Walking state identification method based on space vector between human body skeleton joints

Abstract

The invention provides a walking state identification method based on a space vector between human body skeleton joints. The method comprises a step of identifying the joint three-dimensional coordinates of a human body skeleton after a human body is detected by using a Kinect camera, and a step of identifying a human body walking state according to the space vector formed between the joints of the human body skeleton. The step of identifying a human body walking state concretely comprises a step of extracting the three-dimensional coordinates of a left hipbone, a left knee, a right hipbone, a right knee, a left shoulder bone and a right shoulder bone needed by identification, a step of calculating the cosine value of the angle between the space vector formed by the left hipbone and the left knee and a vertical direction and a cosine value of the angle between the space vector formed by the right hipbone and the right knee and the vertical direction, a step of judging whether a target person is in a walking state through the cosine values of the two angles, and judging whether the target person in a walking state walks straight, turns left or turn right according to the angle cosine value of the space vector formed by the left shoulder bone and the right shoulder bone and a Kinect camera positive direction. According to the method, the three-dimensional coordinate data of the human body skeleton joints can be accurately obtained, and the attitude action of each frame of the target person is rapidly obtained.

Description

technical field [0001] The invention relates to the technical field of RGBD camera vision, in particular to a walking state recognition method based on space vectors between human skeleton joint points. Background technique [0002] The current following service robots are all passive, and follow the owner's back or side, or walk or stop. In this case, the master just cannot monitor it at any time. When the robot is carrying valuables, even if the items are lost, it is difficult for the owner to find out immediately, so it is easy to cause a lot of unnecessary losses. In contrast, if a following service robot can move in front of the owner and make a correct response by identifying and predicting the next action of the owner, it can take into account both following and monitoring, avoiding the defects of the current passive following robot, and making people follow the robot Benefit more from assistance. On the other hand, when the service robot is used to carry tools, ma...

AI Technical Summary

Problems solved by technology

In this case, the owner cannot monitor it at any time

When the robot carries valuables, even if the item is lost, it is difficult for the owner to find it immediately, so it is easy to cause a lot of unnecessary losses

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