KR102172362B1 - Motion capture apparatus using movement of human centre of gravity and method thereof - Google Patents

Abstract

A motion capture device according to an embodiment of the present invention includes a receiving unit for receiving motion measurement data measured by a motion measurement sensor attached to each body part of a measurement subject, and a human body motion for the measurement subject based on the motion measurement data. A center of gravity calculation unit configured for each frame and calculating the center of gravity of the human body motion for each frame, a jump determining unit determining whether a jump motion has occurred based on the magnitude of an acceleration signal included in the motion measurement data, And, when it is determined that the jump motion has occurred, a motion implementation unit that determines a jump path of the human body motion based on the center of gravity, and implements a motion of a virtual character using the determined jump path.

Description

Motion capture device and method using movement of the center of gravity of the human body {MOTION CAPTURE APPARATUS USING MOVEMENT OF HUMAN CENTER OF GRAVITY AND METHOD THEREOF}

The embodiment relates to a motion capture device and a method thereof.

Motion Cature refers to the work of grasping the movement of the human body by attaching a sensor to the body or using an infrared camera and recording it in digital form. Motion capture data obtained through such motion capture is digital content and is used in various ways such as animation, movie game, motion analysis, and rehabilitation.

Motion capture systems can be classified into optical, mechanical, and sensor types depending on how data is extracted. The optical method is a method of extracting position data by attaching a marker to a predetermined area to measure the motion of an object and then photographing it through a plurality of cameras. It has the advantage that it is possible to shoot at high speed and has few restrictions on the movement of the target, but there is a disadvantage that data is lost when the equipment is very expensive and the marker is covered. The mechanical type is a method of capturing the movement of each joint part of the human body through attachment of a mechanical device, and the provided data is rotation data for each joint extracted in real time, and very accurate data can be provided. However, as a heavy mechanical device is attached, the object is restricted in natural motion, and thus, there is a limit to extracting motion data. The sensor type is a method of extracting position data by attaching a sensor that generates a magnetic field to each joint of an object and measuring the change of the magnetic field according to the movement of the object. Although there are problems such as limitation of operation of the object due to cables, these problems have been solved with the recent development of microelectromechanical systems (MEMS) technology and wireless communication technology.

In the case of a sensor-type motion capture system, an acceleration sensor is essentially included in order to measure an acceleration signal used for position movement calculation. The acceleration signal is integrated to calculate the moving distance and moving speed of the object, and errors are accumulated during integration due to the bias measured by the acceleration sensor, which leads to measurement errors.

Therefore, there is a need for a method to reduce an error during integration caused by a bias measured by such an acceleration sensor.

The embodiment provides a motion capture device and method using movement of the center of gravity of a human body.

The problems to be solved in the embodiments are not limited thereto, and the objectives and effects that can be grasped from the solutions or embodiments of the problems described below are also included.

A motion capture device according to an embodiment of the present invention includes a receiving unit for receiving motion measurement data measured by a motion measurement sensor attached to each body part of a measurement subject, and a human body motion for the measurement subject based on the motion measurement data. A center of gravity calculation unit configured for each frame and calculating the center of gravity of the human body motion for each frame, a jump determining unit determining whether a jump motion has occurred based on the magnitude of an acceleration signal included in the motion measurement data, And, when it is determined that the jump motion has occurred, a motion implementation unit that determines a jump path of the human body motion based on the center of gravity, and implements a motion of a virtual character using the determined jump path.

The center of gravity calculation unit divides the motion of the human body by preset segmental area, calculates coordinates of the center of gravity for each segmental area, and calculates the center of gravity of the human body motion based on the coordinates of the center of gravity calculated for each segmental area. You can calculate the coordinates.

The center of gravity calculation unit calculates coordinate information of both ends for each segment area, calculates coordinates of the center of gravity for each segment area using a first parameter set for each segment area and the coordinate information, The coordinates of the center of gravity of the human body motion may be calculated using the coordinates of the center of gravity and the second parameter set for each segment area.

The jump determination unit determines whether an acceleration value in the direction of gravity among the acceleration signals included in the motion measurement data is equal to or greater than a preset threshold value, and if the acceleration value in the direction of gravity is greater than or equal to a preset threshold value, the acceleration in the direction of gravity A point in time when a value changes from a positive value to a negative value may be detected, and it may be determined that the jump motion has occurred when the acceleration value in the gravitational direction changes from a positive value to a negative value.

