CN1617174A - Human limb three-dimensional model building method based on image cutline - Google Patents
Human limb three-dimensional model building method based on image cutline Download PDFInfo
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Abstract
The 3D human limb model building method based on image outline adopts rotating conic curved surface, and has joint points and line segments connecting the joint points to constitute skeleton layer to represent the human limb skeleton structure and rotating conic curved surface to represent the skin layer, with human limb skin deformation being reflected in two deforming parameters. Human limb edge contour information is first extracted from human limb image sequence obtained with binocular stereo vision system, the limb contours of the right and left images in different times are fitted with 2D conic curve, the deformation parameters of 2D conic curve equation are found out, corresponding 3D conic curve equation is found out and made to rotate around the skeleton line to find out the 3D rotating conic curved surface equation, and three spherical bodies and two rotating conic curved surfaces are adopted to draw human limb model. The method is simple and easy to realize.
Description
Technical field
The present invention relates to a kind of human limb three-dimensional model building based on image outline, be used for the perception interface, application such as motion analysis and virtual reality all has actual application value at aspects such as medical image, biomedicine, gesture identification, video conference, video-game, news broadcast automatically, film making, material deformation, image compression.Belong to computer vision and field of Computer Graphics.
Background technology
The research object in motion analysis field mainly is divided into rigid objects, connects rigid body and non-rigid object etc.Study on Kinematic Analysis in the computer vision all mainly concentrates on the research to rigid motion, and scholars have obtained a series of achievement, and has set up comparatively perfect theoretical frame, still, is non-rigid motion mostly in real world.Human body belongs to non-rigid body.
In more than ten years in the past, deformable people's volume modeling has been obtained some achievements.Nahas etc. have used B-spline surface to represent the motion of the softness of the person and face.Petland etc. have introduced a kind of based on the finite element analysis method model.Terzopoulos etc. have introduced deformable hyperquadric model that the isolated degree of freedom of the global shape parameter that is expressed as a super ellipsoid form and batten form combines.Three kinds of basic softwares of uses such as Min come human upper limb and the shoulder muscle modeling to different shape, and a some primitive produces an ellipsoid, and one group of line segment that connects produces a right cylinder, and a triangle gridding produces the shape of a complexity.Sminchisescu etc. have proposed a kind of manikin, and it is made of motion skeleton and muscle, and the skeleton that the node of connection constitutes is by the angle parameter control of node, and have covered and comprise the muscle that the auxiliary super cylindrical elliptic surface that is tapered with bending parameters constitutes.Model comprises 30 node parameters and 8 internal ratio parameters, and each limbs comprises 9 deformation parameters again.Plankers etc. are attached to a kind of implicit surface that calls first ball or software on the connection skeleton of human body and according to anatomical degree of approximation and arrange these yuan ball.This manikin has used 230 first balls altogether, and uses the B-spline surface sheet to carry out covering.Can also carry out people's volume modeling with various implicit surfaces such as blobby molecule, software, convolution curved surfaces.But these methods all adopt comparatively complicated non-rigid motion model, and controlled variable is more, can not well satisfy the evaluation criterion of contour representation: i.e. Biao Shi terseness and be suitable for the calculating of post-processing stages.So these models are lacking practicality aspect the expression human body contour outline.
Summary of the invention
The objective of the invention is to represent the too much deficiency of parameter of skin deformation at existing human 3d model, a kind of human limb three-dimensional model building based on image outline is proposed, only need to adjust two deformation parameters and just can reflect the distortion of people's limb skin, reduce the calculated amount of motion analysis, be suitable for the modeling that various elasticity connect rigid body.
