WO2011009302A1 - Procédé d'identification d'actions de corps humain en fonction de multiples points de trace - Google Patents

Procédé d'identification d'actions de corps humain en fonction de multiples points de trace Download PDF

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Publication number
WO2011009302A1
WO2011009302A1 PCT/CN2010/070883 CN2010070883W WO2011009302A1 WO 2011009302 A1 WO2011009302 A1 WO 2011009302A1 CN 2010070883 W CN2010070883 W CN 2010070883W WO 2011009302 A1 WO2011009302 A1 WO 2011009302A1
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Prior art keywords
point
tracking point
data
human body
tracking
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PCT/CN2010/070883
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English (en)
Chinese (zh)
Inventor
王跃
甘泉
彭立焱
周琨
沈伟
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深圳泰山在线科技有限公司
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Publication of WO2011009302A1 publication Critical patent/WO2011009302A1/fr

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
    • G06V40/20—Movements or behaviour, e.g. gesture recognition
    • G06V40/23—Recognition of whole body movements, e.g. for sport training

Definitions

  • the present invention relates to the field of computer applications, and more particularly to a human motion recognition method based on a multi-clear point.
  • some methods for recognizing and controlling by motion are based on the traditional image recognition method.
  • the camera takes a picture of the behavior or posture of the human body, analyzes and processes the captured image, and uses the corresponding recognition algorithm to identify and determine the behavioral posture of the human body. Or action.
  • this method requires a considerable amount of storage space to store the captured image, and on the other hand, a very optimized algorithm for the fine angle of the human body gesture or motion is required.
  • the handle needs power, in the absence of power or without a handle, can not be shed.
  • this technique can only be used as a game, and can only be used to identify the hand movements of the human body, but not for exercise.
  • the technical problem to be solved by the present invention is to provide a direct recognition method based on the multi-tracking point human motion or posture, in view of the above-mentioned inability to record the position of multiple parts of the human body and the defects of the motion information.
  • the technical solution adopted by the present invention to solve the technical problem is: setting a plurality of tracking points on the human body or related sports equipment, recording the position data of each Qingzong point at different times, analyzing and calculating the corresponding correspondence of each Qingzong point
  • the motion data is used to identify the motion or body posture of the human body to be tested.
  • the invention provides a human motion recognition method based on multiple £ points, comprising the following steps:
  • the step S3 further includes: calculating, by using the spatial position data of a set of data points corresponding to each of the above-mentioned points, based on the action requirement that needs to be determined, Positional relationship data between different points.
  • the step S4 further includes: The corresponding action data of Qingzong points and the positional relationship data between different Qingzong points identify the movements of the human body to be tested.
  • the step S1 further includes: setting at least two parcel points on the human body or the sports equipment to be tested based on the human body posture requirement that needs to be determined;
  • S3 further includes: using the spatial position data of a set of data points corresponding to each of the above-mentioned Qingzong points, calculating the corresponding action data of each Qingzong point and the positional relationship between different Qingzong points based on the human body posture requirements that need to be judged.
  • the step S4 further includes: identifying the human body posture of the human body to be tested according to the corresponding motion data of each Qingzong point and the positional relationship data between different Qingzong points.
  • the step S4 further includes: identifying the to-be-tested according to the corresponding motion data of each Qingzong point and the positional relationship data between different Qingzong points
  • the human body poses a skin condition.
  • the corresponding motion data of each tracking point is calculated, including calculating displacement, velocity, force velocity, and/or force magnitude.
  • the method further includes the step S5: using the spatial position data of a set of data points corresponding to each tracking point to describe the motion of each Qingzong point. Track.
  • the step S2 further includes: expressing a set of data points corresponding to each of the acquired points to a triple (x, y, z
  • x represents the position of the data point on the X axis, the X axis is the first horizontal direction, and the X value increases the position of the surrogate point to the right
  • y represents the position of the data point on the Y axis, and the Y axis is vertical Direction, and the y value increases to represent the shift point position up
  • z represents the position of the data point on the Z axis, the Z axis is the second horizontal direction perpendicular to the first horizontal direction, and the z value increases to represent the trace point The position moves forward.
  • the action to be judged is selected from the following group of actions: panning, squatting, jumping, running, hitting, boxing, kicking, slanting dance .
