JP7209333B2 - 関節位置の取得方法及び装置、動作の取得方法及び装置 - Google Patents

関節位置の取得方法及び装置、動作の取得方法及び装置 Download PDF

Info

Publication number
JP7209333B2
JP7209333B2 JP2018168597A JP2018168597A JP7209333B2 JP 7209333 B2 JP7209333 B2 JP 7209333B2 JP 2018168597 A JP2018168597 A JP 2018168597A JP 2018168597 A JP2018168597 A JP 2018168597A JP 7209333 B2 JP7209333 B2 JP 7209333B2
Authority
JP
Japan
Prior art keywords
joint
positions
feature points
frame
acquired
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
Application number
JP2018168597A
Other languages
English (en)
Japanese (ja)
Other versions
JP2020042476A (ja
JP2020042476A5 (enExample
Inventor
仁彦 中村
渉 高野
洋介 池上
拓也 大橋
和輝 山本
健太郎 武本
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
The University of Tokyo
Original Assignee
The University of Tokyo
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by The University of Tokyo filed Critical The University of Tokyo
Priority to JP2018168597A priority Critical patent/JP7209333B2/ja
Priority to PCT/JP2019/033859 priority patent/WO2020054442A1/ja
Priority to US17/274,744 priority patent/US11967101B2/en
Publication of JP2020042476A publication Critical patent/JP2020042476A/ja
Publication of JP2020042476A5 publication Critical patent/JP2020042476A5/ja
Application granted granted Critical
Publication of JP7209333B2 publication Critical patent/JP7209333B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/60—Type of objects
    • G06V20/64—Three-dimensional [3D] objects
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/24—Aligning, centring, orientation detection or correction of the image
    • G06V10/242—Aligning, centring, orientation detection or correction of the image by image rotation, e.g. by 90 degrees
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
    • G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
    • G06V40/103—Static body considered as a whole, e.g. static pedestrian or occupant recognition
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10024—Color image
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20084—Artificial neural networks [ANN]
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30196—Human being; Person

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Human Computer Interaction (AREA)
  • Image Analysis (AREA)
JP2018168597A 2018-09-10 2018-09-10 関節位置の取得方法及び装置、動作の取得方法及び装置 Active JP7209333B2 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2018168597A JP7209333B2 (ja) 2018-09-10 2018-09-10 関節位置の取得方法及び装置、動作の取得方法及び装置
PCT/JP2019/033859 WO2020054442A1 (ja) 2018-09-10 2019-08-29 関節位置の取得方法及び装置、動作の取得方法及び装置
US17/274,744 US11967101B2 (en) 2018-09-10 2019-08-29 Method and system for obtaining joint positions, and method and system for motion capture

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2018168597A JP7209333B2 (ja) 2018-09-10 2018-09-10 関節位置の取得方法及び装置、動作の取得方法及び装置

Publications (3)

Publication Number Publication Date
JP2020042476A JP2020042476A (ja) 2020-03-19
JP2020042476A5 JP2020042476A5 (enExample) 2021-09-16
JP7209333B2 true JP7209333B2 (ja) 2023-01-20

Family

ID=69777579

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2018168597A Active JP7209333B2 (ja) 2018-09-10 2018-09-10 関節位置の取得方法及び装置、動作の取得方法及び装置

Country Status (3)

Country Link
US (1) US11967101B2 (enExample)
JP (1) JP7209333B2 (enExample)
WO (1) WO2020054442A1 (enExample)

