description 7
- 239000003550 marker Substances 0.000 claims description 7
- 238000005516 engineering process Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 230000000007 visual effect Effects 0.000 description 4
- 238000003384 imaging method Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/292—Multi-camera tracking
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
- G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
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Abstract
The invention provides an optical motion capture system and method, wherein the system comprises: a motion capture device comprising a plurality of optical identification points and a plurality of motion capture cameras, each motion capture camera acquiring target motion video information through each optical identification point; each identification point is arranged on different target parts and is an active signal transmitting device; the active signal transmitting apparatus includes: the LED lamp comprises an LED lamp bead, a power supply module, a light homogenizing cover and a substrate; the power supply module supplies power to the LED lamp beads, the light homogenizing cover is buckled on the LED lamp beads, and the substrate is used for installing the LED lamp beads on a target part; the three-dimensional reconstruction unit is used for acquiring target motion video information and motion capture camera calibration information, and performing three-dimensional reconstruction processing on the target motion video information according to the motion capture camera calibration information to obtain a space coordinate of the identification point; the motion capture camera calibration information includes: lens focal length, imaging center, tilt factor, and distortion parameter.
Description
Technical Field
The invention belongs to the technical field of motion capture, and particularly relates to an optical motion capture system and method.
Background
The optical motion capture technology is a technology which acquires through an optical sensor and calculates spatial information such as motion trail, posture and the like of an object by adopting a computer vision principle. Optical motion capture technologies can be divided into two broad categories, labeled point and unlabeled point, according to different principles. The marked point type motion capture technology has the characteristics of high speed, high precision and high reliability, and has wide application space in the fields of CG manufacture, industrial measurement, surgical navigation, virtual reality, physical training, medical rehabilitation, robots and the like.
The optical marking point is an important component in the hardware of the marking point type motion capture system, and is used for marking a target object, and acquiring motion information of the object through acquisition and calculation of the mark.
The optical mark points commonly used for mark point type motion capture at present are divided into two-dimensional marks and three-dimensional marks according to different forms. The former is a plane mark point, such as a circular mark, a two-dimensional code mark and the like, and has the defects of small space visible angle and inconvenience for space omnibearing observation; the latter is a three-dimensional mark point, usually a spherical mark, and is characterized by a large visual angle, which is convenient for all-around observation in space, and thus is widely used in the motion capture technology. The space spherical mark is usually a reflective ball, does not emit light, enters a camera for imaging through light of a reflected light supplementing light source, and is recorded as a highlight light spot on an image, so that identification and detection and subsequent calculation of a mark point are facilitated.
The plane optical mark has small visual angle and many space observation blind areas, so the plane optical mark has low practicability for the motion capture technology.
The common spherical reflective marker solves the problem of visual angle, but is limited by the reflective principle, the luminous brightness is limited, and the brightness of the marker is not enough to be obviously distinguished from the background brightness on the occasion of strong ambient light, so that the marker detection is invalid. This is also a major reason why this type of motion capture system is not suitable for outdoor scenarios, limiting the applicability of the system. On the other hand, the reflecting ball needs to be covered with a reflecting material on the surface of the ball body, so that good sphericity and stability are required to be maintained, the process difficulty is high, the problems of poor spherical roundness, uneven surface or uneven reflecting brightness and the like generally exist in the common marking points at present, and the defects cause that the technology is difficult to meet the application in the high-precision measurement field, such as industrial measurement, surgical navigation and the like.
Disclosure of Invention
The invention aims to adopt an active light-emitting device to replace an active optical capturing identification point of a passive light-reflecting ball.
The invention is realized by the following technical scheme:
an optical motion capture system, the system comprising: a motion capture device comprising a plurality of optical identification points and a plurality of motion capture cameras, each motion capture camera acquiring target motion video information through each optical identification point; each identification point is arranged on different target parts and is an active signal transmitting device; the active signal transmitting apparatus includes: the LED lamp comprises an LED lamp bead, a power supply module, a light homogenizing cover and a substrate; the power supply module supplies power to the LED lamp beads, the light homogenizing cover is buckled on the LED lamp beads, and the substrate is used for installing the LED lamp beads on a target part; the three-dimensional reconstruction unit is used for acquiring target motion video information and motion capture camera calibration information, and performing three-dimensional reconstruction processing on the target motion video information according to the motion capture camera calibration information to obtain the space coordinates of the identification points; wherein the motion capture camera calibration information comprises: lens focal length, imaging center, tilt factor, and distortion parameter.
Preferably, the power module supplies power for one or more LED lamp beads.