  • A1 Set at least one Qingzong point on the body to be tested;
  • A2 Collect the spatial position of the tracking point at different times, and record it as a set of data points corresponding to the tracking point ( ⁇ , ⁇ , ⁇ ,) ⁇ , where i represents different time, data point (x., ;y.,z.) is the position of the point at the beginning of the time;
  • A3 Analyze the above data points;
  • yi-ycxd is a preset threshold, the position of the singular point moves downward, that is, the cock is moving, and the squat distance is I y r y. I;
  • the 3 ⁇ 4 ⁇ point position is moved forward, that is, the body to be tested has moved forward, and when 3 ⁇ 4 - ⁇ 0, the body to be tested has moved and moved, and the moving distance is I 3 ⁇ 4- ⁇ I;
  • the position of the £ point is shifted to the right, that is, the right movement of the body to be tested occurs.
  • Xi -xo ⁇ 0 the left movement of the body to be tested occurs, and the moving distance is I Xi -Xo I.
  • a point is set on the hat worn by the body to be tested.
  • B2 Collecting the spatial position of the tracking point at different times, and recording as a set of data points corresponding to the tracking point ( ⁇ , ⁇ , ⁇ ,) ⁇ , where i represents different time, data point (x., ;y.,z.) is the position of the point at the beginning of the time;
  • C2 Collect the spatial position of the tracking point at different times, and record it as a set of data points corresponding to the tracking point, ⁇ , ⁇ ,); where i represents different time, data point (x.,; y , z.) The position of the Qingzong point at the beginning of the time;
  • C3 Analyze the above data points; check the relationship between yi and y i+1 and _ at each moment. When y i+1 ⁇ yi and y yi—i, then yi is £ in the Y-axis direction.
  • the point when it is determined whether the body to be tested is running, the point is set on the knee of the human body to be tested.
  • D1 Set at least one point on the left and right hands of the human body to be tested, and take the left-hand point of the data on the X-axis as the ⁇ , and the other ⁇ ⁇ , ie, the right-hand ⁇ ⁇ , as the ⁇ point;
  • D3 Analyze the above data points; judge whether the punching action occurs according to the speed value of the Qingzong point in the Z-axis direction; then judge the fist shape according to the speed or position of the point on the other two axes.
  • E1 Set at least one Qingzong point on the human hand to be tested
  • E2 Collecting the position of the space at different times of the point, and recording the data points corresponding to the point;
  • E3 Analyze the above data points; judge whether the ball throwing action occurs according to the speed value of the Qingzong point in the Y-axis direction, and judge whether the hitting action occurs according to the speed value of the Qingzong point in the Z-axis direction.
  • the step E3 when determining the hitting motion of the human body to be tested, the step E3 further includes: according to the speed value and the Z-axis of the Qingzong point in the Y-axis direction. The speed in the direction determines whether the ball cutting action occurs; and the influence of the ball cutting motion on the ball motion is judged according to the angle between the moving direction of the Qingzong point and the three coordinate plane.
  • the point when judging the hitting motion of the human body to be tested, the point is set on the racket.
  • the step E1 when determining the hitting motion of the human body to be tested, the step E1 further includes: setting a point on the head of the human body to be tested.
  • the step E3 when determining the hitting motion of the human body to be tested, the step E3 further includes: according to the Qingzong point on the hand and the head The positional relationship of the Qingzong point on the judgment is the right handball and the handball.
  • the multi-tracking point-based human motion recognition method embodying the invention has the following beneficial effects: multi-target tracking is realized, and the whole body part of the human body to be tested is carried out for the li sect; since the basic data of Qingzong is the entertainment fitness person at the moment
  • the spatial position information of each tracking part can record the movement track of the Qingzong part, locate and describe the human body posture, and more realistically reflect the movement of the human body.
  • the method of the present invention is simple and practical, and has high accuracy for human motion or gesture recognition.
  • FIG. 1 is a flow chart of an embodiment of a human motion recognition method based on multiple trace points of the present invention
  • FIG. 2 is a schematic diagram of a coordinate system of a human motion recognition recognition unit based on a multi-tracking point according to the present invention
  • FIG. 3 is a position data diagram of a Qingzong point when determining a running motion based on a multi-Qing point-based human motion recognition method according to the present invention
  • the implementation process of the multi-clear point-based human motion recognition method of the present invention includes the following steps: In step S1, at least one of the human body or the sports equipment to be tested is set based on the action requirement that needs to be determined. Tracking point; in step S2, collecting the spatial position of the Qingzong point at different times, and recording the data point corresponding to the Qingzong point; in step S3, using a set of data points corresponding to the above-mentioned point Spatial location data, based on The action request that needs to be judged, the corresponding action data of the parcel point is calculated; in step S4, the motion action of the human body to be tested is identified according to the corresponding action data of the ⁇ point.