Families Citing this family (64)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111581414B (zh) * 2019-02-18 2024-01-16 北京京东尚科信息技术有限公司 服饰识别、分类及检索的方法、装置、设备及存储介质
WO2020181136A1 (en) * 2019-03-05 2020-09-10 Physmodo, Inc. System and method for human motion detection and tracking
JP7067513B2 (ja) * 2019-03-25 2022-05-16 日本電信電話株式会社 映像同期装置、映像同期方法、プログラム
JP7218804B2 (ja) * 2019-06-13 2023-02-07 日本電気株式会社 処理装置、処理方法及びプログラム
WO2021048988A1 (ja) * 2019-09-12 2021-03-18 富士通株式会社 骨格認識方法、骨格認識プログラムおよび情報処理装置
WO2021053817A1 (ja) * 2019-09-20 2021-03-25 株式会社ソニー・インタラクティブエンタテインメント 情報処理装置、情報処理方法およびプログラム
JP7556556B2 (ja) * 2019-10-31 2024-09-26 日本電気株式会社 画像処理装置、画像処理方法及び画像処理プログラム
AU2020436767B2 (en) 2020-03-20 2024-02-29 Hinge Health, Inc. Markerless motion capture of hands with multiple pose estimation engines
WO2021192085A1 (en) * 2020-03-25 2021-09-30 Nec Corporation Pose identifying apparatus, pose identifying method, and non-transitory computer readable medium storing program
WO2021205843A1 (ja) * 2020-04-10 2021-10-14 ソニーグループ株式会社 情報処理装置、情報処理方法、撮像システム
JP7375666B2 (ja) * 2020-04-20 2023-11-08 オムロン株式会社 推定装置、学習装置、教師データ作成装置、推定方法、学習方法、教師データ作成方法、及びプログラム
JP7614583B2 (ja) * 2020-05-22 2025-01-16 国立大学法人 東京大学 モーションキャプチャ・カメラシステム、及び、当該カメラシステムを用いた動画データ取得方法。
JP7488704B2 (ja) * 2020-06-18 2024-05-22 日本放送協会 触覚メタデータ生成装置、映像触覚連動システム、及びプログラム
US12017116B2 (en) * 2020-06-23 2024-06-25 Electronics And Telecommunications Research Institute Apparatus and method for evaluating human motion using mobile robot
JP7315516B2 (ja) * 2020-07-14 2023-07-26 Kddi株式会社 骨格推定装置及びプログラム
CN112070835B (zh) * 2020-08-21 2024-06-25 达闼机器人股份有限公司 机械臂位姿预测方法、装置、存储介质及电子设备
US20220084238A1 (en) * 2020-09-11 2022-03-17 Fanuc Corporation Multiple transparent objects 3d detection
JP7054950B1 (ja) 2020-11-12 2022-04-15 独立行政法人日本スポーツ振興センター 位置計測システム、及び位置計測方法
US12033352B2 (en) * 2020-12-03 2024-07-09 Tata Consultancy Limited Services Methods and systems for generating end-to-end model to estimate 3-dimensional(3-D) pose of object
EP4264550A1 (en) * 2020-12-21 2023-10-25 Future Health Works Ltd. Joint angle determination under limited visibility
JP6917096B1 (ja) 2020-12-25 2021-08-11 リンクウィズ株式会社 情報処理方法、情報処理システム、プログラム
WO2022178165A1 (en) 2021-02-17 2022-08-25 Golftec Enterprises, Llc Method for improving markerless motion analysis
JP7468871B2 (ja) * 2021-03-08 2024-04-16 国立大学法人 東京大学 ３ｄ位置取得方法及び装置
WO2022190206A1 (ja) * 2021-03-09 2022-09-15 富士通株式会社 骨格認識方法、骨格認識プログラムおよび体操採点支援システム
US20240177333A1 (en) * 2021-03-25 2024-05-30 Hitachi High-Tech Corporation Localization Apparatus and Method
JP7631076B2 (ja) * 2021-04-02 2025-02-18 東芝テック株式会社 情報処理装置及び情報処理プログラム
CN113058261B (zh) * 2021-04-22 2024-04-19 杭州当贝网络科技有限公司 基于现实场景和游戏场景的体感动作识别方法及系统
CN113409398B (zh) * 2021-06-04 2024-10-18 北京复数健康科技有限公司 基于图像识别进行数据映射的方法及系统
WO2022265575A2 (en) * 2021-06-14 2022-12-22 Nanyang Technological University Method and system for generating a training dataset for keypoint detection, and method and system for predicting 3d locations of virtual markers on a marker-less subject
US11967102B2 (en) * 2021-07-16 2024-04-23 Shanghai United Imaging Intelligence Co., Ltd. Key points detection using multiple image modalities
US11823498B1 (en) * 2021-07-23 2023-11-21 Meta Platforms Technologies, Llc Systems and methods for hand pose estimation from video