For realizing such purpose, in the technical scheme of the present invention, adopt revolving conic surface to set up the human limb three-dimensional model, the model of proposition is divided into two-layer: casing play and skin layer, casing play has been represented the skeleton structure of people's limbs, is made up of with the line segment that is connected these articulation points articulation point; Skin layer represents that with a kind of revolving conic surface each limbs only need be adjusted two deformation parameters just can reflect the distortion of people's limb skin.At first use the binocular tri-dimensional vision system to take the image sequence that people's limbs are posed, in the binocular image sequence, adopt image Segmentation Technology to detect the profile information of people's limbs on each image, adopt curve fitting technique with each limbs edge contour on new two-dimentional each image of circular cone curve fitting, obtain the coefficient and the deformation parameter of each two-dimentional equation of conic section of representing each limbs profile.Adopt conic section stereoscopic vision method to obtain corresponding space three-dimensional equation of conic section then according to the two-dimentional equation of conic section of each moment left and right sides plane of delineation, obtain space three-dimensional revolving conic surface equation by the space three-dimensional conic section around each limbs skeleton straight line rotation, adopt three spherosomes and two revolving conic surfaces to draw people's limbs model at last.
Modeling method of the present invention specifically comprises following step:
1. adopt image Segmentation Technology to detect the edge contour information of people's limbs on image
Adopt the binocular tri-dimensional vision system that people's limbs are posed and take, obtain an image sequence, adopt the image Segmentation Technology detection then and obtain the edge contour information of people's limbs on each moment left and right sides image.
2. the profile of each limbs on two-dimentional each image of circular cone curve fitting
Each edge contour of each limbs on image of left and right sides constantly that the present invention adopts that curve fitting technique obtains with a kind of new two-dimentional circular cone curve fitting step 1, extract each pixel coordinate of two terminal A of the match limbs outline line of wanting, B and be transformed into planimetric coordinates on image on the image of the left and right sides constantly, 1 C of setting space above the straight line that two-end-point forms is according to determining through some A, B and the two-dimentional conic section tangent with straight line AC, BC through three straight-line equations of 3 of A, B, C; Obtain the deformation parameter ρ that represents the two-dimentional equation of conic section of each limbs profile on each moment left and right sides image according to all the pixel coordinate figures on the want match outline line thus.
3. obtain each equation of the space three-dimensional conic section of left and right sides image two dimension conic section correspondence constantly
Obtain the corresponding relation of two dimensional surface coordinate and world coordinate system 3 d space coordinate on the left and right cameras image by the camera calibration technology.The planar equation of conic section that each that obtains according to step 2 simulates on left and right camera review is constantly obtained corresponding space three-dimensional equation of conic section.
4. extract the human skeleton three dimensional local information
Adopt the Medial-Axis Transformation method to obtain the axis of each limbs on each moment left and right sides plane of delineation according to edge contour information, the two-dimensional framework positional information of this axis as people's limbs on each plane of delineation.And obtain each spatial three-dimensional position of skeleton constantly by the corresponding relation of two dimensional surface coordinate and 3 d space coordinate on the image of the left and right sides.
5. obtain three-dimensional rotation conical surface equation
The three-dimensional conic section that step 3 is obtained rotates around the skeleton straight line that step 4 obtains, and obtains the three-dimensional rotation conical surface equation that each represents upper limb body and lower limb body skin constantly.Each revolving conic surface is represented a limb skin.
6. modeling rendering
The present invention uses the OpenGL program to adopt parallel projection methods to draw the three-dimensional people's limbs model that obtains, adopt three spherosomes to represent j1, j2, three articulation points of j3, the curved surface that two revolving conic surface equations that employing is tried to achieve are drawn out is represented upper limb body and lower limb body skin, connects these three spherosomes and two curved surfaces formation people limbs models.
The inventive method is simple, realizes easily.The model of setting up has used the distortion that considerably less parameter just can representative's limb skin, and each limbs is two deformation parameters of need only, have the ability that high-level description and prediction are blocked.The inventive method is suitable for the modelling that many elasticity connect rigid body.Experiment is adopted cheaply, the easy-on video frequency pick-up head comes image data, does not need optional equipment, represents the revolving conic surface equation and the derivation algorithm of skin deformation simple, greatly reduces the computational complexity of motion analysis.
Description of drawings
The conic section that Fig. 1 adopts for the present invention.
Among Fig. 1, A, B, C are three summits, determine equation of conic section by these three apex coordinates.
Fig. 2 is the skeleton structure of arm.
Among Fig. 2, j1, j2, j3 are articulation points, and the line segment that connects these articulation points is represented two limbs of arm: upper limb body and lower limb body.