The motion implementation unit calculates a difference value between the waist position of the body motion and the center of gravity, corrects the body motion by moving the hip position of the body motion by the difference value, and adjusts the movement direction of the center of gravity. Accordingly, the movement trajectory of the human body motion is calculated, the acceleration signal is integrated from the point where the jump motion occurs to calculate the movement speed and the movement distance of the human body motion, and the movement trajectory, the movement speed, and the movement distance of the human body motion are calculated. The motion of the virtual character may be implemented by applying to the corrected human body motion.

A motion capture method according to an embodiment of the present invention includes receiving motion measurement data measured by a motion measurement sensor attached to each part of a body of a measurement subject, and determining a human body motion for the measurement subject based on the motion measurement data. Comprising for each frame, calculating the center of gravity of the human body motion for each frame, determining whether a jump motion has occurred based on the magnitude of the acceleration signal included in the motion measurement data, and the jump motion If it is determined that it has occurred, determining a jump path of the human body motion based on the center of gravity, and implementing a motion of a virtual character using the determined jump path.

The calculating of the center of gravity of the motion of the human body may include dividing the motion of the human body into preset segment regions, calculating coordinates of the center of gravity for each segment region, and the coordinates of the center of gravity calculated for each segment region. It may include calculating the coordinates of the center of gravity of the motion of the human body.

The calculating of the coordinates of the center of gravity for each segment area may include calculating coordinate information of both ends for each segment area, and the center of gravity for each segment area using a first parameter set for each segment area and the coordinate information. Comprising the step of calculating the coordinates of, and calculating the coordinates of the center of gravity of the motion of the human body, the center of gravity of the motion of the human body using the coordinates of the center of gravity for each segment area and a second parameter set for each segment area It may include the step of calculating the coordinates of.

The step of determining whether the jump motion has occurred may include determining whether an acceleration value in the direction of gravity among the acceleration signals included in the motion measurement data is equal to or greater than a preset threshold value, wherein the acceleration value in the direction of gravity is preset. If it is more than a threshold, detecting a point in time when the acceleration value in the direction of gravity changes from a positive value to a negative value, and the jump motion occurs at a point in time when the acceleration value in the direction of gravity changes from a positive value to a negative value. It may include determining that it is.

The implementing of the motion of the virtual character may include calculating a difference value between the waist position of the human body motion and the center of gravity, and correcting the human body motion by moving the hip position of the human body motion by the difference value. , Calculating a movement trajectory of the human body motion according to the movement direction of the center of gravity, calculating a moving speed and a movement distance of the human body motion by integrating the acceleration signal from the point when the jump motion occurs, and the human body It may include the step of implementing the motion of the virtual character by applying the movement trajectory, the movement speed and the movement distance of the motion to the corrected human body motion.

According to an embodiment, an error in integration due to a bias measured by an acceleration sensor can be minimized, thereby providing high accuracy in operation implementation.

Various and beneficial advantages and effects of the present invention are not limited to the above-described contents, and may be more easily understood in the course of describing specific embodiments of the present invention.

1 is a diagram illustrating a motion capture system according to an embodiment of the present invention.
2 is a view for explaining the arrangement of sub-modules according to an embodiment of the present invention.
3 is a block diagram of a motion capture device according to an embodiment of the present invention.
4 is a diagram for describing a human body motion implementation according to an embodiment of the present invention.
5 is a view for explaining a center of gravity according to an embodiment of the present invention.
6 is a diagram illustrating a first parameter for each segment according to an exemplary embodiment of the present invention.
7 is a diagram illustrating a process of calculating coordinates of a center of gravity for each segment according to an exemplary embodiment of the present invention.
8 is a diagram illustrating a process of calculating a center of gravity of a human body motion according to an embodiment of the present invention.
9 is a view for explaining a jump determination process according to an embodiment of the present invention.
10 and 11 are diagrams for explaining a motion implementation process according to an embodiment of the present invention.
12 is a flowchart of a motion capture method according to an embodiment of the present invention.
13 is a detailed flowchart illustrating step S1230 of FIG. 12.
14 is a detailed flowchart illustrating step S1230 of FIG. 12.
15 is a flow chart showing in detail step S1250 of FIG. 12.

