CN1967525A - Extraction method of key frame of 3d human motion data - Google Patents

Abstract

The invention discloses an automatic key frame extraction method of the human sport data. On the data representation, it uses the separation angle of the human limbs bones and central bones as the sports characterization, and tokens the three-dimensional human sport data. Then, it makes the possible existing ''border'' posture to be a candidate key frame set when determining the movement according to the sport track of the angle between bones. Finally, it selects the candidate key frame to get the final key frame set by layered curve reduced algorithm. Meanwhile, the invention also proposed an adaptive mistake parameter adjustment method to meet the requirements of different compression rate. The method has good effects of key frame extraction and compression to human sport data, and guarantees the consistency in the similar sport key frame set to some extent.

Description

Extraction method of key frame of 3 d human motion data

Technical field

The present invention relates to computer three-dimensional animation technology and multi-medium data process field, relate in particular to a kind of extraction method of key frame of 3 d human motion data.

Background technology

Along with being extensive use of of capturing movement equipment, generate a large amount of realistic 3 d human motion datas in recent years, these data are widely used in computer game, animation generates and a plurality of fields such as medical science emulation.Because human motion is to be hunted down with higher sample frequency, store, retrieve, browse and motion editing further for the ease of the compression of a large amount of 3 d human motion datas, it is very useful that exercise data is carried out the extraction of key (posture) frame.

Key-frame extraction is a kind of technology that is widely used in video analysis and searching field, as reaching based on video key frame extracting methods such as clusters based on shot boundary, color characteristic, motion analysis.Different with the key frame in the two-dimentional sequential video data, in human body movement data, key frame refers to represent the three-dimensional framework data of motion sequence.Existing human body movement data extraction method of key frame mainly is divided into two big classes: equal interval sampling and adaptively sampled.Equal interval sampling at the slow part over-sampling of motion, causes data redundancy easily; Owe sampling in the fierce part of motion, lose the motion details.Adaptively sampled this problem that just in time solved.(Computer Vision and ImageUnderstanding in " computer vision and image understanding " magazine second phase in 2003,2003,92 (2-3): 265-284) announced that a kind of extraction method of key frame based on cluster is adaptively sampled to realize: N frame exercise data cluster trooped to K close, get first frame in each set as key frame." computer-aided design (CAD) and graphics journal " (2004,16 (5): 719-732) method of Gong Buing as frame pitch, is determined key frame by comparing the frame pitch situation of change frame by frame with rotation change total on each joint of human body in the fifth phase in 2004.(In Proceedings of 23 in the IEEE Med Biol Eng calendar year 2001 meeting collection of thesis ^RdAnnual International Conference ofthe IEEE Engineering in Medicine and Biology Society (EMBC), 2001,2:1167-1169) method of Gong Buing with each frame of original human body movement data regard as in the higher dimensional space a bit, by connecting the data point in the whole segment data according to the order of sequence, original motion is considered as one section curve in the higher dimensional space, adopts the curve shortcut calculation to extract key frame then.These self adaptation key frame extracting method are mainly paid close attention to two aspects, and the one, the expression of motion feature, the 2nd, how extraction method of key frame is carried out quantitative analysis.

For motion capture data is handled, existing multiple motion feature method for expressing is suggested: as (Computer Vision and Image Understanding in " computer vision and image understanding " magazine second phase in 2003,2003,92 (2-3): 265-284) method of announcing adopts the stratification campaign to describe, and people's articulation point is divided into five layers of expression; " american computer association computer graphical special interest group ' 02 year meeting paper collection " (ACM SIGGRAPH ' 02 ConferenceProceedings, pp.491-500) announced a kind of two-layer motion feature method for expressing, bottom Markov model expressive movement feature, the capture movement details, high level is the conclusion of exercise data, characterizes the distribution and the conversion of frame.These two kinds of motion feature method for expressing are concluded the original motion data, but represented motion physical features is not obvious." visual communication and graphical representation journal " be (Journal of Visual Communication and Image Representation in the third phase in 2004,2004,15 (3): 446-466) feature extracted of publish method is the orientation information that human skeleton comprises nine main bone sections and root joint.This expression mode has reduced the dimension of motion feature, but because every section bone all adopts two parametric representations, is unfavorable for human skeleton each several part posture is observed." american computer association graphics journal " (ACMTransactions on Graphics 2005,24 (3): 677-685) method of Gong Buing is represented human motion according to the geometric properties that the relation of the space geometry between the human synovial sums up 31 kinds of human motions in the third phase in 2005.Though this motion feature method for expressing can be expressed the physical features of motion well, characteristic type is too much, and calculated amount is big.