Fig. 3 is that revolving conic surface of the present invention constitutes synoptic diagram.
Among Fig. 3, L is the line segment of representative's limbs skeleton, and S is a conic section, and S is around the L formation revolving conic surface that rotates a circle.P
0Be on the line segment L a bit, e is the direction vector of line segment L, P be on the revolving conic surface more arbitrarily, cross the P point and do the plane vertical with line segment L, the intersection point of this plane and conic section S is P
S, the intersection point of this plane and line segment L is O, A, B are two end points of conic section S, A
L, B
LBe two end points of line segment L.
Fig. 4 is the experimental result that the present invention is based on the image outline modeling.
Among Fig. 4, first row is the image sequence that left side camera is taken, and second row is the rim detection corresponding with the first row image and the result of curve fitting, and the third line is the three-dimensional model expression corresponding to the reflection limb motion of first row, second row and skin deformation.
Embodiment
In order to understand technical scheme of the present invention better, be described in further detail below in conjunction with drawings and Examples.Embodiment specifically carries out the description of people's limbs modeling process at accompanying drawing 4 left sides first width of cloth image (first moment left side camera is taken).
1. at first adopt the binocular tri-dimensional vision system that people's limbs are posed and take, obtain an image sequence, Fig. 4 first row is the right arm posture image sequence that left side camera is taken.Adopt image Segmentation Technology (as the prewitt boundary operator) to detect the edge contour information of arm on each image then, obtain and the corresponding edge detection results of the first row image, shown in Fig. 4 the 2nd row.
2. adopt the edge contour of curve fitting technique with each limbs on new two-dimentional each image of circular cone curve fitting.As Fig. 4 the 2nd row, extract two end points pixel coordinate A (357,248) of the match upper limb body profile of wanting, B (485,175), the transformation for mula of obtaining image pixel coordinate and planimetric coordinates by the camera calibration technology is:
Obtain terminal A, the B planimetric coordinates A (0.1353 ,-0.4439) on image, B (0.9655 ,-1.0498) by above-mentioned formula.1 C of setting space (0.1838 ,-0.9064) above straight line that terminal A, B form, as shown in Figure 1.Straight-line equation through 3 A, B, C is respectively:
Straight line AC:a
0+ a
1X+a
2Y=1+2.2645x+1.5625y=0
Straight line BC:b0+b
1X+b
2Y=1+0.2102x+1.1459y=0
Straight line AB:u
0+ u
1X+u
2Y=1+1.0618x+1.9291y=0
Determine according to these three straight lines to be through some A, B and with the tangent two-dimentional conic section implicit function expression formula of straight line AC, BC: C (x, y)=(a
0+ a
1X+a
2Y) (b
0+ b
1X+b
2Y)-ρ (u
0+ u
1X+u
2Y)=(1+2.2645x+1.5625y) (1+0.2102x+1.1459y)-ρ (1+1.0618x+1.9291y)=0
Also can be expressed as:
Extract pixel all on the edge wheel profile (n point altogether), the two dimensional surface coordinate of these pixels is: (x
i, y
i), i=1～n.These coordinate figures are brought into equation
Solve deformation parameter ρ=81.2541 by the minimum value of asking F, ρ is brought into two-dimentional circular cone curve representation formula can be drawn
Adopting uses the same method can obtain the matrix of coefficients Q of the two-dimentional conic section that camera review plane, right side upper limb body edge contour simulates
2, wherein comprise another deformation parameter ρ
2=-41.3898.Two deformation parameters of this that obtain have just been represented the distortion of the skin that upper limb body carves at this moment.
3, obtain by the camera calibration technology that the corresponding relation of two dimensional surface coordinate and world coordinate system 3 d space coordinate is on the left and right cameras image:
(x wherein
1, y
1) be two dimensional surface coordinate on the left side camera image, (x
2, y
2) be two dimensional surface coordinate on the camera review of right side, (x
S, y
S, z
S) be 3 d space coordinate, X
S=[x
S, y
S, z
S, 1], M
1, M
2Be transformation matrix.