The present invention is intended to illustrate and describe specific embodiments in the drawings, as various changes may be made and various embodiments may be provided. However, this is not intended to limit the present invention to a specific embodiment, it is to be understood to include all changes, equivalents, and substitutes included in the spirit and scope of the present invention.

Terms including ordinal numbers, such as second and first, may be used to describe various elements, but the elements are not limited by the terms. These terms are used only for the purpose of distinguishing one component from another component. For example, without departing from the scope of the present invention, a second component may be referred to as a first component, and similarly, a first component may be referred to as a second component. The term and/or includes a combination of a plurality of related listed items or any of a plurality of related listed items.

When a component is referred to as being "connected" or "connected" to another component, it is understood that it may be directly connected or connected to the other component, but other components may exist in the middle. Should be. On the other hand, when a component is referred to as being "directly connected" or "directly connected" to another component, it should be understood that there is no other component in the middle.

The terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In the present application, terms such as "comprise" or "have" are intended to designate the presence of features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, but one or more other features. It is to be understood that the presence or addition of elements or numbers, steps, actions, components, parts, or combinations thereof, does not preclude in advance.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs. Terms as defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and should not be interpreted as an ideal or excessively formal meaning unless explicitly defined in this application. Does not.

Hereinafter, embodiments will be described in detail with reference to the accompanying drawings, but the same reference numerals are assigned to the same or corresponding components regardless of the reference numerals, and redundant descriptions thereof will be omitted.

1 is a diagram illustrating a motion capture system according to an embodiment of the present invention.

Referring to FIG. 1, the motion capture system may include a motion sensor module 100 and a motion capture device 300.

The motion sensor module 100 may refer to a module for collecting motion measurement data by measuring a motion of a measurement subject. When there are multiple measurement targets, the motion sensor module 100 may be multiple. The motion sensor module 100 may include a plurality of sub-modules 110 and one main module 120.

First, the plurality of sub-modules 110 may mean a motion measurement sensor that is attached to each part of the body of the measurement subject and measures the movement of the measurement subject. The plurality of sub-modules 110 may be attached to each body part, such as a head, an arm, a waist, and a leg.

Each sub-module 110 may include various sensors. According to an embodiment, the sub-module 110 may include at least one of a 3-axis gyro sensor, a 3-axis acceleration sensor, and a 3-axis geomagnetic sensor. In addition, the sub-module 110 may further include a signal processing unit for processing a signal received from each sensor, a power unit for sensor operation, and a communication unit for communicating with the main module 120.

Next, the main module 120 collects motion measurement data from each sensor. The motion measurement data may include signal information according to a sensor included in the submodule 110. For example, when the sub-module 110 includes a 3-axis acceleration sensor, motion measurement data may include information on 3-axis acceleration signals. In order to collect motion measurement data from the plurality of sub-modules 110, the main module 120 may be designed to enable 1:N communication with the plurality of sub-modules 110. The main module 120 may be connected to the sub-module 110 by wire.

The main module 120 periodically transmits the collected data to the motion capture device 300 through the communication module 200. For example, the main module 120 may transmit data collected in units of 10 ms to the motion capture device 300. Here, the communication module 200 may mean a WiFi Access Point (AP).

The motion capture device 300 implements the motion of a virtual character using motion measurement data received through the communication module 200. The motion capture device 300 may include a processor, RAM, and a storage device for storing and processing data. For example, the motion capture device 300 may be implemented as a personal computer (PC) or a server. The motion capture device 300 will be described in detail through the drawings below.

2 is a view for explaining the arrangement of sub-modules according to an embodiment of the present invention.

According to an embodiment of the present invention, a sensor may be disposed in each of the plurality of sub-modules 110 for each preset segment. Segment can mean a part that divides the human body into large parts. For example, as shown in Figure 2, the segment may be composed of a head, a torso, a hip, a neck, a thigh, a lower leg, a foot, an upper arm, a lower arm, and a hand (0 to 14). In this case, the sub-module 110 may be composed of at least 15, and at least one sub-module 110 may be disposed in each segment.

3 is a block diagram of a motion capture device according to an embodiment of the present invention.

3, the motion capture device 300 according to the embodiment of the present invention may include a receiving unit 310, a center of gravity calculation unit 320, a jump determination unit 330, and a motion implementation unit 340. have.