For extraction method of key frame is carried out quantitative analysis, some scholars propose error rate and ratio of compression etc. and quantize index: as computer vision and image understanding " magazine (Computer Vision and Image Understanding in the second phase in 2003,2003,92 (2-3): 265-284) method of announcing needs a threshold decision present frame whether to belong to existing cluster; " computer-aided design (CAD) and graphics journal " (2004,16 (5): 719-732) whether the method for Gong Buing determines greater than a certain threshold value whether present frame is key frame by the distance of judging last frame in the set of present frame and key frame in the fifth phase in 2004; (In Proceedings of 23 in the IEEE Med Biol Eng calendar year 2001 meeting collection of thesis ^RdAnnual International Conferenceof the IEEE Engineering in Medicine and Biology Society (EMBC), 2001,2:1167-1169) method of announcing adopts curve to simplify and extracts key frame, the condition that needs the step-up error parameter to approach as curve.Above error (threshold value) parameter has embodied the error requirements of these algorithms, and the user need be provided with algorithm parameter to obtain different compressing original data ratios according to different errors.Yet, because the different motion sequence makes not have absolute one-to-one relationship between error requirements and the ratio of compression in the difference of aspects such as movement velocity and sports style.Like this, for the user who only pays close attention to number of key frames (ratio of compression), if adopt above-mentioned key-frame extraction algorithm to extract key frame, the different error requirements that need make repeated attempts is to satisfy own needs, and this process is quite consuming time.

Summary of the invention

The present invention overcomes above-mentioned existing method operation efficiency and the not high shortcoming of degree of accuracy, and a kind of efficient, automatic three-dimensional human body movement data extraction method of key frame is provided.

Extraction method of key frame of 3 d human motion data may further comprise the steps:

(1) at first adopts the character representation of bone angle as the 3 d human motion data sequence;

(2), from the 3 d human motion data sequence, extract the set of candidate's key frame based on bone angle feature;

(3) bone angle characteristic sequence, the set of candidate's key frame and the error parameter with 3 d human motion data is input, adopts the layered curve simplification algorithm to extract final key frame set;

(4) the actual number of key frames of returning based on the number of key frames and the layered curve simplification algorithm of user input, the error parameter adaptive regulation method can constantly feed back correct error parameter, so that obtain the final key frame quantity that satisfies customer requirements.

Described employing bone angle as the character representation of 3 d human motion data sequence be eight sections bones with four limbs part in the human skeleton as the character representation object, extract these eight sections bones and the middle cardiac skeleton formed by root joint and chest joint between angle as motion feature.The definition phase bone Serve as reasons and be positioned at human skeleton higher level joint N in this section bone _iPoint to lower level joint N _jVector, that is: ${\stackrel{\→}{B}}^{\left(k\right)}=\stackrel{\→}{N_i{N}_j}=({\stackrel{\→}{p}}^{\left(j\right)}-{\stackrel{\→}{p}}^{\left(i\right)}),$ Wherein, Be joint N _iAnd N _jCoordinate in three dimensions.Therefore, at given frame moment i, the formula of any section appendicular skeleton and middle cardiac skeleton angle is calculated as:

${\mathrm{\θ}}_i^k={\cos }^{-1}\left(\frac{{\stackrel{\‾}{B}}_i^k\·{\stackrel{\‾}{B}}_i^{\left(\mathrm{center}\right)}}{\left|{\stackrel{\‾}{B}}_i^k\right|\left|{\stackrel{\‾}{B}}_i^{\left(\mathrm{center}\right)}\right|}\right),k=1,...,8$

Wherein, Cardiac skeleton in the expression, the span of θ are [0, π].Like this, for arbitrary frame moment i, adopt above-mentioned motion feature representation, the human posture can be expressed as eight tuples: $F_i=({\mathrm{\θ}}_i^{\left(1\right)},...,{\mathrm{\θ}}_i^{\left(8\right)}),$ Realize that not only original motion catches the higher-dimension dimensionality reduction of data, and effectively reflected the physical meaning of motion.

Described based on bone angle feature from the 3 d human motion data sequence, extract candidate's key frame set be meant in the human skeleton four limbs its separately the variable angle situation of two sections bones and middle cardiac skeleton reflected the motion conditions of these limbs jointly, comprehensive all appendicular skeleton variable angle situations of human body, get the union of their extreme value place frame, can obtain the set of candidate's key frame.

Described layered curve simplification algorithm extracts final key frame set and is meant a given ordered data collection M, M={F _i| i=1 ..., N}, $F_i=(x_i^{\left(1\right)},...,x_i^{\left(m\right)}),$ Connect all data points among the M according to the order of sequence, form the curve in the m-dimensional space; Ask the proper subclass K approximating curve M of the M that satisfies certain error requirements, simultaneously, the element among the K should belong to set C:C  M and F as much as possible ₁, F _N∈ C.In order to address this problem, M is represented with a two-layer data structure: ground floor (lower floor) is M, and the second layer (upper strata) is the proper subclass C of M.At first, fail to satisfy error requirements, drop to lower floor's utilization individual layer curve shortcut calculation if simplify the result at upper strata utilization individual layer curve shortcut calculation, and a split point that obtains joins in the upper strata, continuation is carried out curve and is simplified on the upper strata, so repeatedly, and up to trying to achieve the set K that satisfies condition.In this method, two array c_num and pair are used respectively.Element position rank order is from small to large pressed in the position of element in M among the array c_num set of records ends C.Whether element belongs to set K among the data pair mark M: if do not belong to, value is 0; If belong to, value is pointed to the position of next element in M among the K.In individual layer curve shortcut calculation, i element arrives by n among the set of computations M ₁Individual element and n ₂Individual element (n ₁＜i＜n ₂) bee-line of the straight line that is linked to be, can obtain by following formula:

$d_i=\sqrt{\underset{k=1}{\overset{m}{\mathrm{\Σ}}}{(x_i^{\left(k\right)}-x_{n_1}^{\left(k\right)})}^2-\frac{{\left(\underset{k=1}{\overset{m}{\mathrm{\Σ}}}(x_{n_2}^{\left(k\right)}-x_{n_1}^{\left(k\right)})(x_i^{\left(k\right)}-x_{n_1}^{\left(k\right)})\right)}^2}{\underset{k=1}{\overset{m}{\mathrm{\Σ}}}{x}_{n_2}^{\left(k\right)}-x_{n_1}^{\left(k\right)}{)}^2}}$

The layered curve simplification algorithm steps is as follows:

Input: data set M, M={F _i| i=1 ..., N}, $F_i=(x_i^{\left(1\right)},...,x_i^{\left(m\right)});$ Set C:C  M and F ₁, F _N∈ C; Error parameter

Output: array kfSet, kfSet={i|F _i∈ M﹠amp; F _i∈ K, i=1 ..., N};

Step 1: initialization, n is the element number of set C, c_num={i|F _i∈ M﹠amp; F _i∈ C, 1≤i≤N}, pair (1)=N, pair (N)=1, trackMark=1, mark when pre-treatment to C in positions of elements, lastMark=0, positions of elements among the C that handles of mark last time;

Step 2: if pair (trackMark)=1, change step 5, otherwise the subclass subSet={c_num (i) among the set of computations C between element trackMark and pair (trackMark) | trackMark＜c_num (i)＜pair (trackMark), 1≤i≤n}, if subSet length is greater than 0, change step 3, otherwise, step 4 changeed;

Step 3: the upper strata curve is simplified

(1) by formula (1) calculates among the subSet every bit to straight line | F _{Pair (trackMark)}F _TrackMark| distance, note ultimate range is max_dist, its corresponding element is max_ind;

(2) calculate ratio=max_dist/ ‖ F _{Pair (trackMark)}-F _TrackMark‖ is if ratio＞δ makes pair (max_ind)=pair (trackMark), pair (trackMark)=max_ind, otherwise trackMark=pair (trackMark);

(3) change step 2;

Step 4: lower floor's curve is simplified

(1) makes subSet=[trackMark:pair (trackMark)];

(2) by formula (1) calculates among the subSet every bit to straight line | F _{Pair (trackMark)}F _TrackMark| distance, note ultimate range is max_dist, its corresponding element is max_ind;

(3) calculate ratio=max_dist/ ‖ F _{Pair (trackMark)}-F _TrackMark‖, if ratio＞δ, C=C ∪ { F _{Max_ind}, replacement c_num and n make pair (max_ind)=pair (trackMark), and pair (trackMark)=max_ind changes step 2, otherwise trackMark=pair (trackMark);

(4) change step 2;

Step 5:kfSet={i|pair (i) ≠ 0,1≤i≤N}.

Described error parameter adaptive regulation method is meant the differential attitude regulating error parameter δ according to the actual value of number of key frames and desired value.If the actual value of number of key frames is greater than desired value, δ increases, and the increase ratio is δ _ inc (δ _ inc ∈ (0,1)); If the actual value of number of key frames is less than desired value, δ reduces, and reducing ratio is δ _ dec (δ _ dec ∈ (0,1)).Further, the gradient d δ of δ (d δ ∈ { δ _ inc, δ _ des}, d δ ∈ (0,1)) is adopted the summary plan of dynamic adjustments.If the number of key frames currency then increases d δ in the same side of desired value (variation of δ in the same way) in the double circulation, to accelerate δ to equidirectional variation; Otherwise, promptly be that the actual value of number of key frames is vibrated at desired value left and right sides neighborhood, should reduce d δ this moment, with the amplitude that reduces to vibrate.The increase and decrease function of d δ is respectively: $f_{\mathrm{inc}}\left(\mathrm{d\δ}\right)=\sqrt{1-{(\mathrm{d\δ}-1)}^2},f_{\mathrm{dec}}\left(\mathrm{d\δ}\right)=1-\sqrt{1-{\mathrm{d\δ}}^2}.$ In addition, be the given max-thresholds epoch of the number of oscillation, with its condition as loop ends in the algorithm.

Extraction method of key frame of 3 d human motion data of the present invention has following characteristics:

1. this method computation complexity is lower, under the condition of given long-time 3 d human motion sequence, can high efficiency extraction goes out to satisfy the key frame of 3 d human motion data set of customer requirements.

2. this method automaticity height, given one section 3 d human motion data sequence, the user only need specify required extraction quantity of key frames, can obtain final key frame set, and input parameter is directly perceived, and has avoided importing the problem of a large amount of abstract calculating parameters.

3. this method can be regulated and calculate error parameter automatically according to the number of key frames of actual 3 d human motion data sequence and user's appointment, realizes the automatic adjustment of parameter.

Description of drawings

Fig. 1 is a human skeleton illustraton of model of the present invention;

Fig. 2 is candidate's key frame choosing method synoptic diagram of the present invention;

Fig. 3 is a human body movement data extraction method of key frame workflow diagram of the present invention;

Fig. 4 is the instance graph that one section motion sequence of boxing is extracted key frame;

Fig. 5 is the instance graph to one section different key frame quantity of extraction of going upstairs.