The invention also provides an optical motion capture method, which comprises the following steps:
acquiring motion capture camera calibration information, comprising: lens focal length, imaging center, tilt factor and distortion parameter;
acquiring target motion video information, comprising: the motion conditions of the target part marked by the optical identification points acquired by the plurality of motion capture cameras;
and performing three-dimensional reconstruction processing on the target motion video information according to the motion capture camera calibration information to obtain the space coordinates of the identification points.
Further, when the same identification point is captured by the motion capture camera, stereoscopic vision triangulation processing is performed to obtain the spatial coordinates of the identification point.
Further, when the motion capture camera captures a plurality of identification points, the epipolar constraint principle is adopted to obtain the identification points with the same name in different images.
The present invention also provides a storage medium comprising a stored program, wherein the program performs the above-described optical motion capture method.
The invention also provides a processor, which is characterized in that the processor is used for executing a program, wherein the program executes the optical motion capture method when running.
According to the optical motion capture system, the active light-emitting device is adopted to replace the active optical capture mark point of the passive light-reflecting ball, so that the traditional optical capture system can accurately sense the mark point in the outdoor environment, and the sensing distance of the traditional optical capture system can be increased due to the adjustable brightness of the infrared mark point. Effectively improve the identification precision, accuracy and application range of the action failure system.
The technical solution of the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
Drawings
FIG. 1 is a flowchart illustrating the steps of an optical motion capture method according to the present invention;
FIG. 2 is a block diagram of an optical motion capture system according to the present invention;
fig. 3 is a schematic structural diagram of an active signal transmitting device according to the present invention.
Detailed Description
FIG. 1 is a flowchart illustrating the steps of an optical motion capture method according to the present invention. As shown in fig. 1, the present invention provides an optical motion capture method, comprising the following steps:
acquiring motion capture camera calibration information, comprising: lens focal length, imaging center, tilt factor and distortion parameter;
acquiring target motion video information, comprising: the motion conditions of the target part marked by the optical identification points acquired by the plurality of motion capture cameras;
and performing three-dimensional reconstruction processing on the target motion video information according to the motion capture camera calibration information to obtain the space coordinates of the identification points.
FIG. 2 is a block diagram of an optical motion capture system according to the present invention, and FIG. 3 is a schematic diagram of an active signal emitting device according to the present invention. As shown in fig. 2 and with reference to fig. 3, the present invention provides an optical motion capture system comprising:
the motion capture device comprises a plurality of optical identification points 1 and a plurality of motion capture cameras 2, wherein each motion capture camera acquires target motion video information through each optical identification point;
each identification point is arranged on different target parts and is an active signal transmitting device; as shown in fig. 3, the active signal transmitting apparatus includes: LED lamp pearl 12, power module 13, dodging cover 11 and base 14. The power module 13 supplies power to one or more LED lamp beads 11. The substrate 14 is used for arranging/mounting the LED lamp beads 11 on a target portion surface, such as a magic tape.
The three-dimensional reconstruction unit 3 is used for acquiring target motion video information and motion capture camera calibration information, and performing three-dimensional reconstruction processing on the target motion video information according to the motion capture camera calibration information to obtain the space coordinates of the identification points;
wherein the motion capture camera calibration information comprises: lens focal length, imaging center, tilt factor, and distortion parameter.
It should be noted that the LED lamp bead is a high-power LED lamp bead, for example, the power is 3 w. The higher the power is, the higher the brightness of the mark point is, the higher the separability in the light environment is, and on the premise that the imaging of the mark point in the camera reaches a certain brightness threshold, the imaging brightness of the background can be reduced by reducing the aperture or reducing the shutter, so that the recognition degree of the optical mark in the image is enhanced.
The power module can adapt to input voltage within a certain range, such as 5-32 v, and can adjust output voltage (such as 0.8-30 v) and current (such as 0-5A) within a certain range. The power module is a small/micro portable power supply, can be a button cell and used for supplying power to the single LED lamp beads, and can also be a high-capacity mobile power supply and used for supplying power to a plurality of LED lamp beads simultaneously.
The specific working principle is as follows:
the active signal transmitting device arranged on the target transmits visible light, and the plurality of motion capture cameras capture the visible light to acquire target motion video information and transmit the target motion video information to the three-dimensional reconstruction unit. The three-dimensional reconstruction unit processes a target motion video according to the calibration information (including a lens focal length, an imaging center, a tilt factor and a distortion parameter) of the motion capture cameras, when at least two motion capture cameras observe the same identification point from different visual angles, the identification point is represented as a highlight circular spot in an image, the center of the circular spot is extracted, and the spatial coordinate of the center of the identification point can be obtained by utilizing a stereoscopic vision triangulation principle; when there are multiple identified points in the image, according to the epipolar constraint principle, for example: the homonymous point of the marked point a in the image A in the image B is necessarily on the epipolar line of the marked point a, and the point which is closest to the epipolar line and meets a given distance threshold is the homonymous point of the marked point a in the image B, so that homonymous marked point pairs in different images are obtained.