The receiver 310 receives motion measurement data measured by a motion measurement sensor attached to each part of the body of the person to be measured.

Based on the motion measurement data, the center of gravity calculation unit 320 configures the motion of the human body for each frame, and calculates the center of gravity of the motion of the body for each frame.

In order to calculate the center of gravity of the motion of the human body, the center of gravity calculation unit 320 divides the motion of the human body into each preset segmental area and calculates coordinates of the center of gravity for each segmental area. In addition, the center of gravity calculation unit 320 calculates the coordinates of the center of gravity of the human body motion based on the coordinates of the center of gravity calculated for each segment area. Specifically, the center of gravity calculation unit 320 calculates coordinate information of both ends for each segment area, and calculates the coordinates of the center of gravity for each segment area using the first parameter and coordinate information set for each segment area. In addition, the center of gravity calculation unit 320 calculates the coordinates of the center of gravity of the motion of the human body using the coordinates of the center of gravity for each segment area and the second parameter set for each segment area.

The jump determination unit 330 determines whether a jump motion has occurred based on the magnitude of the acceleration signal included in the motion measurement data.

Specifically, the jump determination unit 330 determines whether the acceleration value in the direction of gravity among acceleration signals included in the motion measurement data is equal to or greater than a preset threshold. If the acceleration value in the direction of gravity is more than a preset threshold value, the jump determination unit 330 detects a point in time when the acceleration value in the gravitational direction changes from a positive value to a negative value, and the acceleration value in the gravitational direction is negative from a positive value. It is judged that the jump motion has occurred at the point of change to the value of.

When it is determined that the jump motion has occurred, the motion implementation unit 340 determines a jump path of the human body motion based on the center of gravity, and implements a motion of the virtual character, for example, a jump motion using the determined jump path.

Specifically, the motion implementation unit 340 calculates a difference value between the waist position and the center of gravity of the human body motion, and corrects the human body motion by moving the hip position of the human body motion by the calculated difference value. In addition, the motion implementation unit 340 calculates the movement trajectory of the human body motion according to the movement direction of the center of gravity, and calculates the movement speed and the movement distance of the human body motion by integrating the acceleration signal from the point when the jump motion occurs. The motion implementation unit 340 implements a jump motion of a virtual character based on a movement trajectory, a movement speed, and a movement distance of the human body motion. The motion implementation unit 340 implements the motion of the virtual character by applying the movement trajectory, the movement speed, and the movement distance of the human body motion to the corrected human body motion.

4 is a diagram for describing a human body motion implementation according to an embodiment of the present invention.

The center of gravity calculation unit 320 may configure a human body motion for a measurement target for each frame based on the motion measurement data. The center of gravity calculation unit 320 may configure a human body motion by applying the posture information of the sub-module 110, that is, motion measurement data of each sub-module 110 to each part of the virtual human skeleton frame. In detail, the center of gravity calculation unit 320 converts the quaternion value included in the motion measurement data into a rotation matrix to calculate the position of the joint, and then converts the position value (coordinate value) of the joint into the joint part of the virtual human skeleton frame. By applying to, the human body motion as shown in FIG. 4 can be configured.

5 is a view for explaining a center of gravity according to an embodiment of the present invention.

The center of gravity calculation unit 320 calculates the center of gravity of the motion of the human body for each frame.

The center of gravity may mean the center of mass of the human body. The center of gravity of the human body exists at the center of the body, but it is not fixed. As shown in FIG. 5, the center of gravity may always change according to a person's movement or posture.

This center of gravity may be calculated as the average position of masses distributed in each part of the human body. Accordingly, it is possible to divide the motion of the human body for each preset segmental region, and calculate the center of gravity for each segmental region.

6 is a diagram illustrating a first parameter for each segment according to an exemplary embodiment of the present invention.

According to an embodiment of the present invention, the center of gravity calculation unit 320 may use the first parameter set for each segment in calculating the coordinates of the center of gravity for each segment area.

The first parameter set for each segment may mean a distance from the proximal to the center of mass, assuming that the distance from the distal to the proximal of each segment is 1. Here, the first parameter may be set differently according to the height and weight of a person, and may be optimized for each individual.