Embodiment

Concrete technical scheme and the step of implementing of extraction method of key frame of 3 d human motion data of the present invention is as follows:

1. motion feature is represented

The present invention adopts human skeleton model as shown in Figure 1.This model is made up of 16 joints, and each articulation point adopts the tree structure tissue, and the root articulation point is the root node of tree-like human skeleton, successively extends to form each subtree of root node to each terminal joint of human skeleton from the root articulation point.Consider that human skeleton four limbs part changes the most obvious in human motion, the method that the present invention will describe motion rises to skeletal layer from articulamentum, with eight sections bones of four limbs part in the human skeleton as the character representation object, extract these eight sections bones and the middle cardiac skeleton formed by root joint and chest joint between angle as motion feature.The definition phase bone

Serve as reasons and be positioned at human skeleton higher level joint N in this section bone _iPoint to lower level joint N _jVector, that is: ${\stackrel{\→}{B}}^{\left(k\right)}=\stackrel{\→}{N_i{N}_j}=({\stackrel{\→}{p}}^{\left(j\right)}-{\stackrel{\→}{p}}^{\left(i\right)}),$ Wherein,

Be joint N _iAnd N _jCoordinate in three dimensions.Therefore, at given frame moment i, the formula of any section appendicular skeleton and middle cardiac skeleton angle is calculated as:

${\mathrm{\θ}}_i^k={\cos }^{-1}\left(\frac{{\stackrel{\‾}{B}}_i^k\·{\stackrel{\‾}{B}}_i^{\left(\mathrm{center}\right)}}{\left|{\stackrel{\‾}{B}}_i^k\right|\left|{\stackrel{\‾}{B}}_i^{\left(\mathrm{center}\right)}\right|}\right),k=1,...,8$

Wherein, Cardiac skeleton in the expression, the span of θ are [0, π].Like this, for arbitrary frame moment i, adopt above-mentioned motion feature representation, the human posture can be expressed as eight tuples: $F_i=({\mathrm{\θ}}_i^{\left(1\right)},...,{\mathrm{\θ}}_i^{\left(8\right)}),$ Realize that not only original motion catches the higher-dimension dimensionality reduction of data, and effectively reflected the physical meaning of motion.

2. candidate's key frame is chosen

Make discovery from observation, in the human motion process, some extreme cases can appear in the movement locus of each bone angle.Be depicted as in the motion of walking of one section 20 frame length the bone angle movement locus of right leg at accompanying drawing 2.As can be seen from the figure, when motion arrived the 8th frame, the 12nd frame and the 17th frame, Local Extremum appearred in movement locus.These three extreme point place frames correspond to human body respectively and travel forward three moment in the process: right leg is lifted to peak, right leg lands for the first time and centre of body weight drops on the right leg fully.By as above analyzing as can be known, the variation track of right thigh and right leg bone angle has reflected the situation of change of the right leg of human body in the motion process jointly, when curve reaches local extremum, just in time is " border " posture in the right leg motion process.Posture when these are reached local extremum is as crucial posture, and is representative to the expression of right leg motion.

Similar with above situation, in the human skeleton four limbs its separately the variable angle situation of two sections bones and middle cardiac skeleton reflected the motion conditions of these limbs jointly.Comprehensive all appendicular skeleton variable angle situations of human body, the union of getting their extreme value place frame can obtain the set of candidate's key frame.Because these candidate's key frames are unions that " border " posture (frame) appears in four limbs each several part at the volley, so they have almost comprised all " border " postures that the role may occur in motion process.

3. obtain based on the key frame set of layered curve simplification algorithm

For human motion, the extreme point that different bone angles obtain may might not appear at synchronization, and more is to appear in certain time neighborhood.Simultaneously, when adopting capturing movement equipment that human motion is caught, the existence meeting of certain noise causes little variation on the posture to human motion.The existence of both of these case will make that preliminary search obtains candidate's key frame that some are separated by very near occurring in the set of candidate's key frame, and it is redundant to make that the key frame that extracts exists.For the situation of some low error requirements (higher compression ratios), need carry out " merging " to the adjacent part of this class candidate key frame.On the other hand, keep the motion sequence of same posture change trend in the relative long period, its candidate's key frame is separated by far away.In order to strengthen archeokinetic abstract ability and to satisfy some higher error requirements, adjacent part in this class candidate key frame need be carried out " decomposition ", promptly between them, select one or more posture frames again as key frame.That is to say, in extract real-time motion key frame, be at different error requirement, selected processing is again carried out in set to candidate's key frame.

