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Tracking method of three-dimensional mark point sequence and system thereof

A tracking system and marking point technology, which is applied in the field of computer vision and pattern recognition, can solve the problems of manual repair data repair errors, difficult personnel, and inability to fully guarantee the correct identification of marking points, etc.

Active Publication Date: 2012-09-05
INST OF COMPUTING TECH CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Due to the complexity of human body movement, marker points are often blocked by limbs, which will inevitably lead to marker point tracking failure during the tracking process, so a robust method is needed to improve the tracking effect
[0004] In addition, the tracking method cannot fully guarantee that all markers are correctly identified, so the problem of marker loss needs to be dealt with in the actual capture system
In the current motion capture system, in order to solve the problem of missing markers, it often requires a very cumbersome manual data repair process, such as the Fill tools in the mainstream commercial system Vicon iQ, and manual data repair often requires rich experience in human motion data It is difficult for ordinary personnel to complete
In addition, manual patching data often causes patching errors, which brings great difficulties to accurate motion tracking of subsequent frames.

Method used

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  • Tracking method of three-dimensional mark point sequence and system thereof
  • Tracking method of three-dimensional mark point sequence and system thereof
  • Tracking method of three-dimensional mark point sequence and system thereof

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0130] This specific embodiment is a method based on a single-object marker image.

[0131] This method can be used if there is at least one feature point on the rigid body where the feature point corresponding to the lost 3D marker point has a corresponding reconstructed and identified 3D marker point.

[0132] The rigid body where the feature points corresponding to the lost 3D marker points are located is the object rigid body.

[0133] Step S511 , searching for 2D marker points that have not been used to reconstruct the identified 3D marker points in all images of the current frame.

[0134] Step S512, for each two-dimensional marker point, calculate the three-dimensional back-projection ray of the two-dimensional marker point starting from the optical center of the camera corresponding to the image where the two-dimensional marker point is located.

[0135] The calculation method is if the camera matrix is ​​P 3×4 =[H 3×3 ,p 4 ], then the straight line passing through...

specific Embodiment approach 2

[0148] This specific implementation is a method based on the translation vector of a marked point in a rigid body.

[0149] This method can be used if there is at least one feature point on the rigid body where the feature point corresponding to the lost 3D marker point has a corresponding reconstructed and recognized 3D marker point in the current frame.

[0150] Such as image 3 As shown in (b), corresponding to the feature point f in the previous frame 1 The identified 3D marker points are m 1 , corresponding to the feature point f j The identified 3D marker points are m j , the vector between the two 3D markers is feature point f 1 The coordinates of the corresponding identified 3D marker points in the current frame are Then the feature point f j The corresponding candidate 3D markers in the current frame are The candidate three-dimensional marker points are added to the set of candidate supplementary three-dimensional marker points.

[0151] The source of this...

specific Embodiment approach 3

[0152] This particular embodiment is a method based on rigid body transformation.

[0153] This method can be used if there are at least three feature points on the rigid body where the feature points corresponding to the missing 3D marker points have corresponding reconstructed and identified 3D marker points in the current frame.

[0154] Since the rigid body structure basically remains unchanged during the movement, if the marker point m is lost 1 At least three 3D markers on the rigid body have been reconstructed and identified, then the rigid body transformation R, t can be calculated by the coordinates of the identified 3D markers in the rigid body in the current frame and the coordinates of the previous frame, and the lost 3D mark point m 1 Candidate supplementary point results of can be calculated by the following formula

[0155] M 1 k = R M j k ...

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Abstract

The invention relates to a tracking method of a three-dimensional mark point sequence and a system thereof. The method comprises the following steps: step 1: reading a chain structure model of the human body, and determining a rigid body and characteristic points; step 2: acquiring frames of motion images, wherein each frame has a plurality of images, the images have two-dimensional mark points, and the first frame has recognized three-dimensional mark points; step 3: projecting the three-dimensional mark points recognized in the previous frame in the image of the current frame, searching two-dimensional mark points corresponding to the characteristic points according to the projection, and reconstructing candidate three-dimensional mark points of the characteristic points through the two-dimensional mark points to form a candidate mark point set; and step 4: enumerating mark point combinations from the candidate mark point set of the rigid body, computing corresponding mark likelihood function values, reserving the mark point combination corresponding to the maximum value, and recognizing the candidate three-dimensional mark points in the mark point combination as the three-dimensional mark points of the characteristic points in the current frame. The invention can exactly track each characteristic point in the rigid body of the chain structure model of the human body from the acquired mark point sequence.

Description

technical field [0001] The invention relates to the fields of computer vision and pattern recognition, in particular to a tracking method and system for a sequence of three-dimensional marker points. Background technique [0002] Since the 1980s, optical motion capture technology has become increasingly mature. In optical motion capture, it is necessary to paste reflective markers on the captured object, and use multiple synchronized calibrated cameras to collect images of these markers, and then from the image The two-dimensional marker points are extracted and tracked and reconstructed to obtain the coordinates of the three-dimensional marker points, and then the motion parameters of the captured object are calculated from them. [0003] Due to the complexity of human body movement, marker points are often blocked by limbs, which will inevitably lead to marker point tracking failure during the tracking process. Therefore, a robust method is needed to improve the tracking e...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/20
Inventor 夏时洪邓小明黄武王文中毛天露
Owner INST OF COMPUTING TECH CHINESE ACAD OF SCI