CN209916004U - Optical and inertial hybrid motion capture system - Google Patents
Optical and inertial hybrid motion capture system Download PDFInfo
- Publication number
- CN209916004U CN209916004U CN201821840386.7U CN201821840386U CN209916004U CN 209916004 U CN209916004 U CN 209916004U CN 201821840386 U CN201821840386 U CN 201821840386U CN 209916004 U CN209916004 U CN 209916004U
- Authority
- CN
- China
- Prior art keywords
- inertial
- optical
- inertia
- acquisition module
- motion capture
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
The present application relates to an optical and inertial hybrid motion capture system comprising: inertia data receiver, a plurality of motion capture cameras, a plurality of mixed collection module of optics inertia and a plurality of inertia collection module, wherein, every mixed collection module of optics inertia all includes: module and at least one optical mark point are gathered to inertia, and optical mark point and inertia gather the module mutually fixed, and the inertia is gathered the module and is included: an inertial sensor and an inertial data transmitter; each of the inertial acquisition modules comprises: an inertial sensor and an inertial data transmitter; the inertial data receiver receives inertial data sent by the inertial data transmitter in a wireless mode, and each motion capture camera detects optical data of the optical mark points in each optical inertial mixing acquisition module. Each optical inertial hybrid acquisition module can acquire inertial data and optical data of the same part at the same time, so that the problem of low accuracy caused by single inertial data or optical data is avoided.
Description
Technical Field
The present application relates to the field of motion capture, and more particularly to an optical and inertial hybrid motion capture system.
Background
With the rapid development of computer software and hardware technologies and the improvement of animation production requirements, motion capture has already entered into practical stage, and many manufacturers have proposed a variety of commercialized motion capture devices in succession, and have been successfully used in many aspects such as virtual reality, games, human engineering research, simulation training, biomechanics research, etc.
The motion capture is that a tracker is arranged at a key part of a moving object, then a motion capture system captures the real-time position of the tracker, and the data of the three-dimensional space coordinates of the tracker is obtained after the real-time position is processed by a computer.
The existing commonly used motion capture system comprises an optical motion capture system and an inertial motion capture system, and the applicant finds that the optical motion capture system depends on optical mark points, and in practical application, once the optical mark points are shielded, data loss occurs; the inertial motion capture system relies on an inertial sensor, and although continuous data can be captured, the accuracy of the inertial sensor gradually decreases with time, and the inertial sensor is easily influenced by an external environment magnetic field, so that errors and offset occur after long-time use, and the accuracy of motion capture is influenced.
SUMMERY OF THE UTILITY MODEL
To solve the above technical problem or at least partially solve the above technical problem, the present application provides an optical and inertial hybrid motion capture system.
An embodiment of the present application provides an optical and inertial hybrid motion capture system, including: an inertial data receiver, a plurality of motion capture cameras, a plurality of optical inertial hybrid acquisition modules, and a plurality of inertial acquisition modules, wherein,
each optical inertial hybrid acquisition module comprises: first fixed band, an inertia collection module and at least one optics mark point, and optics mark point with inertia collection module is fixed mutually and with first fixed band is fixed mutually, every inertia collection module includes: an inertial sensor and an inertial data transmitter; each of the inertial acquisition modules comprises: the system comprises a second fixing belt, an inertial sensor and an inertial data transmitter, wherein the inertial sensor and the relationship data transmitter are fixed on the second fixing belt;
the inertial data receiver and each motion capture camera are arranged in a preset scene, the inertial data receiver receives inertial data sent by the inertial data transmitter in a wireless mode, and each motion capture camera detects optical data of an optical mark point in each optical inertial mixing acquisition module.
Optionally, the system further comprises: a fusion processor;
the fusion processor is respectively connected with the inertia data receiver and each motion capture camera, and receives inertia data sent by the inertia data receiver and optical data detected by each motion capture camera.
Optionally, the optical marker is a reflective sphere.