The present invention proposes a kind of new layered curve simplification algorithm and comes candidate's key frame set is carried out selected.Arthmetic statement: a given ordered data collection M, M={F _i| i=1 ..., N}, $F_i=(x_i^{\left(1\right)},...,x_i^{\left(m\right)}),$ Connect all data points among the M according to the order of sequence, form the curve in the m-dimensional space; Ask the proper subclass K approximating curve M of the M that satisfies certain error requirements, simultaneously, the element among the K should belong to set C:C  M and F as much as possible ₁, F _N∈ C.In order to address this problem, M is represented with a two-layer data structure: ground floor (lower floor) is M, and the second layer (upper strata) is the proper subclass C of M.At first, fail to satisfy error requirements, drop to lower floor's utilization individual layer curve shortcut calculation if simplify the result at upper strata utilization individual layer curve shortcut calculation, and a split point that obtains joins in the upper strata, continuation is carried out curve and is simplified on the upper strata, so repeatedly, and up to trying to achieve the set K that satisfies condition.In this method, two array c_num and pair are used respectively.Element position rank order is from small to large pressed in the position of element in M among the array c_num set of records ends C.Whether element belongs to set k among the data pair mark M: if do not belong to, value is 0; If belong to, value is pointed to the position of next element in M among the K.In individual layer curve shortcut calculation, i element arrives by n among the set of computations M ₁Individual element and n ₂Individual element (n ₁＜i＜n ₂) bee-line of the straight line that is linked to be, can obtain by following formula:

$d_i=\sqrt{\underset{k=1}{\overset{m}{\mathrm{\Σ}}}{(x_i^{\left(k\right)}-x_{n_1}^{\left(k\right)})}^2-\frac{{\left(\underset{k=1}{\overset{m}{\mathrm{\Σ}}}(x_{n_2}^{\left(k\right)}-x_{n_1}^{\left(k\right)})(x_i^{\left(k\right)}-x_{n_1}^{\left(k\right)})\right)}^2}{\underset{k=1}{\overset{m}{\mathrm{\Σ}}}{x}_{n_2}^{\left(k\right)}-x_{n_1}^{\left(k\right)}{)}^2}}$

The layered curve simplification algorithm:

Input: data set M, M={F _i| i=1 ..., N}, $F_i=(x_i^{\left(1\right)},...,x_i^{\left(m\right)});$ Set C:C  M and F ₁, F _N∈ C; Error parameter

Output: array kfSet, kfSet={i|F _i∈ M﹠amp; F _i∈ K, i=1 ..., N};

Step 1: initialization, n is the element number of set C, c_num={i|F _i∈ M﹠amp; F _i∈ C, 1≤i≤N}, pair (1)=N, pair (N)=1, trackMark=1, mark when pre-treatment to C in positions of elements, lastMark=0, positions of elements among the C that handles of mark last time;

Step 2: if pair (trackMark)=1, change step 5, otherwise the subclass subSet={c_num (i) among the set of computations C between element trackMark and pair (trackMark) | trackMark＜c_num (i)＜pair (trackMark), 1≤i≤n}, if subSet length is greater than 0, change step 3, otherwise, step 4 changeed;

Step 3: the upper strata curve is simplified

(1) by formula (1) calculates among the subSet every bit to straight line | F _{Pair (trackMark)}F _TrackMark| distance, note ultimate range is max_dist, its corresponding element is max_ind;

(2) calculate ratio=max_dist/ ‖ F _{Pair (trackMark)}-F _TrackMark‖ is if ratio＞δ makes pair (max_ind)=pair (trackMark), pair (trackMark)=max_ind, otherwise trackMark=pair (trackMark);

(3) change step 2;

Step 4: lower floor's curve is simplified

(1) makes subSet=[trackMark:pair (trackMark)];

(2) by formula (1) calculates among the subSet every bit to straight line | F _{Pair (trackMark)}F _TrackMark| distance, note ultimate range is max_dist, its corresponding element is max_ind;

(3) calculate ratio=max_dist/ ‖ F _{Pair (trackMark)}-F _TrackMark‖, if ratio＞δ, C=C ∪ { F _{Max_ind}, replacement c_num and n make pair (max_ind)=pair (trackMark), and pair (trackMark)=max_ind changes step 2, otherwise trackMark=pair (trackMark);

(4) change step 2;

Step 5:kfSet={i|pair (i) ≠ 0,1≤i≤N}.

It is selected to adopt above-mentioned layered curve simplification algorithm that candidate's key frame set is carried out: the corresponding set of the exercise data of bone angle 8 element group representations M, the corresponding set of candidate's key frame set C.In the layered curve simplification process, set is simplified respectively to reply candidate key frame in the upper and lower carry out " mergings " and " decomposition " and operate.Like this, by the layered curve simplification algorithm, can carry out selectedly to candidate's key frame set, finally be met the key frame set of certain error requirements, guarantee that simultaneously how " border " the posture frame in the human motion process can appear to the greatest extent in the key frame set.

4. error parameter adaptive regulation method

From the key-frame extraction algorithm as can be seen, choose the selected degree that different error parameter δ can obtain different candidate's key frame set, i.e. ratio of compression.Yet in some practical application, the user often only pays close attention to the number of key frames extracted but and do not know the error parameter value that it is corresponding.In order to address this problem, the present invention satisfies the needs of different ratio of compression by the method for self-adaptation regulating error parameter.

The basic thought that the error parameter self-adaptation is regulated is: according to the differential attitude regulating error parameter δ of the actual value and the desired value of number of key frames.If the actual value of number of key frames is greater than desired value, δ increases, and the increase ratio is δ _ inc (δ _ inc ∈ (0,1)); If the actual value of number of key frames is less than desired value, δ reduces, and reducing ratio is δ _ dec (δ _ dec ∈ (0,1)).It should be noted that the convergence of number of key frames may be subjected to the influence of the following aspects:

(1) the δ initial value is excessive or too small, and the gradient of δ is too small, makes the number of key frames convergence slowly.