6 and Table 1 below show examples of the first parameter.

segment 1st parameter (%) head 40.24 body 55.14 Upper torso 70.01 Lower body 38.85 Upper arm 57.72 forearm 45.74 hand 79.00 femur 40.95 shin 44.59

Tables 1 and 6 are examples of the first parameter, and the first parameter may further include a segment region other than the segment presented as an example above.

7 is a diagram illustrating a process of calculating coordinates of a center of gravity for each segment according to an exemplary embodiment of the present invention.

According to an embodiment of the present invention, the center of gravity calculation unit 320 calculates coordinate information of both ends for each segment area. Coordinate information of both ends of each segment area may be calculated through motion measurement data. Here, both ends may mean the distal end and the proximal end of the segment. The coordinate information of both ends may mean center coordinates of the distal end and the proximal end. Then, the center of gravity calculation unit 320 calculates the coordinates of the center of gravity for each segment area using the first parameter and coordinate information set for each segment.

Referring to FIG. 7, the center of gravity of the segment may be located on a virtual line segment connecting the center of the distal end and the center of the proximal end. Here, considering the first parameter described above, the difference between the x-axis coordinate value (X _P ) of the proximal end and the x-axis coordinate value (X _CM ) of the segment's center of gravity and the distal end The ratio of the difference between the x-axis coordinate value (X _D ) of) and the x-axis coordinate value (X _CM ) of the segment's center of gravity is [1st parameter (%cm): 1- 1st parameter (1-%cm) ]. And, the difference between the y-axis coordinate value (Y _P ) of the proximal end and the y-axis coordinate value (Y _CM ) of the segment's center of gravity and the y-axis coordinate value (Y _D ) of the distal end The ratio of the difference between the y-axis coordinate value (Y _CM ) of the center of gravity of the segment and the segment is [first parameter (%cm):1-first parameter (1-%cm)].

Considering this geometry, the center of gravity of the segment can be calculated through Equation 1 below.

Here, (X _sc ,Y _sc ) means the coordinate of the center of gravity of the segment, Q ₁ means the first parameter, X _D means the X-axis coordinate value of the distal end, and X _P means the coordinate value of the proximal end. It means the X-axis coordinate value, Y _D means the Y-axis coordinate value of the distal end, and Y _P means the Y-axis coordinate value of the proximal end.

Equation 1 above represents the coordinates of the center of gravity of the segment based on the 2D coordinates, but can be extended to 3D coordinates as shown in Equation 3 below.

Here, (X,Y,Z) means the three-dimensional coordinates of the segment's center of gravity, Q ₁ means the first parameter, X _D means the X-axis coordinate value of the distal end, and X _P means the proximal X-axis coordinate of the distal end, Y _D refers to the Y-axis coordinate value of the distal end, Y _P refers to the Y-axis coordinate value of the proximal end, and Z _D refers to the Z-axis coordinate value of the distal end. And Z _P means the Z-axis coordinate value of the proximal end.

8 is a diagram illustrating a process of calculating a center of gravity of a human body motion according to an embodiment of the present invention.

The center of gravity calculation unit 320 according to an embodiment of the present invention calculates the coordinates of the center of gravity of the human body motion by using the coordinates of the center of gravity for each segment area and the second parameter set for each segment area.

The coordinates of the center of gravity of the human body motion may be calculated through Equation 3 below using the second parameter Q ₂ .

That is, the center of gravity of the human body motion may be calculated as a value obtained by summing a value obtained by multiplying the coordinates of the center of gravity of each segment by the second parameter of each segment and a value obtained by adding the second parameter of each segment.

When Equation 3 is extended to a 3D coordinate system, it can be expressed as Equation 4 below.

Here, the second parameter means the ratio of the mass of the segment to the total mass of the body. This can be expressed as Equation 5 below.

Here, Q ₂ means the second parameter, MASS _segment means the mass of the segment, and MASS _total means the total mass of the body. The second parameter may be set differently in consideration of a preset value for each segment or the subject's weight.

When the center of gravity of the human body motion is calculated as described above, the center of gravity according to the shape of the human body motion can be calculated as shown in FIG. 8.

9 is a view for explaining a jump determination process according to an embodiment of the present invention.

The jump determination unit 330 may determine whether a jump motion has occurred through a determination process using an acceleration signal. In this case, the acceleration signal may use a signal value in the z-axis direction.

