CN113110746A - Light field scanning type optical-inertial combined motion capture system - Google Patents
Light field scanning type optical-inertial combined motion capture system Download PDFInfo
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- CN113110746A CN113110746A CN202110499532.4A CN202110499532A CN113110746A CN 113110746 A CN113110746 A CN 113110746A CN 202110499532 A CN202110499532 A CN 202110499532A CN 113110746 A CN113110746 A CN 113110746A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/20—Movements or behaviour, e.g. gesture recognition
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Abstract
The invention provides an optical field scanning type optical inertial motion combined capturing system which comprises a positioning base station, a laser position tracker, a dynamic capturing device, a local area network and a backpack computer, wherein the dynamic capturing device is worn on a captured object, the laser position tracker is bound on a joint position of the captured object, the laser position tracker is matched with the dynamic capturing device, the backpack computer is also worn on the captured object, the positioning base station is connected with the backpack computer through the local area network, the laser position tracker and the dynamic capturing device are also respectively connected with the backpack computer through the local area network, and client software is arranged in the backpack computer. The invention adopts a positioning method of optical and inertial complementation, can reduce the possibility of failure of motion capture caused by shielding, and increases the effective space positioning area.
Description
Technical Field
The invention belongs to the technical field of motion capture systems, and particularly relates to a light field scanning type optical-inertial combined motion capture system.
Background
The motion capture technology can realize the real-time conversion of the action performance of actors into the same action of a digital virtual human model, and is applied to the fields of animation, movies, games, sports training, medical monitoring, live webcasting and the like, so that the maturity of the technology and the accuracy of information data are widely agreed, and the technology is developed towards the upgrading direction with simpler operation and less limitation on the field, so as to meet higher market requirements.
The current action is caught and is had a plurality of node in use, and the gesture information of the different positions of the collection health of every node then passes to the host computer, and the host computer need distinguish data which node's data when showing. The existing calibration scheme is that each node is burned with different application programs during production, 10 programs are needed if 10 nodes exist, and the programs need to be distinguished on hardware, so that confusion and wrong program downloading are easily caused during production, the production efficiency is low, and the generation cost is high. When the user uses, also according to the word suggestion on the node, dress fixed node at fixed position, for example just can only dress head node at the head, not only inconvenient to use, if the user wears the mistake, still can lead to the data error, and then lead to the failure of motion capture.
The invention aims to provide the light field motion capture system which is simple to wear, simple to position and free of fixed capture point positions, so that a manufacturer does not need to distinguish nodes when producing the nodes, does not need to download different programs for different nodes, does not need to develop different molds, does not need to specially distinguish when storing, can greatly improve the production efficiency and reduce the production cost, does not need to distinguish the nodes when using, is not worn according to a specified position, has short wearing time and low learning cost, is friendly to users, has a good application prospect, and is convenient to popularize and implement.
Disclosure of Invention
In order to solve the technical problem, the invention provides an optical field scanning type optical inertial motion combined capturing system which is characterized by comprising a positioning base station, a laser position tracker, a dynamic capturing device, a local area network and a backpack computer, wherein the dynamic capturing device is worn on a captured object, the laser position tracker is bound on a joint position of the captured object, the laser position tracker is matched with the dynamic capturing device, the backpack computer is also worn on the captured object, the positioning base station is connected with the backpack computer through the local area network, the laser position tracker and the dynamic capturing device are also respectively connected with the backpack computer through the local area network, and client software is arranged in the backpack computer.
Preferably, the number of the positioning base stations is four, the four positioning base stations are respectively fixed at four corners of the positioning space, and the laser position tracker is matched to collect the optical positioning data of the captured object.
Preferably, the installation height of the positioning base station is 2.5 meters, the maximum side length of the positioning space is less than or equal to 6 meters, and the installation fixing points of the positioning base station include, but are not limited to, wall surfaces, tripods and suspended ceilings in the positioning space.
Preferably, the number of the laser position trackers is 10, and the laser position trackers are respectively bound to six important human body nodes of the head, the waist, the small arms, the ankles, the large arms and the hands of the capture object to collect optical positioning data of the capture object.
Preferably, the motion capture device includes an inertial sensor, and is configured to capture the postures of the waist and the legs of the capture object and calculate inertial motion capture data by its CPU.
Preferably, the local area network is composed of a bluetooth module, a Wifi module and a server, and is used for data transmission.
Preferably, the client software is capable of receiving data information from the laser position tracker, the dynamic capture device, on the one hand, and calibrating the laser position tracker, on the other hand.