(2) gradient of δ is excessive, makes the actual value of number of key frames carry out violent large amplitude vibration in the desired value neighborhood.

(3) actual value of number of key frames desired value than small neighbourhood in infinitely the vibration, promptly actual value can't equal desired value.

In order to solve the problem of preceding two kinds of situations, the gradient d δ of δ (d δ ∈ { δ _ inc, δ _ des}, d δ ∈ (0,1)) is adopted the summary plan of dynamic adjustments.If the number of key frames currency then increases d δ in the same side of desired value (variation of δ in the same way) in the double circulation, to accelerate δ to equidirectional variation; Otherwise, promptly be that the actual value of number of key frames is vibrated at desired value left and right sides neighborhood, should reduce d δ this moment, with the amplitude that reduces to vibrate.The increase and decrease function of d δ is respectively:

$f_{\mathrm{inc}}\left(\mathrm{d\δ}\right)=\sqrt{1-{(\mathrm{d\δ}-1)}^2},f_{\mathrm{dec}}\left(\mathrm{d\δ}\right)=1-\sqrt{1-{\mathrm{d\δ}}^2}.$ The increase of d δ and the problem that reduces to have solved respectively above-mentioned first kind and second kind situation generation.At the third situation, be the given max-thresholds epoch of the number of oscillation, with its condition as loop ends in the algorithm.

Accompanying drawing 3 has provided human body movement data extraction method of key frame workflow diagram of the present invention.The concrete implementing procedure of this method comprises that 3 d human motion data input 10, data pre-service 20, user's designated key frame number 30, candidate's key frame choose 40, key-frame extraction 50 and error parameter self-adaptation regulate 60.

3 d human motion data input 10, the 3 d human motion data here comprises by optical motion capture device and relevant speciality software (as Maya, Motion Builder etc.) 3 d human motion data of the various forms of Chan Shenging, the capture device MotionAnalysis Hawk that adopts U.S. Motion Analysis company to produce as this example gathers various types of 3 d human motion datas.

Data pre-service 20,3 D human body fortune one moving data to the various forms of user input are carried out format conversion, the bone of different topology structure is converted to the skeleton model that uses among the present invention, and extracts the character representation of bone angle as 3 d human motion data.

User's designated key frame number 30, the number of key frames that the user uses input equipments such as keyboard, mouse to specify ultimate demand to export as this method, this parameter are used for instructing key-frame extraction algorithm 50 and error parameter self-adaptation to regulate the operation of algorithm 60.

Candidate's key frame chooses 40, and the 3 d human motion data sequence from data pre-service 20 acceptance employing bone angle character representations adopts candidate's key frame choosing method to choose the set of candidate's key frame then from the three-dimensional motion data sequence.

Key-frame extraction 50, this step is chosen 40 given candidate's key frame set based on candidate's key frame, extract final key frame set with the layered curve simplification algorithm from the 3 d human motion data characteristic sequence, need to use the error parameter self-adaptation therebetween and regulate the 60 error parameter feedback informations that provide.

The error parameter self-adaptation regulates 60, this step and step 50 alternate run, it mainly acts on is that user's designated key frame number that the actual number of key frames that provides according to step 50 and step 30 provide is carried out the adaptive error parameter regulation, feeds back to step 50 and obtains final key frame set.

Embodiment 1

As shown in Figure 4, provided example to one section extraction key frame of boxing.Describe the concrete steps that this example is implemented in detail below in conjunction with method of the present invention, as follows:

(1) adopt the optical motion capture systems to catch the exercise data of boxing that a segment length is 100 frames;

(2), adopt existing exercise data conversion method the TRC data to be converted to the spin data presentation format that satisfies the present invention's definition with 16 articulation points to catch TRC form the original motion data of obtaining in the step (1) as input;

(3) the standard manikin and the data that rotatablely move that obtain based on step (2), the formula (1) in the employing claim calculates the angle between appendicular skeleton and the middle cardiac skeleton, forms eight tuple sequence Fi of expression human body attitude;

(4) user specifies the key frame quantity n of required extraction, is n=8 in this example;

(5) regard eight tuple sequences of the expression human body attitude that obtains in the step (4) as be distributed in 8 dimension spaces high dimension curve, adopt candidate's extraction method of key frame of the present invention to obtain candidate's key frame set C of the whole motion sequence of boxing;

(6) to obtain the input of candidate's key frame set C dimension in the number of key frames n of user's appointment among the human body attitude eight tuple sequence Fi, step (4) and the step (5), adopt layered curve simplification algorithm of the present invention to obtain final key frame set K through interative computation.

The operation result of this example shows in accompanying drawing 4, the wherein whole motion sequence length of boxing is 100 frames, the user specifies and extracts number of key frames is 8, represent with green by the key frame that the method for the invention obtains, can see that the final key frame set that obtains has embodied some crucial extreme attitudes and the important transient motion attitude in the whole motion sequence, has well represented the characteristics of former motion sequence.