First, the jump determination unit 330 determines whether the acceleration value in the direction of gravity among acceleration signals included in the motion measurement data is equal to or greater than a preset threshold. For example, in FIG. 8, since a situation in which the threshold value (set to 0) is exceeded at point A occurs, the corresponding condition is satisfied. In addition, if the acceleration value in the gravitational direction is greater than or equal to a preset threshold, the jump determination unit 330 determines whether the acceleration value in the gravitational direction changes from a positive value to a negative value. For example, since point A is detected, the jump determination unit 330 determines point B at which the acceleration value changes from a positive value to a negative value.

Then, the jump determination unit 330 determines that a jump motion has occurred at a point in time when the acceleration value in the direction of gravity changes from a positive value to a negative value. That is, it is determined that the jump motion has occurred at the point B rather than the point A. In the case of a jump, a jump step is required to lift the body into the air. That is, the leap step is a step of configuring a jump motion as a preliminary step for floating the body in the air, but the body is not actually in a state of floating in the air. In the embodiment of the present invention, it is determined that a jump motion has occurred when the body floats in the air, that is, when the toe is separated from the floor surface. In this way, by dividing the leap phase and the aerial attitude phase, the amount of movement in the aerial attitude can be accurately calculated.

10 and 11 are diagrams for explaining a motion implementation process according to an embodiment of the present invention.

The motion implementation unit 340 corrects the position of the motion of the human body, and implements the motion of the virtual character using the movement trajectory calculated based on the center of gravity, and the movement speed and movement distance calculated based on the acceleration signal.

First, the motion implementation unit 340 calculates a difference value between the waist position and the center of gravity (CM) of the motion of the human body. For example, the motion implementation unit 340 may calculate a difference value between the waist position of the human body motion and the center of gravity through a value obtained by subtracting the coordinate value of the waist position of the body motion from the coordinate value of the center of gravity. In FIG. 10, the difference between the waist position and the center of gravity of the motion of the human body occurs as much as d _x in the _x- axis and d _y in the y-axis.

Then, the motion implementation unit 340 corrects the position of the human body motion by moving the hip position of the human body motion by the difference value (d _x , d _y ). For example, the motion implementation unit 340 may correct the motion position of the human body by adding the calculated difference value to the coordinate value of the hip position of the human body motion.

Next, the motion implementation unit 340 calculates a movement trajectory of the human body motion according to the movement direction of the center of gravity. As described above, since the center of gravity is calculated for each frame, the movement trajectory of the human body motion can be calculated by connecting the coordinate values of the center of gravity of each frame.

Next, the motion implementation unit 340 calculates the moving speed and the moving distance of the human body motion by integrating the acceleration signal from the point at which the jump motion occurs. The integration of the acceleration signal starts from the point at which the jump motion occurs, that is, the point at which the acceleration value in the direction of gravity changes from a positive value to a negative value. If, in the acceleration signal, a drift error occurs during the integration process, the drift error increases as the integration period increases. However, by integrating the acceleration signal from the point at which the jump motion occurs, as in the present invention, it is possible to minimize the drift error, thereby improving the accuracy of calculating the moving speed and the moving distance in the jump motion. The integration of the acceleration signal may be performed up to the landing step, and this may be a time point at which the acceleration signal in the direction of gravity changes from a negative value to a positive value.

Then, the motion implementation unit 340 may implement the jump motion of the virtual character by applying the movement trajectory, the movement speed, and the movement distance of the human body motion to the corrected human body motion, as shown in FIG. 11.

12 is a flowchart of a motion capture method according to an embodiment of the present invention.

Referring to FIG. 12, first, the receiving unit 310 receives motion measurement data measured by a motion measurement sensor attached to each part of the body of a measurement subject (S1210).

Then, the center of gravity calculation unit 320 configures the motion of the human body for each frame based on the motion measurement data (S1220).

Then, the center of gravity calculation unit 320 calculates the center of gravity of the motion of the human body for each frame (S1230). To this end, the center of gravity calculation unit 320 divides the motion of the human body into preset segment regions, calculates the center of gravity for each segment region, and calculates the center of gravity of the human body motion based on the calculated center of gravity for each segment region. have.

Next, the jump determination unit 330 determines whether a jump motion has occurred based on the magnitude of the acceleration signal included in the motion measurement data (S1240).

If it is determined that the jump motion has occurred, the motion implementation unit 340 determines a jump path of the human body motion based on the center of gravity, and implements the motion of the virtual character using the determined jump path (S1250).