CN113706699B (zh) * 2021-10-27 2022-02-08 腾讯科技（深圳）有限公司 数据处理方法、装置、电子设备及计算机可读存储介质
JP7825453B2 (ja) * 2022-02-22 2026-03-06 キヤノンメディカルシステムズ株式会社 画像処理装置、画像処理方法、及びプログラム
WO2023188216A1 (ja) 2022-03-30 2023-10-05 富士通株式会社 情報処理プログラム、情報処理方法、および情報処理装置
CN118974771A (zh) 2022-03-30 2024-11-15 富士通株式会社 信息处理程序、信息处理方法以及信息处理装置
JP7765611B2 (ja) * 2022-04-06 2025-11-06 株式会社ソニー・インタラクティブエンタテインメント 情報処理装置、情報処理方法及びプログラム
WO2023223508A1 (ja) * 2022-05-19 2023-11-23 日本電信電話株式会社 映像処理装置、映像処理方法、およびプログラム
JP7839698B2 (ja) * 2022-06-24 2026-04-02 株式会社Ｎｔｔドコモ 物体位置推定装置
KR102980113B1 (ko) * 2022-07-25 2026-06-23 한국전자통신연구원 다시점 rgb-d 카메라 기반 3차원 관절 데이터 합성 방법
CN115588229A (zh) * 2022-07-26 2023-01-10 朔至美(南通)科技有限公司 一种基于互联网的养老照顾服务管理系统及方法
CN115471867A (zh) * 2022-08-26 2022-12-13 广州虚拟动力网络技术有限公司 一种人体关键特征采集方法、系统、装置与存储介质
CN115476360B (zh) * 2022-09-20 2025-02-11 南京邮电大学 基于异构体映射的串联机器人人机示教控制方法及装置
US12318661B2 (en) 2022-10-18 2025-06-03 Tonal Systems, Inc. Exercise guidance using multi-modal data
KR102988640B1 (ko) * 2022-12-29 2026-07-13 삼성전자주식회사 히트맵 기반 자세 추정 방법 및 이를 수행하는 장치
US20240286284A1 (en) * 2023-02-24 2024-08-29 Dexterity, Inc. Robot with articulated or variable length upper arm
US20240320843A1 (en) * 2023-03-21 2024-09-26 Toyota Research Institute, Inc. Category and joint agnostic reconstruction of articulated objects
US20240331174A1 (en) * 2023-03-31 2024-10-03 Apple Inc. One Shot PIFu Enrollment
WO2024225828A1 (ko) * 2023-04-27 2024-10-31 라이트비전 주식회사 개인정보보호와 법적 분쟁 해결이 동시에 가능한 영상 비식별화 장치 및 이를 수행하기 위한 방법
KR102947755B1 (ko) * 2023-04-27 2026-04-03 라이트비전 주식회사 개인정보보호와 법적 분쟁 해결이 동시에 가능한 영상 비식별화 장치 및 이를 수행하기 위한 방법
US12493979B2 (en) 2023-05-09 2025-12-09 The Boeing Company Systems and methods for calculating refueling tanker boom tip 3D position for aerial refueling
US20240394909A1 (en) * 2023-05-26 2024-11-28 Accompaneed LLC System and method of pose detection
CN116766190B (zh) * 2023-06-28 2025-11-11 北京航空航天大学 一种机器人快速动作规划方法及系统
WO2025028199A1 (ja) * 2023-07-31 2025-02-06 株式会社Orgo 情報処理装置、情報処理方法、及び情報処理プログラム
US12639944B2 (en) * 2023-08-02 2026-05-26 Mississippi State University Mobile markerless motion capture for movement data collection in all environments
US20250108259A1 (en) * 2023-09-29 2025-04-03 Apple Inc. Exercise Tracking Prediction Method
KR102691417B1 (ko) * 2023-11-22 2024-08-06 (주)로보케어 게임 콘텐츠를 제공하는 케어 로봇
CN117830396A (zh) * 2023-11-27 2024-04-05 南方科技大学 基于重心坐标的视觉slam方法、系统、终端及介质
US12518423B2 (en) 2023-11-28 2026-01-06 The Boeing Company Method of training a neural network for vision-based tracking and associated apparatus and system
US12675909B2 (en) 2023-11-28 2026-07-07 The Boeing Company Aerial refueling systems and methods
JP2025119682A (ja) * 2024-02-02 2025-08-15 トヨタ自動車株式会社 動作分類装置、動作分類方法及び動作分類プログラム
WO2025188860A1 (en) * 2024-03-06 2025-09-12 Orthopedic Driven Imaging, Llc Anatomy reconstruction and imaging tasks based on manual movement of imaging devices
US20260134692A1 (en) 2024-11-08 2026-05-14 Kepler Vision Technologies B.V. Lying position detection of a person in bed with computer vision
CN120123889B (zh) * 2025-05-14 2025-08-15 杭州摩西科技发展有限公司 用于元宇宙智慧运动的动作捕捉与反馈调整方法及系统
CN120765860B (zh) * 2025-09-09 2026-01-09 四川工商学院 基于三维建模的舞蹈动作辅助生成方法及系统

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007333690A (ja) 2006-06-19 2007-12-27 Sony Corp モーションキャプチャ装置及びモーションキャプチャ方法、並びにモーションキャプチャプログラム

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5706647B2 (ja) * 2010-09-03 2015-04-22 キヤノン株式会社 情報処理装置、およびその処理方法
US10510174B2 (en) * 2017-05-08 2019-12-17 Microsoft Technology Licensing, Llc Creating a mixed-reality video based upon tracked skeletal features
US10529089B2 (en) * 2018-02-23 2020-01-07 GM Global Technology Operations LLC Crowd-sensed point cloud map

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007333690A (ja) 2006-06-19 2007-12-27 Sony Corp モーションキャプチャ装置及びモーションキャプチャ方法、並びにモーションキャプチャプログラム

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
山本和輝，外５名，高次情報モーメントを用いた逆運動学によるビデオモーションキャプチャ，ロボティクスメカトロニクス講演会２０１８講演会論文集，1P1-E08，2018年06月01日，p. 1-4

Also Published As

Publication number Publication date
US11967101B2 (en) 2024-04-23
JP2020042476A (ja) 2020-03-19
US20220108468A1 (en) 2022-04-07
WO2020054442A1 (ja) 2020-03-19

Similar Documents

Publication Publication Date Title
US11967101B2 (en) Method and system for obtaining joint positions, and method and system for motion capture
JP7427188B2 (ja) ３ｄポーズ取得方法及び装置
JP7754511B2 (ja) 実世界環境の４ｄ時空間モデルを生成するためのリアルタイムシステム
Xiang et al. Monocular total capture: Posing face, body, and hands in the wild
US11263443B2 (en) Centimeter human skeleton pose estimation
CN104700433B (zh) 一种基于视觉的实时人体全身体运动捕捉方法及其系统
JP6116784B1 (ja) ３次元モデル生成システム、３次元モデル生成方法、及びプログラム
CN111881887A (zh) 基于多摄像头的运动姿态监测和指导方法及装置
Ohashi et al. Video motion capture from the part confidence maps of multi-camera images by spatiotemporal filtering using the human skeletal model
US20120327194A1 (en) Motion capture from body mounted cameras
CN113449570A (zh) 图像处理方法和装置
Ohashi et al. Synergetic reconstruction from 2D pose and 3D motion for wide-space multi-person video motion capture in the wild
CN111862299A (zh) 人体三维模型构建方法、装置、机器人和存储介质
CN119068558B (zh) 一种基于深度学习的运动员投掷动作分析与训练方法及设备
JP2014085933A (ja) ３次元姿勢推定装置、３次元姿勢推定方法、及びプログラム
JP7318814B2 (ja) データ生成方法、データ生成プログラムおよび情報処理装置
CN117836819A (zh) 用于生成用于关键点检测的训练数据集的方法和系统以及用于预测无标记对象上的虚拟标记的3d位置的方法和系统
JP2013120556A (ja) 被写体姿勢推定装置および映像描画装置
CN111489392A (zh) 多人环境下单个目标人体运动姿态捕捉方法及系统
US20230068731A1 (en) Image processing device and moving image data generation method
CN114926762B (zh) 运动评分方法、系统、终端及存储介质
CN114821791A (zh) 一种图像三维动作信息的捕捉方法和系统
Cheng et al. Capturing human motion in natural environments
El-Sallam et al. Towards a Fully Automatic Markerless Motion Analysis System for the Estimation of Body Joint Kinematics with Application to Sport Analysis.
Pokharel et al. Motion capture using PoseNet

Legal Events

Date Code Title Description
A80 Written request to apply exceptions to lack of novelty of invention

Free format text: JAPANESE INTERMEDIATE CODE: A80

Effective date: 20180920

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20210806

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20210812

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20220802

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20220831

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20221213

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20221227

R150 Certificate of patent or registration of utility model

Ref document number: 7209333

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250