Embodiment 2

As shown in Figure 5, provided the example that one section exercise data of going upstairs is extracted different number of key frames.Describe the concrete steps that this example is implemented in detail below in conjunction with method of the present invention, as follows:

(1) input is that one section length that adopts the optical motion capture systems to obtain is the motion sequence of going upstairs of 85 frames, and data file is the original motion data of TRC form;

(2) adopt existing conversion method of data format that the exercise data of TRC form is converted to and satisfy the data that rotatablely move that the present invention requires, promptly have 16 BVH data layouts of specifying articulation points with 16 standard articulation points;

(3) the BVH formatted data that obtains based on step (2), the formula (1) in the employing claim calculates the angle between appendicular skeleton and the middle cardiac skeleton, forms eight tuple sequence Fi of expression human body attitude;

(4) user specifies the key frame quantity n of required extraction, is assigned 14,10,7,5 respectively for n in this example;

(5) regard eight tuple sequences of the expression human body attitude that obtains in the step (4) as be distributed in 8 dimension spaces high dimension curve, adopt candidate's extraction method of key frame of the present invention to obtain candidate's key frame set C of the whole motion sequence of boxing;

(6) to obtain the input of candidate's key frame set C dimension in the number of key frames n of user's appointment among the human body attitude eight tuple sequence Fi, step (4) and the step (5), adopt layered curve simplification algorithm of the present invention to obtain final key frame set K through interative computation;

(7) get back to step (4), select new number of key frames for use, calculate new key frame set.

The operation result of this example shows that in accompanying drawing 5 the wherein whole motion sequence length of going upstairs is 85 frames, and the user specifies and extracts number of key frames for being respectively 14,10,7,5, is divided into 4 row from top to bottom and shows.Can see, pass through the method for the invention, can allow the user freely specify the number of key frames that to extract, thereby obtain some crucial extreme attitudes and important transient motion attitude in the whole motion sequence, well represented the characteristics of former motion sequence and under different error requirements, the original motion data sequence is summarized.

Claims (5)

1. extraction method of key frame of 3 d human motion data is characterized in that may further comprise the steps:

(1) at first adopts the character representation of bone angle as the 3 d human motion data sequence;

(2) from the 3 d human motion data sequence, extract the set of candidate's key frame based on bone angle feature;

(3) bone angle characteristic sequence, the set of candidate's key frame and the error parameter with 3 d human motion data is input, adopts the layered curve simplification algorithm to extract final key frame set;

(4) the actual number of key frames of returning based on the number of key frames and the layered curve simplification algorithm of user input, the error parameter adaptive regulation method can constantly feed back correct error parameter, so that obtain the final key frame quantity that satisfies customer requirements.

2. a kind of extraction method of key frame of 3 d human motion data according to claim 1, it is characterized in that: described employing bone angle is as the character representation object with the eight sections bones partly of four limbs in the human skeleton as the character representation of 3 d human motion data sequence, angle between the middle cardiac skeleton that extracts these eight sections bones and be made up of root joint and chest joint is as motion feature, the definition phase bone

Serve as reasons and be positioned at human skeleton higher level joint N in this section bone _iPoint to lower level joint N _jVector, that is: ${\stackrel{\→}{B}}^{\left(k\right)}=\stackrel{\→}{N_i{N}_j}=({\stackrel{\→}{p}}^{\left(j\right)}-{\stackrel{\→}{p}}^{\left(i\right)}),$ Wherein, Be joint N _iAnd N _jCoordinate in three dimensions, therefore, at given frame moment i, the formula of any section appendicular skeleton and middle cardiac skeleton angle is calculated as:

${\mathrm{\θ}}_i^k={\cos }^{-1}\left(\frac{{\stackrel{\‾}{B}}_i^k\·{\stackrel{\‾}{B}}_i^{\left(\mathrm{center}\right)}}{\left|{\stackrel{\‾}{B}}_i^k\right|{|\stackrel{\‾}{B}}_i^{\left(\mathrm{center}\right)}|}\right),k=1,...,8---1$

Wherein, Cardiac skeleton in the expression, the span of θ are [0, π], like this, for arbitrary frame moment i, adopt above-mentioned motion feature representation, and the human posture can be expressed as eight tuples: $F_i=({\mathrm{\θ}}_i^{\left(1\right)},...,{\mathrm{\θ}}_i^{\left(8\right)}),$ Realize that not only original motion catches the higher-dimension dimensionality reduction of data, and effectively reflected the physical meaning of motion.

3. a kind of extraction method of key frame of 3 d human motion data according to claim 1, it is characterized in that: described based on bone angle feature from the 3 d human motion data sequence, extract candidate's key frame set be meant in the human skeleton four limbs its separately the variable angle situation of two sections bones and middle cardiac skeleton reflected the motion conditions of these limbs jointly, comprehensive all appendicular skeleton variable angle situations of human body, get the union of their extreme value place frame, can obtain the set of candidate's key frame.