After the space coordinates of each identification point on the target object are obtained, the space coordinates can be output to various animation production software (such as Motionbuilder) to bind the animation character model to realize action driving.
The present invention also provides a storage medium including a stored program, wherein the program performs an optical motion capture method.
The invention also provides a processor for running a program, wherein the program executes the optical motion capture method when running.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
Claims (7)
1. An optical motion capture system, the system comprising:
a motion capture device comprising a plurality of optical identification points and a plurality of motion capture cameras, each motion capture camera acquiring target motion video information through each optical identification point;
each identification point is arranged on different target parts and is an active signal transmitting device; the active signal transmitting apparatus includes: the LED lamp comprises an LED lamp bead, a power supply module, a light homogenizing cover and a substrate; the power supply module supplies power to the LED lamp beads, the light homogenizing cover is buckled on the LED lamp beads, and the substrate is used for installing the LED lamp beads on a target part;
the three-dimensional reconstruction unit is used for acquiring target motion video information and motion capture camera calibration information, and performing three-dimensional reconstruction processing on the target motion video information according to the motion capture camera calibration information to obtain a space coordinate of the motion capture identification point;
wherein the motion capture camera calibration information comprises: lens focal length, imaging center, tilt factor, and distortion parameter.
2. The optical motion capture system of claim 1 wherein the power module powers one or more LED light beads.
3. An optical motion capture method, comprising:
acquiring motion capture camera calibration information, comprising: lens focal length, imaging center, tilt factor and distortion parameter;
acquiring target motion video information, comprising: the motion conditions of the target part marked by the optical identification points acquired by the plurality of motion capture cameras;
and performing three-dimensional reconstruction processing on the target motion video information according to the motion capture camera calibration information to obtain the space coordinates of the motion capture identification points.
4. The optical motion capture method of claim 3 wherein stereo triangulation is performed to obtain the spatial coordinates of the marker point when the same marker point is captured by the motion capture camera.
5. The optical motion capture method of claim 3 wherein when the motion capture camera captures a plurality of marker points, epipolar constraint principles are employed to obtain the same name marker points in different images.
6. A storage medium comprising a stored program, wherein the program performs the optical motion capture method of any one of claims 3-5.
7. A processor for executing a program, wherein the program executes to perform the optical motion capture method of any one of claims 3-5.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010846612.8A CN111862170A (en) | 2020-08-21 | 2020-08-21 | Optical motion capture system and method |
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| CN202010846612.8A CN111862170A (en) | 2020-08-21 | 2020-08-21 | Optical motion capture system and method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113487726A (en) * | 2021-07-12 | 2021-10-08 | 北京未来天远科技开发有限公司 | Motion capture system and method |
| CN117058766A (en) * | 2023-09-11 | 2023-11-14 | 轻威科技(绍兴)有限公司 | Motion capture system and method based on active light stroboscopic effect |
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| CN107390448A (en) * | 2017-09-06 | 2017-11-24 | 成都豪宇韬鹰科技有限公司 | A kind of active optical motion capture system |
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| CN212256370U (en) * | 2020-08-21 | 2020-12-29 | 北京未来天远科技开发有限公司 | Optical motion capture system |
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2020
- 2020-08-21 CN CN202010846612.8A patent/CN111862170A/en active Pending
Patent Citations (5)
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| KR20120051875A (en) * | 2010-11-15 | 2012-05-23 | 연세대학교 산학협력단 | Apparatus and method for monitoring a structure using motion capture method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113487726A (en) * | 2021-07-12 | 2021-10-08 | 北京未来天远科技开发有限公司 | Motion capture system and method |
| CN113487726B (en) * | 2021-07-12 | 2024-05-14 | 未来元宇数字科技(北京)有限公司 | Motion capture system and method |
| CN117058766A (en) * | 2023-09-11 | 2023-11-14 | 轻威科技(绍兴)有限公司 | Motion capture system and method based on active light stroboscopic effect |
| CN117058766B (en) * | 2023-09-11 | 2023-12-19 | 轻威科技(绍兴)有限公司 | Motion capture system and method based on active light stroboscopic effect |
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