The space three-dimensional equation of conic section that adopts conic section stereoscopic vision method to obtain two-dimentional conic section correspondence on the plane of delineation of the left and right sides is:
4, extract the human skeleton positional information.As Fig. 2, people's limbs skeleton pattern comprises articulation point j1, j2, j3 and is connected the line segment of these articulation points (upper limb body, lower limb body).Adopt the Medial-Axis Transformation method to obtain the axis of each limbs on the plane of delineation according to the above-mentioned edge contour information that obtains, the two-dimensional framework positional information of this axis as people's limbs on the plane of delineation.The two-dimensional pixel coordinate of trying to achieve left-side images upper skeleton end points is A
L1(373.5,291), B
L1(526.5,203.5), the two-dimensional pixel coordinate that can obtain image right upper skeleton end points that uses the same method is A
L2, B
L2, obtain the 3 d space coordinate A of skeleton end points by the corresponding relation of two dimensional surface coordinate and 3 d space coordinate on the image of the left and right sides according to these skeleton end points pixel coordinates
L(x
LA, y
LA, z
LA)=(0.7068 ,-7.2931,851.0531), B
L(x
LB, y
LB, z
LB)=(123.4897 ,-73.4863,799.7127), as Fig. 3.Just can get the spatial three-dimensional position information of skeleton, the direction vector of skeleton be e (m, n, p), m=x wherein
LB-x
LA=122.7829, n=y
LB-y
LA=-66.1932, p=z
LB-z
LA=-51.3404.
5, obtain three-dimensional rotation conical surface equation.As Fig. 3, obtain three-dimensional rotation conical surface equation by three-dimensional conic section around skeleton straight line rotation and be:
Wherein
Adopting uses the same method can try to achieve the revolving conic surface equation of representing lower limb body skin.
6, modeling rendering.As Fig. 4 the 3rd row, use the OpenGL program to adopt parallel projection methods to draw the three-dimensional right arm model that obtains, use three radiuses to be respectively 45,42,30 spherosome and represent j1, j2, three articulation points of j3, the curved surface that two revolving conic surface equations that employing is tried to achieve are drawn out is represented upper limb body and lower limb body skin, connects these three spherosomes and two curved surfaces formation people limbs models.
Claims (1)
1, a kind of human limb three-dimensional model building based on image outline is characterized in that comprising following concrete steps:
1) adopts the binocular tri-dimensional vision system that people's limbs are posed and take, obtain an image sequence, adopt the image Segmentation Technology detection then and obtain the edge contour information of people's limbs on each moment left and right sides image;
2) extract each pixel coordinate of two terminal A of the match limbs outline line of wanting, B and be transformed into planimetric coordinates on image on the image of the left and right sides constantly, 1 C of setting space above the straight line that two-end-point forms is according to determining through some A, B and the two-dimentional conic section tangent with straight line AC, BC through three straight-line equations of 3 of A, B, C; Obtain the deformation parameter of representing the two-dimentional equation of conic section of each limbs profile on each moment left and right sides image according to all the pixel coordinate figures on the want match outline line thus;
3) obtain the corresponding relation of two dimensional surface coordinate and 3 d space coordinate on the left and right cameras image by the camera calibration technology, each that obtains according to curve fitting left and right sides plane of delineation two dimension equation of conic section constantly obtained corresponding space three-dimensional equation of conic section;
4) adopt the Medial-Axis Transformation method to obtain the axis of each limbs on each moment left and right sides plane of delineation according to edge contour information, the two-dimensional framework positional information of this axis, and obtain each three-dimensional space position of skeleton constantly by the corresponding relation of left and right sides image two dimensional surface coordinate and 3 d space coordinate as people's limbs on the plane of delineation;
5) the three-dimensional conic section that step 3 is obtained obtains the three-dimensional rotation conical surface equation that each represents upper limb body and lower limb body skin constantly around the skeleton straight line rotation that step 4 obtains, and each revolving conic surface is represented a limb skin;
6) use the OpenGL program to adopt parallel projection methods to draw the three-dimensional people's limbs model that obtains, adopt three spherosomes to represent three articulation points, the curved surface that two revolving conic surface equations that employing is tried to achieve are drawn out is represented upper limb body and lower limb body skin, connects these three spherosomes and two curved surfaces formation people limbs models.
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