4. a kind of extraction method of key frame of 3 d human motion data according to claim 1 is characterized in that: describedly be meant a given ordered data collection M based on adopting the layered curve simplification algorithm to extract final key frame set, $M=\left\{F_i\right|i=1,...,N\},$ $F_i=(x_i^{\left(1\right)},...,x_i^{\left(m\right)}),$ Connect all data points among the M according to the order of sequence, form the curve in the m-dimensional space, ask the proper subclass K approximating curve M of the M that satisfies certain error requirements, simultaneously, the element among the K should belong to set C:C  M and F as much as possible ₁, F _N∈ C, in order to address this problem, M is represented with a two-layer data structure lower floor is M, the upper strata is the proper subclass C of M, at first at upper strata utilization individual layer curve shortcut calculation, fail to satisfy error requirements if simplify the result, drop to lower floor's utilization individual layer curve shortcut calculation, and the split point that obtains is joined in the upper strata, continuation is carried out curve and is simplified on the upper strata

So repeatedly, up to trying to achieve the set K that satisfies condition, in this method, two array c_num and pair are used respectively, element position rank order is from small to large pressed in the position of element in M among the array c_num set of records ends C, and whether element belongs to set k among the data pair mark M, if do not belong to, value is 0, if belong to, value is pointed to the position of next element in M among the K, in individual layer curve shortcut calculation, i element arrives by n among the set of computations M ₁Individual element and n ₂Individual element (n ₁＜i＜n ₂) bee-line of the straight line that is linked to be, can obtain by following formula:

$d_i=\sqrt{\underset{k=1}{\overset{m}{\mathrm{\Σ}}}{(x_i^{\left(k\right)}-x_{n_1}^{\left(k\right)})}^2-\frac{{\left(\underset{k=1}{\overset{m}{\mathrm{\Σ}}}(x_{n_2}^{\left(k\right)}-x_{n_1}^{\left(k\right)})(x_i^{\left(k\right)}-x_{n_1}^{\left(k\right)})\right)}^2}{\underset{k=1}{\overset{m}{\mathrm{\Σ}}}{x_{n_2}^{\left(k\right)}-x_{n_1}^{\left(k\right)})}^2}}---2$

The layered curve simplification algorithm steps is as follows:

Input: data set M, $M=\left\{F_i\right|i=1,...,N\},$ $F_i=(x_i^{\left(1\right)},...,x_i^{\left(m\right)});$ Set C:C  M and F ₁, F _N∈ C; Error parameter

Output: array kfSet, kfSet={i|F _i∈ M﹠amp; F _i∈ K, i=1 ..., N};

Step 1: initialization, n is the element number of set C, c_num={i|F _i∈ M﹠amp; F _i∈ C, 1≤i≤N}, pair (1)=N, pair (N)=1, trackMark=1, mark when pre-treatment to C in positions of elements, lastMark=0, positions of elements among the C that handles of mark last time;

Step 2: if pair (trackMark)=1, change step 5, otherwise the subclass subSet={c_num (i) among the set of computations C between element trackMark and pairr (trackMark) | trackMark＜c_num (i)＜pair (trackMark), 1≤i≤n}, if subSet length is greater than 0, change step 3, otherwise, step 4 changeed;

Step 3: the upper strata curve is simplified

(1) by formula (1) calculates among the subSet every bit to straight line | F _{Pair (trackMark)}F _TrackMark| distance, note ultimate range is max_dist, its corresponding element is max_ind;

(2) calculate ratio=max_dist/ ‖ F _{Pair (trackMark)}-F _TrackMark‖ is if ratio＞δ makes pair (max_ind)=pair (trackMark), pair (trackMark)=max_ind, otherwise trackMark=pair (trackMark);

(3) change step 2;

Step 4: lower floor's curve is simplified

(1) makes subSet=[trackMark:pair (trackMark)];

(2) by formula (1) calculates among the subSet every bit to straight line | F _{Pair (trackMark)}F _TrackMark| distance, note ultimate range is max_dist, its corresponding element is max_ind;

(3) calculate ratio=max_dist/ ‖ F _{Pair (trackMark)}-F _TrackMark‖, if ratio＞δ, C=C ∪ { F _{Max_ind}, replacement c_num and n make pair (max_ind)=pair (trackMark), and pair (trackMark)=max_ind changes step 2, otherwise trackMark=pair (trackMark);

(4) change step 2;

Step 5:kfSet={i|pair (i) ≠ 0,1≤i≤N}.

5. a kind of extraction method of key frame of 3 d human motion data according to claim 1, it is characterized in that: described error parameter adaptive regulation method is meant the differential attitude regulating error parameter δ according to the actual value of number of key frames and desired value, if the actual value of number of key frames is greater than desired value, δ increases, the increase ratio is δ _ inc (δ _ inc ∈ (0,1)), if the actual value of number of key frames is less than desired value, δ reduces, and reducing ratio is δ _ dec (δ _ dec ∈ (0,1)), further, to gradient d δ (d δ ∈ { δ _ inc, the δ _ des} of δ, d δ ∈ (0,1)) the summary plan of employing dynamic adjustments is if the number of key frames currency then increases d δ in the same side of desired value (variation of δ in the same way) in the double circulation, to accelerate δ to equidirectional variation, otherwise, promptly be that the actual value of number of key frames is vibrated at desired value left and right sides neighborhood, should reduce d δ this moment, with the amplitude that reduces to vibrate, the increase and decrease function of d δ is respectively: $f_{\mathrm{inc}}\left(\mathrm{d\δ}\right)=\sqrt{1-{(\mathrm{d\δ}-1)}^2},$ $f_{\mathrm{dec}}\left(\mathrm{d\δ}\right)=1-\sqrt{1-{\mathrm{d\δ}}^2},$ In addition, be the given max-thresholds epoch of the number of oscillation, with its condition as loop ends in the algorithm.

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