  • the shell IJ can also use the spatial position data of an a3 ⁇ 4 point corresponding to the ⁇ ⁇ ⁇ point in step S3, based on the need The action of the judgment requires calculation of the positional relationship data between different points.
  • step S4 the motion motion of the human body to be tested is identified according to the corresponding motion data of the Qingzong point and the positional relationship data between the different Qingzong points.
  • the human body motion recognition method based on the multi-clear point of the present invention can also be applied to the recognition of the human body posture, and only needs to be adjusted in the steps of the above-mentioned human body motion recognition method:
  • step S1 based on the human body posture requirement that needs to be judged , at least two points are set on the human body or the sports equipment to be tested; in step S3, using the spatial position data of a group of data points corresponding to the above ⁇ ⁇ ⁇ ⁇ points, based on the human body posture requirement that needs to be determined, calculating the zoning point Corresponding action data and positional relationship data between different Qingzong points; in step S4, according to the corresponding action data of Qingzong point and the positional relationship data between different Qingzong points, the human body posture of the human body to be tested is recognized . According to the corresponding action data of Qingzong point and the positional relationship data between different Qingzong points, the human body posture of the human body to be tested can be recognized.
  • the present invention can also use the spatial position data of an a3 ⁇ 4 base corresponding to each of the Qingzong points to describe the motion trajectory of the Qingzong point.
  • calculating corresponding motion data of each tracking point including calculating displacement, speed, force velocity and/or force magnitude, etc., is advantageous for judging the action. The data.
  • the process of setting the Qingzong point and collecting the spatial position data in the present invention can be implemented by various methods.
  • the Qingzong point may be a material having high reflective characteristics, and infrared light is emitted from the infrared emitting device, and the digital image of the point at different times is captured by the camera. Input to the computer or shed control chip to identify it, to determine the spatial position coordinates of the point, for subsequent processing.
  • the shed triplet of the present invention generates spatial position data of the miscellaneous points.
  • step S2 all the data points corresponding to the collected points are represented as a triple (x, y, z), where x represents the position of the data point on the X axis, the X The axis is in the first horizontal direction, and the X value is increased, and the position of the miscellaneous point is shifted to the right; y represents the position of the data point on the Y axis, the Y axis is vertical, and the increase of the y value represents the up position of the Qingzong point.
  • the hardware generates thirty such triples per second, so that the spatial position data of the same point over a period of time can be used to describe the motion state of the tracking point.
  • the human body posture change can be described.
  • the coordinate system used to derive the data points of the underlying hardware of the present invention is shown in FIG. From this coordinate system, it can be seen that the left movement X becomes smaller, the right movement X becomes larger; the upward movement y becomes larger, the downward movement y becomes smaller; the forward movement z becomes larger, and the backward movement z becomes smaller.
  • a flow chart for determining the start and end points of the action is given by first giving the data points of the soft bottom of the shed of the present invention.
  • the layer ⁇ / hard dedicated data points expressed as a triple (x, y, z), and then according to the a3 ⁇ 4 base, calculate the speed of the ⁇ ⁇ data points, the speed of the mouth and The amount of force.
  • the distance of the action can be calculated from the start point and the end point of the action.
  • the information of the start point and the end point of the action can be obtained according to the flowchart, and further data can be further calculated.
  • the multi-clear point-based human motion recognition method can be used to determine the following actions: translation, squatting, jumping, running, hitting, boxing, kicking: E oblique dancing, etc.
  • the motion data is judged and calculated based on a plurality of points set on the human body or the exercise machine.
  • Human body movements are extremely complex, but they can be used to classify human movements from the effects of movements, such as: movement, squatting, jumping, running, hand movements, and a variety of combined movements.
  • the present invention is an action of subdividing a human body motion into various parts of the body, and then expressing the entire motion of the human body according to the motion of each part.
  • A translation, squatting, the reason for classifying these two actions into one class, when judging these two actions, Just consider the coordinates of a point. For example, if a person wears a hat and takes the position of the Qingzong to the hat, its coordinates are ⁇ , ⁇ , ⁇ . After that, the coordinates of the position of the hat are ⁇ ,,) ⁇ ,), you can use these two
  • the relative relationship of points shows which direction the person is moving. If - ⁇ ⁇ , then it can be judged that the position of the head is low. According to the value of 4, it can be judged whether the person is squatting. If the value is large, the person squats.