Optionally, the optical inertial hybrid acquisition module comprises a reflective sphere;
the optical inertial hybrid acquisition module comprises: a base;
the inertia acquisition module is fixed with the base, or the inertia acquisition module is positioned in the base;
the light reflecting ball is fixed on the outer surface of the base.
Optionally, an optical inertial hybrid acquisition module with one reflective sphere, comprising:
the device comprises a head optical inertial hybrid acquisition module for being arranged on the head of a tested human body, and/or a back optical inertial hybrid acquisition module for being arranged on the back of the tested human body, and/or a waist optical inertial hybrid acquisition module for being arranged on the waist of the tested human body.
Optionally, the optical marker points in the optical inertial hybrid acquisition module are at least three reflective spheres,
the at least three light reflecting balls are distributed in space, and the space layout of the at least three light reflecting balls is asymmetric.
Optionally, the optical inertial hybrid acquisition module comprises: a base and a plurality of reflective ball supports, wherein,
the inertia acquisition module is fixed with the base, or the inertia acquisition module is positioned in the base;
the quantity of the light reflecting ball supports corresponds to that of the light reflecting balls one to one;
one end of each reflecting ball support is fixed with the outer surface of the base, and the other end of each reflecting ball support is fixed with the reflecting ball, so that the reflecting balls are located on the outer side of the base.
Optionally, the number of the optical inertial mixing acquisition modules with at least three reflective balls is one; the optical inertial mixing acquisition module with at least three reflective balls is arranged at the waist or the chest of the detected human body;
or the number of the optical inertia mixing acquisition modules with at least three reflecting balls is two, and the spatial layouts of the reflecting balls of the two optical inertia mixing acquisition modules are different; wherein, an optical inertia mixing acquisition module with at least three reflective balls is arranged at the waist of the tested human body, and another optical inertia mixing acquisition module with at least three reflective balls is arranged at the chest of the tested human body.
Optionally, the method further comprises:
the hand optical inertia mixing acquisition module is used for being arranged at the hand of a detected human body and is provided with a reflective ball, and/or the foot optical inertia mixing acquisition module is used for being arranged at the foot of the detected human body and is provided with a reflective ball.
Optionally, the first fastening tape and the second fastening tape are both endless elastic tapes.
Compared with the prior art, the technical scheme provided by the embodiment of the application has the following advantages:
in the optical and inertial hybrid motion capture system provided by the embodiment of the application, each optical inertial hybrid acquisition module comprises an inertial acquisition module and an optical mark point, when the optical inertial hybrid acquisition module is fixed on a part of a human body, inertial data and optical data of the part can be acquired simultaneously, and then the accurate position of the part can be determined by matching the inertial data and the optical data during subsequent motion reduction, so that the problem of low accuracy caused by single inertial data or optical data is avoided.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic diagram illustrating a usage scenario of a hybrid optical and inertial motion capture system according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of an optical inertial hybrid acquisition module provided in an embodiment of the present application;
fig. 3 is a schematic structural diagram of another optical inertial hybrid acquisition module provided in an embodiment of the present application;
FIG. 4 is a perspective view of FIG. 3;
FIG. 5 is a schematic view of a human body wearing apparatus according to an embodiment of the present application;
fig. 6 is another schematic view of a human body wearing apparatus according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Fig. 1 is a schematic view of a usage scenario of a hybrid optical and inertial motion capture system according to an embodiment of the present disclosure.
In fig. 1, the human body to be measured is 100, and as shown in fig. 1, the system may include: an inertial data receiver 500, a plurality of motion capture cameras 600, a plurality of optical inertial hybrid acquisition modules 200, and a plurality of inertial acquisition modules 300.
The optical inertial hybrid acquisition module 200 is bound at different positions on the human body under test 100, as shown in fig. 1, the optical inertial hybrid acquisition module 200 may be disposed at one or more of the chest, waist, back and head of the human body under test 100, and in addition, the optical inertial hybrid acquisition module 200 may be disposed at the end of a limb, for example: hands, feet, shoulders, etc. The inertial acquisition module 300 is typically disposed on a limb of the human body under test, for example: upper arm, lower arm, thigh and lower leg, etc., in the present embodiment, each inertial acquisition module 300 is independently mounted, worn and operated.