Compared with the prior art, the invention has the beneficial effects that:
(1) according to the invention, an optical and inertial complementary positioning method is adopted, when the laser position tracker is shielded, attitude calculation can be assisted by the inertial sensor, the problem of optical positioning shielding in the multi-person collaborative somatosensory interaction process is solved, the possibility of action capture failure caused by shielding can be reduced by inputting and compensating laser and inertial attitude information, an effective space positioning area is increased, and in addition, compared with an infrared positioning technology, the laser positioning technology reduces the number of cameras required to be arranged in a positioning space and reduces labor and construction cost.
(2) The software of the invention is simple to install and operate, has an easy-to-operate user interface, can quickly finish the calibration of a field and a human body, has no requirement on the body shape of a moving and catching actor, automatically adapts to a skeleton model by one key, has long endurance time of a tracking point, and does not need to recalibrate when updating the marking point midway.
(3) The invention can be carried about, can be randomly replaced for use by a quick start system, is suitable for space positioning scenes with large fields, more people, higher motion capture precision and more sensitive cost, is provided with a limb motion capture system with high matching and practicability, greatly reduces the threshold for animation production, and transmits data with a game engine in real time in professional production activities, thereby avoiding the problem of back-and-forth importing and exporting of the data, and the simple and intuitive production mode can greatly improve the production efficiency of various animation production processes.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a schematic view of the laser position tracker of the present invention;
FIG. 3 is a schematic diagram of the gesture calibration in the client software according to the present invention.
In the figure: 1. a laser position tracker.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
example (b):
as shown in fig. 1, the optical field scanning type optical inertial navigation combination motion capture system comprises a positioning base station, a laser position tracker, a dynamic capture device, a local area network and a backpack computer, wherein the dynamic capture device is worn on a captured object, the laser position tracker is bound on a joint position of the captured object, the backpack computer is also worn on the captured object, the positioning base station is connected with the backpack computer through the local area network, the laser position tracker and the dynamic capture device are also respectively connected with the backpack computer through the local area network, and client software is arranged in the backpack computer.
Specifically, the number of the positioning base stations is four, the four positioning base stations are respectively fixed at four corners of the positioning space, the positioning space is scanned, and the laser position tracker is matched to realize the collection of the optical positioning data of the captured object by the laser position tracker, the installation height of the positioning base station is 2.5 meters, the maximum side length of the positioning space is less than or equal to 6 meters, the installation fixing points of the positioning base station include but are not limited to a wall surface, a tripod and a suspended ceiling in a positioning space, the positioning base station is suitable for the positioning space with larger field, more people, higher motion capture precision and more sensitive cost, a limb motion capture system with self matching and high practicability greatly reduces the threshold for making animation, in professional production activities, the game engine transmits data in real time, so that the problem of back-and-forth importing and exporting of data is avoided, the simple and visual production mode can greatly improve the production efficiency of various animation production flows.
Specifically, as shown in fig. 2, the number of the laser position trackers is 10, and the laser position trackers are respectively bound to six important human body nodes of the head, the waist, the forearm, the ankle, the big arm and the hand of the capture object to collect optical positioning data of the capture object.
Specifically, the motion capture device is provided with an inertial sensor therein, and is capable of capturing the postures of the waist and the legs of the capture object and calculating inertial motion capture data by using a CPU of the motion capture device.
Specifically, the local area network is composed of a bluetooth module, a Wifi module and a server and is used for data transmission.
Specifically, on one hand, a laser transmitter transmits a synchronous signal to detect whether a laser position tracker can receive the laser signal, if the equipment runs normally, the laser position tracker can receive the laser signal and transmit position data information to client software in real time, on the other hand, calibration of the laser position tracker is completed, three-dimensional acceleration, angular velocity and magnetic field data of key nodes of a capture object are collected, the angle information calculated by a micro CPU of an inertial sensor is combined and transmitted to the client software through a Wi-Fi module, and finally, the client software calculates the collected key node data through an IK algorithm to obtain the whole body posture of the capture object and displays the whole body posture in an application program.
The working principle is as follows: as shown in fig. 3, the client software in the backpack computer is started, a calibration command is called, and at this time, the capture object maintains a calibration posture, wherein the calibration posture is that the two arms are lifted forwards and straightened straightly, the two feet are parallel to the tiptoes and are forward, and the posture calibration is completed by clicking a forward calibration button of the two hands in the detail panel; at the moment, the two hands of the capture object are lifted horizontally, the two feet are parallel, the tiptoes face forwards, and the two-hand side-lifting button is clicked to finish posture calibration;
then, a synchronous signal is emitted through a laser emitter, whether a laser position tracker can receive a laser signal is detected, if the equipment runs normally, a laser position tracker worn by a capture object sends coordinate information corresponding to optical positioning data to a backpack computer of the capture object through a Bluetooth module after receiving the laser signal, meanwhile, an inertial sensor in dynamic capture equipment worn by the capture object utilizes a CPU of the inertial sensor to calculate inertial motion capture data, the inertial motion capture data are transmitted to the backpack computer through a Wi-Fi module, when the laser position tracker is shielded, the attitude calculation is assisted by the inertial sensor, for example, when leg motion of the capture object, the leg position of the object is detected through the laser position tracker, and when the laser position tracker and the inertial sensor fall down and lift up, the optical positioning data and the inertial motion capture data are respectively collected through the laser position tracker and the inertial sensor, and finally, the client software resolves the acquired key node data of the capture object through an IK algorithm of the client software to obtain the whole body posture of the capture object, and displays the whole body posture in an application program.