  • the method of judging the left and right movement is the same as the method of moving back and forth, but only the X-axis coordinate information of the shed.
  • V is a given value given in advance, which is obtained from the usual motion test. Record the position information of the hat at that moment, recorded as the starting point position ( , ⁇ , ), and After that, calculate the distance from the starting point of the hat position at each moment.
  • the jump judgment can be applied to sports such as head-to-head attack.
  • Running action that is, whether the person is running or not, mainly considering whether the person's leg is reciprocating up and down.
  • the value of the position information in the vertical direction keeps increasing, and reaches the maximum value quickly, and then decreases rapidly until the initial height of the knee.
  • boxing action boxing action here mainly considers the action of punching, to judge straight fist, left and right hand hook as an example.
  • Qingzong reached the data of two sports points, taking the smaller moving point on the X-axis as the left-hand data point, which is identified as the A-Qing point; the other data point as the right-hand data point, identified as ⁇ 3 ⁇ 4 ⁇ The point.
  • Analysis of the ⁇ Qingzong point although it is two points, but the analysis only needs one.
  • the value of the Qingzong point increases in the Y-axis direction by a certain amount, that is, the Qingzong point is at the time of the i-axis
  • the Y-axis coordinate is reduced, and the Y-axis coordinate at the beginning is greater than a certain value, y i -y k ⁇ d 2 , where: d 2 is a pre-reformed value, then it can be judged that the punch is an upward hook.
  • the boxer can be judged by the boxer. If the boxing is the right hand, Behe can judge that the right hand is moving to the right. There is no boxing type; if the value of the point is reduced by a certain amount in the direction of the X-axis, and the right hand of the boxing is punched, it can be judged that the boxing is a right-handed hook. If the hand is punched, Beihe judges that only one hand moves to the left. There is no fist type; if these are not the case, Bei
  • the above four motion analysis are only for simple actions, or for local parts of the human body.
  • the method of the present invention is not only so, but can recognize the complex movements of the human body.
  • the description of the present invention is as How to recognize the body's whole body movements.
  • the body of the body is 3 ⁇ 4, by wearing a hat, holding a ⁇ racket, facing the camera, hat
  • Bezon point reflects the movement of the person, the X-axis coordinate becomes smaller, the person moves to the left, and vice versa.
  • the Z-axis coordinate becomes smaller, the person moves backward, and the person moves forward; the X and z-axis coordinates change simultaneously. , indicating that the person has motion in both coordinate directions, which can be seen as moving along one coordinate axis first, and then moving according to another coordinate axis.
  • the hand swings upwards to detect the upward speed of the hand in real time. If ⁇ d 3 , where d 3 is the preset threshold, it means there is an upward throwing motion, otherwise there is no throwing motion; after the throwing motion, the real-time detecting hand
  • the forward speed v 3 ⁇ 4 if v « ⁇ ⁇ , which is the preset threshold, Bay guessed that there is a batting action, the tossing action and the batting action combined, and the shell IJ indicates that the athlete made the teeing action.
  • the downward cut has an obvious feature, that is, the racquet moves downward and forward, and the speed is slower than the tyrant.
  • the shell IJ indicates that the ball cutting action is over, and the position of the racket ⁇ 3 ⁇ 4 ⁇ at this time is recorded ( , ⁇ , ).
  • the racket may Hit the ball. If the ball is hit, replace the position of the end point of the ball cutting action with the position of the hitting point, but it is still indicated by the shed. It is determined that the action is a ball-cutting action, and it is necessary to further examine the effect of this ball-cutting action on the ball.
  • the angle with the YOZ plane is: arccos( ⁇ v 2 2 + v y 2 I ⁇ v x 2 + v y 2 + v z 2 )
  • the angle with the XOZ plane is: ar CCOS (» 2 / » 2 )
  • the action of serving the ball, cutting the ball, etc. has the right and left hands.
  • the head i (x t , y t , z t ) and the hand coordinates (x s , ; y s are obtained) .
  • z s if x t ⁇ x s , when doing the serve, cutting the ball, etc., the hand is on the right side of the head, and it can be judged to be the right hand ball.
  • the spatial position information of the human body is used by the present invention, so that the human body posture at a certain moment can be described.
  • taking the detection of the human body posture during the yoga movement as an example how to describe the human body posture. Since it is very important to maintain the stability of each fixed posture during the yoga movement, it is necessary to calculate the angle between the Qingzong points in the fixed posture and the shaking of these points to measure whether the posture is maintained well.