In an embodiment of the present application, each optical inertial hybrid acquisition module includes: the optical mark point in each optical inertial mixing acquisition module and the inertial acquisition module are fixed with the first fixing belt. Each of the inertial acquisition modules comprises: and the inertial sensor and the relation data transmitter are fixed on the second fixing belt.
The inertial data receiver 500 wirelessly communicates with the optical inertial hybrid acquisition module 200 to receive the inertial data acquired by the optical inertial hybrid acquisition module 200, and in this embodiment, the inertial data receiver may be a multi-port repeater hub. The motion capture camera 600 is used to collect optical data of the optical inertial hybrid collection module 200.
Each optical inertial hybrid acquisition module 200 comprises: the device comprises an inertial acquisition module and at least one optical mark point. In the embodiment of the present application, the optical mark point may be a reflective ball, and in other embodiments, the optical mark point may also be a light-emitting ball. The optical mark points are used for tracking the position and the posture of the measured human body by using optical signals so as to acquire optical data of the measured human body. In the embodiment of the present application, the structure and function of the inertial collection module in the optical inertial hybrid collection module may be completely the same as those of the separately arranged inertial collection module 300, and the difference is that the 300 marked inertial collection module is independently arranged and can be directly fixed on the human body by the second fixing strap, and the inertial collection module in the optical inertial hybrid collection module is installed inside the optical inertial hybrid collection module as a component and is bound to the relationship between the optical mark points in the optical inertial hybrid collection module.
No matter be the inertia collection module in the mixed collection module of optics inertia, still the inertia collection module 300 that sets up alone, it is inside all to include: inertial sensors and inertial data transmitters. The inertial sensor is used for collecting inertial data according to the measured human body motion, such as: acceleration, angular velocity, etc. The inertial data transmitter is connected with the output end of the inertial sensor and used for sending out the inertial data acquired by the inertial sensor in a wireless mode, so that the inertial data can be conveniently processed.
The optical mark point is fixed with the inertial acquisition module. In the embodiment of the application, the optical mark points and the inertia acquisition module are fixed together, so that the optical data and the inertia data of the same part of the detected human body can be acquired simultaneously, and for the background processing equipment, the data of the optical mark points and the data of the inertia sensor can be bound only by binding the marks of the optical mark points and the marks of the inertia sensor.
In fig. 1, a scene in which a detected human body is located has a certain area, and the detected human body can move in the scene. In the embodiment of the application, the inertial data receiver and each motion capture camera are arranged in a preset scene, the inertial data receiver receives inertial data sent by the inertial data transmitter in a wireless mode, in a specific application, the inertial data transmitter sends a wireless signal through a wireless signal with a set frequency, and the inertial data receiver receives the wireless signal and extracts inertial data carried by the wireless signal.
Each motion capture camera detects optical data of optical marker points in each optical inertial hybrid acquisition module. Taking an optical mark point as a reflective ball as an example, the motion capture camera head emits a light signal, collects the light signal emitted by the reflective ball, and converts the light signal into optical data.
In one embodiment of the present application, as shown in fig. 1, the system further includes: in fig. 1, the fusion processor 400 is connected to the inertial data receiver 500 and each motion capture camera 600, and may be specifically connected electrically or wirelessly. When the fusion processor 400 works, it receives the inertial data sent by the inertial data receiver and the optical data detected by each motion capture camera, and then it can use the inertial data and the corresponding optical data to perform fusion, and use two parameters to calibrate the position, so as to obtain accurate position information.
In an embodiment of the present application, the optical inertial hybrid acquisition module is directly fixed on a measured human body, and in order to facilitate the fixing, the optical inertial hybrid acquisition module further includes: a first securing strap; the inertial sensor and each optical marker are fixed on the first fixing belt. When the human body inertial sensor is applied specifically, the first fixing band can be directly fixed with the base, so that the inertial sensor and each optical mark point can be fixed on the human body by the first fixing band.