The technical solutions of the present invention or similar technical solutions designed by those skilled in the art based on the teachings of the technical solutions of the present invention are all within the scope of the present invention.
Claims (7)
1. The utility model provides an optical field scanning formula light is used to combine motion capture system, its characterized in that, includes location basic station, laser position tracker, dynamic capture equipment, LAN, knapsack computer, dynamic capture equipment is dressed on one's body the seizure object, laser position tracker binds on the joint position of seizure object, laser position tracker and dynamic capture equipment cooperation, the knapsack computer is also dressed on one's body the seizure object, the location basic station passes through the LAN and is connected with the knapsack computer, laser position tracker, dynamic capture equipment also pass through LAN and knapsack computer connection respectively, the inside client software that is provided with of knapsack computer.
2. The light field scanning type optical-inertial combined motion capture system according to claim 1, wherein the number of the positioning base stations is four, and the four positioning base stations are respectively fixed at four corners of the positioning space and cooperate with the laser position tracker to realize collection of optical positioning data of a captured object by the laser position tracker.
3. The light field scanning type optical inertial motion capture system as claimed in claim 2, wherein the installation height of the positioning base station is 2.5 m, the maximum side length of the positioning space is less than or equal to 6 m, and the fixed points of the positioning base station include, but are not limited to, wall surfaces, tripods and ceilings in the positioning space.
4. The light field scanning type optical inertial motion capture system according to claim 1, wherein the number of the laser position trackers is 10, and the laser position trackers are respectively bound to six important body nodes of the head, waist, small arm, ankle, large arm and hand of the captured object to acquire optical positioning data of the captured object.
5. The light field scanning type optical inertial motion capture system according to claim 1, wherein the motion capture device is built in with inertial sensors, and is capable of capturing the postures of the waist and legs of the capture object and calculating inertial motion capture data by its CPU.
6. The system of claim 1, wherein the local area network comprises a bluetooth module, a Wifi module, and a server for data transmission.
7. The light field scanning optical inertial navigation combination motion capture system of claim 1, wherein the client software is capable of receiving data information from the laser position tracker and the motion capture device, and calibrating the laser position tracker.
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| CN202110499532.4A CN113110746A (en) | 2021-05-08 | 2021-05-08 | Light field scanning type optical-inertial combined motion capture system |
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| CN202110499532.4A CN113110746A (en) | 2021-05-08 | 2021-05-08 | Light field scanning type optical-inertial combined motion capture system |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170046865A1 (en) * | 2015-08-14 | 2017-02-16 | Lucasfilm Entertainment Company Ltd. | Animation motion capture using three-dimensional scanner data |
| CN111796670A (en) * | 2020-05-19 | 2020-10-20 | 北京北建大科技有限公司 | Large-space multi-person virtual reality interaction system and method |
| CN112256125A (en) * | 2020-10-19 | 2021-01-22 | 中国电子科技集团公司第二十八研究所 | Laser-based large-space positioning and optical-inertial-energy complementary motion capture system and method |
| CN112381925A (en) * | 2020-11-13 | 2021-02-19 | 广州引力波科技创新发展有限公司 | Whole body tracking and positioning method and system based on laser coding |
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- 2021-05-08 CN CN202110499532.4A patent/CN113110746A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170046865A1 (en) * | 2015-08-14 | 2017-02-16 | Lucasfilm Entertainment Company Ltd. | Animation motion capture using three-dimensional scanner data |
| CN111796670A (en) * | 2020-05-19 | 2020-10-20 | 北京北建大科技有限公司 | Large-space multi-person virtual reality interaction system and method |
| CN112256125A (en) * | 2020-10-19 | 2021-01-22 | 中国电子科技集团公司第二十八研究所 | Laser-based large-space positioning and optical-inertial-energy complementary motion capture system and method |
| CN112381925A (en) * | 2020-11-13 | 2021-02-19 | 广州引力波科技创新发展有限公司 | Whole body tracking and positioning method and system based on laser coding |
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