13 is a detailed flowchart illustrating step S1230 of FIG. 12.

Referring to FIG. 13, first, the center of gravity calculation unit 320 calculates coordinate information of both ends for each segmented area (S1231).

Further, the center of gravity calculation unit 320 calculates the coordinates of the center of gravity for each segment area by using the first parameter and coordinate information set for each segment area (S1232).

Then, the center of gravity calculation unit 320 calculates the coordinates of the center of gravity of the motion of the human body using the coordinates of the center of gravity for each segment area and the second parameter set for each segment area (S1233).

14 is a detailed flowchart illustrating step S1230 of FIG. 12.

Referring to FIG. 14, the jump determination unit 330 determines whether an acceleration value in the direction of gravity among acceleration signals included in the motion measurement data is equal to or greater than a preset threshold (S1241). When the acceleration value in the gravitational direction is less than a preset threshold value, the jump determination unit 330 may repeat the process until an acceleration value in the gravitational direction equal to or greater than the preset threshold is detected.

If the acceleration value in the gravitational direction is equal to or greater than a preset threshold value, the jump determination unit 330 detects a point in time when the acceleration value in the gravitational direction changes from a positive value to a negative value (S1242). The jump determination unit 330 may repeatedly determine the corresponding condition until a time point at which the acceleration value in the direction of gravity changes from a positive value to a negative value is detected.

The jump determination unit 330 determines that a jump motion has occurred when the acceleration value in the direction of gravity changes from a positive value to a negative value (S1243).

15 is a flow chart showing in detail step S1250 of FIG. 12.

Referring to FIG. 15, the motion implementation unit 340 calculates a difference value between the waist position and the center of gravity of the motion of the human body (S1251).

Then, the motion implementation unit 340 corrects the human body motion by moving the hip position of the human body motion by a difference value (S1252).

Next, the motion implementation unit 340 calculates a movement trajectory of the human body motion according to the movement direction of the center of gravity (S1253). Step S1253 may be performed regardless of whether steps S1251 and S1252 are performed. That is, step S1253 may proceed simultaneously with steps S1251 and S1252, or may proceed first.

Further, the motion implementation unit 340 calculates the moving speed and the moving distance of the human body motion by integrating the acceleration signal from the point when the jump motion occurs (S1254). Step S1254 may be performed regardless of whether steps S1251, S1252, and S1253 are performed. That is, step S1254 may proceed simultaneously with steps S1251, S1252, and S1253, or may proceed first.

The motion implementation unit 340 implements the motion of the virtual character by applying the movement trajectory, the movement speed, and the movement distance of the human body motion to the corrected human body motion (S1255).

An embodiment of the present invention may be implemented as a recording medium storing a program for executing a motion capture method.

The term'~ unit' used in this embodiment refers to software or hardware components such as field-programmable gate array (FPGA) or ASIC, and'~ unit' performs certain roles. However,'~ part' is not limited to software or hardware. The'~ unit' may be configured to be in an addressable storage medium, or may be configured to reproduce one or more processors. Thus, as an example,'~ unit' refers to components such as software components, object-oriented software components, class components and task components, processes, functions, properties, and procedures. , Subroutines, segments of program code, drivers, firmware, microcode, circuitry, data, database, data structures, tables, arrays, and variables. The components and functions provided in the'~ units' may be combined into a smaller number of elements and'~ units', or may be further divided into additional elements and'~ units'. In addition, components and'~ units' may be implemented to play one or more CPUs in a device or a security multimedia card.

The embodiments have been described above, but these are only examples and do not limit the present invention, and those of ordinary skill in the field to which the present invention belongs are not illustrated above within the scope not departing from the essential characteristics of the present embodiment It will be seen that various modifications and applications are possible. For example, each component specifically shown in the embodiment can be modified and implemented. And differences related to these modifications and applications should be construed as being included in the scope of the present invention defined in the appended claims.

100: motion sensor module
110: sub module
120: main module
200: communication module
300: motion capture device
310: receiver
320: center of gravity calculation unit
330: jump determination unit
340: motion implementation unit

Claims (10)

A receiver that receives motion measurement data measured by a motion measurement sensor attached to each body part of the person to be measured,
A center of gravity calculator configured to configure a human body motion for the object to be measured for each frame based on the motion measurement data and calculate a center of gravity of the body motion for each frame,
A jump determination unit that determines whether a jump motion has occurred based on the magnitude of the acceleration signal included in the motion measurement data,
When it is determined that the jump motion has occurred, a motion implementation unit determining a jump path of the human body motion based on the center of gravity, and implementing a motion of a virtual character using the determined jump path,
The motion implementation unit,
Calculating a difference value between the waist position of the human body motion and the center of gravity,
Correcting the human body motion by moving the buttocks position of the human body motion by the difference value,
Calculating a movement trajectory of the human body motion according to the movement direction of the center of gravity,
Integrating the acceleration signal from the point when the jump motion occurs to calculate the moving speed and the moving distance of the human body motion,
A motion capture device that implements the motion of the virtual character by applying the movement trajectory, movement speed, and movement distance of the human body motion to the corrected human body motion. The method of claim 1,
The center of gravity calculation unit,
The human body motion is divided into preset segmental regions,
Calculate the coordinates of the center of gravity for each segmented area,
A motion capture device that calculates the coordinates of the center of gravity of the human body motion based on the coordinates of the center of gravity calculated for each segment area. The method of claim 2,
The center of gravity calculation unit,
Calculate coordinate information of both ends for each segmented area,
The coordinates of the center of gravity for each segment area are calculated using the first parameter set for each segment area and the coordinate information,
A motion capture device that calculates the coordinates of the center of gravity of the human body motion using the coordinates of the center of gravity for each segmental area and a second parameter set for each segmental area. The method of claim 1,
The jump determination unit,
It is determined whether the acceleration value in the direction of gravity among the acceleration signals included in the motion measurement data is equal to or greater than a preset threshold,
When the acceleration value in the gravitational direction is greater than or equal to a preset threshold, a time point at which the acceleration value in the gravitational direction changes from a positive value to a negative value is detected,
A motion capture device that determines that the jump motion has occurred when the acceleration value in the direction of gravity changes from a positive value to a negative value. delete In the motion capture method using a motion capture device,
Receiving motion measurement data measured by a motion measurement sensor attached to each body part of the measurement subject,
Configuring a human body motion for the object to be measured for each frame based on the motion measurement data, and calculating a center of gravity of the human body motion for each frame,
Determining whether a jump motion has occurred based on the magnitude of the acceleration signal included in the motion measurement data,
If it is determined that the jump motion has occurred, determining a jump path of the human body motion based on the center of gravity, and implementing a motion of a virtual character using the determined jump path,
Implementing the motion of the virtual character,
Calculating a difference value between the waist position of the human body motion and the center of gravity,
Correcting the human body motion by moving the buttocks position of the human body motion by the difference value,
Calculating a movement trajectory of the human body motion according to the movement direction of the center of gravity,
Integrating the acceleration signal from the point at which the jump motion occurs to calculate a moving speed and a moving distance of the human body motion, and
And implementing the motion of the virtual character by applying the movement trajectory, the movement speed, and the movement distance of the human body motion to the corrected human body motion. The method of claim 6,
The step of calculating the center of gravity of the human body motion,
Dividing the human body motion into preset segmental regions,
Calculating coordinates of the center of gravity for each segmented area, and
And calculating the coordinates of the center of gravity of the human body motion based on the coordinates of the center of gravity calculated for each segmented area. The method of claim 7,
The step of calculating the coordinates of the center of gravity for each segment area,
Calculating coordinate information of both ends for each segment region, and
Comprising the step of calculating the coordinates of the center of gravity for each segment area using the first parameter set for each segment area and the coordinate information,
The step of calculating the coordinates of the center of gravity of the motion of the human body,
And calculating the coordinates of the center of gravity of the motion of the human body by using the coordinates of the center of gravity for each segmental area and a second parameter set for each segmental area. The method of claim 6,
The step of determining whether the jump motion has occurred,
Determining whether an acceleration value in the direction of gravity among the acceleration signals included in the motion measurement data is equal to or greater than a preset threshold,
If the acceleration value in the gravitational direction is greater than or equal to a preset threshold, detecting a time point at which the acceleration value in the gravitational direction changes from a positive value to a negative value, and
And determining that the jump motion has occurred when the acceleration value in the direction of gravity changes from a positive value to a negative value.

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