In an embodiment of the present application, the first fixing band and the second fixing band are both endless elastic bands.
In an embodiment of the present application, the optical mark point in the optical inertial hybrid acquisition module may be a light-reflecting sphere, and the number of the light-reflecting spheres may be one, as shown in fig. 2, which is a schematic structural diagram of an optical inertial hybrid acquisition module provided in an embodiment of the present application, and in fig. 2, the optical inertial hybrid acquisition module includes: a base 1, an inertia collection module 4 and a reflective ball 2, wherein,
the inertial acquisition module 4 is fixed to the base 1, for example: be provided with screens piece or mounting groove on inertia collection module 4, inertia collection module 4 is fixed in screens piece or mounting groove. Alternatively, the inertial acquisition module 4 is located in the base 1, for example: a cavity is arranged in the base 1, and the inertia acquisition module 4 is fixed in the cavity.
The light reflecting ball is fixed on the outer surface of the base, the light reflecting ball can be fixed on the outer surface of the base through a fixing rod or an adhesive, and the light reflecting ball protrudes out of the outer surface of the base, so that the problem that the base is shielded is reduced as much as possible when optical signal acquisition is carried out.
In another embodiment of the present application, the number of the light-reflecting balls of the optical mark points in the optical inertial hybrid acquisition module may be multiple, and multiple light-reflecting balls may be combined to form a specific shape, so that not only the optical data may be utilized for positioning, but also the shapes formed by multiple light-reflecting balls may be utilized for distinguishing different optical inertial hybrid acquisition modules.
As shown in fig. 3, a schematic structural diagram of another optical inertial hybrid acquisition module provided for the embodiment of the present application is provided, in fig. 3, the optical inertial hybrid acquisition module includes: the light source comprises a base 1, an inertial collection module 4 and four reflective balls 2, wherein the four reflective balls are spatially distributed, and the spatial layout of at least three reflective balls is asymmetric, as shown in fig. 4, which is a schematic perspective view of the schematic view shown in fig. 3. The space layout of the reflective balls is asymmetric, and the purpose is to enable the structure of a polyhedron formed by the reflective balls to have unique identification, so that the polyhedron formed by the reflective balls can be identified conveniently when a plurality of optical inertia hybrid acquisition modules are used.
In fig. 3 and 4, each of the light-reflecting balls 2 is provided with one light-reflecting ball holder 3, that is, the number of the light-reflecting ball holders 3 corresponds to the number of the light-reflecting balls 2 one by one; one end of each reflective ball support 3 is fixed with the outer surface of the base 1, and the other end of each reflective ball support is fixed with the reflective ball 2, so that the reflective ball 2 protrudes out of the base 1.
In practical application, as shown in fig. 5, an optical inertial hybrid acquisition module shown in fig. 3 may be disposed at the waist of a user, so as to locate the position of the waist by acquiring inertial data and optical data of the waist, and further correct other positions of the body according to the position of the waist. In addition, an optical inertial hybrid acquisition module shown in fig. 3 can be arranged on the chest of the user, so that the position of the chest can be positioned by acquiring inertial data and optical data of the chest, and further, other positions of the body can be corrected according to the position of the chest.
Of course, in order to calibrate the position of the hand, as shown in fig. 5, one optical inertial hybrid acquisition module 10 may be disposed at each of the two hand positions, and for the hand, an optical inertial hybrid acquisition module with only 1 reflective ball may be used. In addition, as shown in fig. 5, in order to calibrate the positions of the feet, one optical inertial hybrid acquisition module 20 may be provided at each of the positions of the two feet to correct the positions of the feet, and for the feet, an optical inertial hybrid acquisition module having only 1 light-reflecting ball may be used.