  • a point has no gesture, at least two points are used. In this case, three tracking points are shed, which is more representative.
  • the right hand point is the number 1 ⁇ 3 ⁇ 4 ⁇ point
  • the left hand ⁇ 3 ⁇ 4 ⁇ point is the 2nd ⁇ 3 ⁇ 4 ⁇ point
  • the fl retracted ⁇ 3 ⁇ 4 ⁇ point is the 3rd ⁇ 3 ⁇ 4 ⁇ point.
  • the criterion for determining them is that, at the beginning of the yoga exercise, the parcel point of the lowest position is the No. 3 parcel on the leg, and among the remaining two points, the point with the larger X coordinate is the right hand No. 1 parcel, the last one The point is the 1st point.
  • the human eye is very easy to identify whether a motion positioning is standard, whether the positioning is stable, and it is caused by the computer.
  • the second problem to be solved by the present invention is to use the spatial position coordinate information of each Qingzong point to generate a high-level semantics for describing the posture and maintaining the skin condition.
  • the identification of the human body posture of the present invention can be specifically applied to a fitness program such as yoga.
  • a fitness program such as yoga.
  • the following is a description of the technical solution of the present invention by taking yoga as an example.
  • the fitness person faces the video camera, is in the state of preparation, and passes the relative position between the coordinates of the point coordinates, and gives the ⁇ ⁇ point to the self.
  • the exercise state of the fitness person is calculated in real time. , such as the distance between three ancestors, the angle, the speed of movement, when the speed of movement is slow, the invading tends to be close to zero, it can be determined that a movement of the bodybuilder has already been in place.
  • a fixed posture has begun, and the record is recorded.
  • Bessie indicates that the fitness person's fixed posture is in conformity with the standard. At some time thereafter, if the inner angle appears to be unsatisfied, The end of a fixed posture, the end time recorded, the difference between the end time and the start time is the time the posture is held. During the posture maintenance process, all the spatial position information of the three Qingzong points are also saved and utilized. First, the average position of the trailing points is calculated, and then the variance of all the positions experienced during the posture maintaining process to its average position is calculated. After the end of a yoga session, the completion of the action is scored based on the time and average variance of the temple (the average variance is the average of the sum of the variances).
  • the score is proportional to the hold time and inversely proportional to the average variance.
  • the score of the whole set of actions is the average of the scores of each action. This average score can be used to measure the fitness effect of the exerciser. At this point, a complete description of whether the human body movement conforms to the yoga fitness program, and the degree of compliance, and the fitness effect is over.
  • the invention can be used for entertainment fitness, enabling people to see their own action characteristics in front of the screen of the display or the television, or can learn with the virtual fitness instructor in the display or the TV screen, and feedback the learning effect, but the purpose of the invention is not only Only so.
  • the present invention more realistically reflects the movement of the human body, for example, whether it is jumping or running, or drawing a circle in the air in the hand, or punching a fist, what type of punching, and the like.
  • the invention can describe the movement track, the movement action, or the spatial position information of the multi-part body of the human body through the position of the body part of the human body, and determine the posture of the human body for video fitness, network fitness, video games, Online game.

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Abstract

L'invention porte sur un procédé de reconnaissance des actions du corps humain en fonction de multiples points de trace. Le procédé comprend les étapes suivantes consistant : à régler au moins un point de trace sur le corps humain ou sur des équipements sportifs devant être détecté en fonction d'une requête d'action nécessitant un jugement; à rassembler les emplacements d'espace à différents moments de chaque point de trace et à enregistrer un ensemble de points de données correspondant au point de trace; à calculer les données d'action correspondantes de chaque point de trace à l'aide des données d'emplacement d'espace d'un ensemble de points de données correspondant à chaque tel point de trace en fonction de la requête d'action nécessitant un jugement, et à reconnaître l'action sportive du corps humain devant être détectée selon les données d'action correspondantes de chaque point de trace. Le procédé permet également de reconnaître les postures du corps humain. Grâce au procédé, il est possible de refléter la situation sportive de façon réelle par l'accomplissement de la trace de multiples objectifs, le traçage des multiples régions du corps humain devant être détectées et l'enregistrement de la piste de déplacement de la région tracée pour localiser et décrire les postures humaines.
PCT/CN2010/070883 2009-07-22 2010-03-05 Procédé d'identification d'actions de corps humain en fonction de multiples points de trace WO2011009302A1 (fr)

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CN200910109019A CN101964047B (zh) 2009-07-22 2009-07-22 一种基于多跟踪点的人体动作识别方法
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