In addition, in other embodiments of the present application, considering that the optical inertial hybrid acquisition module shown in fig. 3 is large in size, inconvenient to carry, and easy to fall off or misplace in the installation position, as shown in fig. 6, optical inertial hybrid acquisition modules with 1 light-reflecting ball may be respectively disposed on the head, chest, and waist of the human body to be detected, wherein, as shown in fig. 6, the optical inertial hybrid acquisition module 41 may be disposed on the head, the optical inertial hybrid acquisition module 42 may be disposed on the chest, and the optical inertial hybrid acquisition module 43 may be disposed on the waist. The three optical inertia mixing acquisition modules arranged on the head, the chest and the waist of the detected human body can also accurately position the trunk of the human body, and the position accuracy of the human body for motion capture and reduction is improved.
In addition, when a plurality of detected human bodies appear in the same scene, the data of different detected human bodies may be disordered, and therefore, the chest of the detected human body can be further provided with an optical inertia mixing acquisition module shown in fig. 3, and if the back of the detected human body is also provided with the acquisition module shown in fig. 3, the shapes of the reflective balls in the two acquisition modules in front of and behind the detected human body are different, and the shapes of the reflective balls of the acquisition modules arranged on the chests of different detected human bodies are also different, so that different detected human bodies can be distinguished through the shapes of the reflective balls.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. An optical and inertial hybrid motion capture system, comprising: an inertial data receiver, a plurality of motion capture cameras, a plurality of optical inertial hybrid acquisition modules, and a plurality of inertial acquisition modules, wherein,
each optical inertial hybrid acquisition module comprises: first fixed band, an inertia collection module and at least one optics mark point, and optics mark point with inertia collection module is fixed mutually and with first fixed band is fixed mutually, every inertia collection module includes: an inertial sensor and an inertial data transmitter; each of the inertial acquisition modules comprises: the system comprises a second fixing belt, an inertial sensor and an inertial data transmitter, wherein the inertial sensor and the relationship data transmitter are fixed on the second fixing belt;
the inertial data receiver and each motion capture camera are arranged in a preset scene, the inertial data receiver receives inertial data sent by the inertial data transmitter in a wireless mode, and each motion capture camera detects optical data of an optical mark point in each optical inertial mixing acquisition module.
2. The motion capture system of claim 1, the system further comprising: a fusion processor;
the fusion processor is respectively connected with the inertia data receiver and each motion capture camera, and is used for receiving the inertia data sent by the inertia data receiver and receiving the optical data detected by each motion capture camera.
3. The motion capture system of claim 2, wherein the optical marker points are light-reflective spheres.
4. The motion capture system of claim 3, wherein the optical inertial hybrid acquisition module comprises a light-reflecting sphere;
the optical inertial hybrid acquisition module comprises: a base;
the inertia acquisition module is fixed with the base, or the inertia acquisition module is positioned in the base;
the light reflecting ball is fixed on the outer surface of the base.
5. The motion capture system of claim 4, wherein the optical inertial hybrid acquisition module with one reflective sphere comprises:
the device comprises a head optical inertial hybrid acquisition module for being arranged on the head of a tested human body, and/or a back optical inertial hybrid acquisition module for being arranged on the back of the tested human body, and/or a waist optical inertial hybrid acquisition module for being arranged on the waist of the tested human body.
6. The motion capture system of claim 3, wherein the optical marker points in the optical inertial hybrid acquisition module are at least three light-reflecting spheres,
the at least three light reflecting balls are distributed in space, and the space layout of the at least three light reflecting balls is asymmetric.
7. The motion capture system of claim 6, wherein the optical inertial hybrid acquisition module comprises: a base and a plurality of reflective ball supports, wherein,
the inertia acquisition module is fixed with the base, or the inertia acquisition module is positioned in the base;
the quantity of the light reflecting ball supports corresponds to that of the light reflecting balls one to one;
one end of each reflecting ball support is fixed with the outer surface of the base, and the other end of each reflecting ball support is fixed with the reflecting ball, so that the reflecting balls are located on the outer side of the base.
8. The motion capture system of claim 5, wherein the number of optical inertial hybrid acquisition modules with at least three light-reflecting spheres is one; the optical inertial mixing acquisition module with at least three reflective balls is arranged at the waist or the chest of the detected human body;
or the number of the optical inertia mixing acquisition modules with at least three reflecting balls is two, and the spatial layouts of the reflecting balls of the two optical inertia mixing acquisition modules are different; wherein, an optical inertia mixing acquisition module with at least three reflective balls is arranged at the waist of the tested human body, and another optical inertia mixing acquisition module with at least three reflective balls is arranged at the chest of the tested human body.
9. The motion capture system of any of claims 4-5, wherein the system further comprises:
the hand optical inertia mixing acquisition module is used for being arranged at the hand of a detected human body and is provided with a reflective ball, and/or the foot optical inertia mixing acquisition module is used for being arranged at the foot of the detected human body and is provided with a reflective ball.
10. The motion capture system of claim 1, wherein the first strap and the second strap are both endless elastic bands.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821840386.7U CN209916004U (en) | 2018-11-08 | 2018-11-08 | Optical and inertial hybrid motion capture system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821840386.7U CN209916004U (en) | 2018-11-08 | 2018-11-08 | Optical and inertial hybrid motion capture system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209916004U true CN209916004U (en) | 2020-01-10 |
Family
ID=69066314
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821840386.7U Active CN209916004U (en) | 2018-11-08 | 2018-11-08 | Optical and inertial hybrid motion capture system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209916004U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112781589A (en) * | 2021-01-05 | 2021-05-11 | 北京诺亦腾科技有限公司 | Position tracking equipment and method based on optical data and inertial data |
| WO2023060999A1 (en) * | 2021-10-11 | 2023-04-20 | 深圳市瑞立视多媒体科技有限公司 | Wireless handle interactive system based on combined optical and inertia principles |
-
2018
- 2018-11-08 CN CN201821840386.7U patent/CN209916004U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112781589A (en) * | 2021-01-05 | 2021-05-11 | 北京诺亦腾科技有限公司 | Position tracking equipment and method based on optical data and inertial data |
| WO2023060999A1 (en) * | 2021-10-11 | 2023-04-20 | 深圳市瑞立视多媒体科技有限公司 | Wireless handle interactive system based on combined optical and inertia principles |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10679360B2 (en) | Mixed motion capture system and method | |
| CN109528208A (en) | A kind of optics mixes motion capture system with inertia | |
| EP3545385B1 (en) | Wearable motion tracking system | |
| KR101751760B1 (en) | Method for estimating gait parameter form low limb joint angles | |
| US11010917B2 (en) | Systems and methods for position and pose determination and tracking | |
| CN104834917A (en) | Mixed motion capturing system and mixed motion capturing method | |
| CN209916004U (en) | Optical and inertial hybrid motion capture system | |
| CN208677399U (en) | Intelligent switch joint angle measurement unit and system | |
| WO2017185588A1 (en) | Positioning system and method | |
| RU121947U1 (en) | TRAFFIC CAPTURE SYSTEM | |
| CA3005000A1 (en) | Device for digitizing and evaluating movement | |
| WO2015109442A1 (en) | Multi-node motion measurement and analysis system | |
| CN108888918B (en) | System and method for measuring multi-target motion speed under complex path | |
| CN204889937U (en) | Oral cavity endoscope | |
| WO2020072148A1 (en) | Mobile 3d body scanning methods and apparatus | |
| CN105628028A (en) | Indoor three-dimensional positioning system and positioning method based on mobile phone built-in sensor | |
| CN105824432A (en) | Motion capturing system | |
| CN206601680U (en) | Dizzy system is prevented based on sterically defined virtual reality | |
| US11449130B2 (en) | Visual and inertial motion tracking | |
| CN109297507B (en) | Human body limb movement capturing method free of alignment action based on inertial sensor | |
| CN101435695B (en) | System for measuring geometrical characteristic parameter of picture | |
| CN106595647B (en) | Behavior state monitoring method, device and system | |
| CN207036121U (en) | A kind of indoor positioning device based on WIFI/ inertial positionings | |
| SE1950724A1 (en) | System for analyzing movement in sport | |
| CN209728328U (en) | A kind of AR glasses |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |