Method and related equipment for attitude calculation based on improved inverse kinematics

Abstract

The invention relates to the technical field of motion capture, and discloses a method and related equipment for attitude calculation based on improved inverse kinematics, which are used to improve the accuracy of moving and rotating the end of human bones to a target position. The method of attitude calculation based on improved inverse kinematics includes: obtaining the rotation parameter set of preset joint points, the current position of the bone end and the target position of the bone end; calculating the Jacobian matrix according to the current position and rotation parameter set; and Transpose of the Jacobian matrix; obtain the error vector according to the current position and the target position; update the current position according to the error vector, Jacobian matrix, transpose of the Jacobian matrix and the preset offset vector, and judge whether the modulus of the updated error vector is decrease, if so, update the rotation parameter set according to the preset iteration formula until the number of iterations is not less than the preset iteration threshold or when the updated error vector converges to 0, stop iteratively updating the rotation parameter set.

Description

technical field [0001] The invention relates to the technical field of motion capture, in particular to a method and related equipment for attitude calculation based on improved inverse kinematics. Background technique [0002] Human body motion capture technology is an important way to make movie special effects and realize human-computer interaction activities such as virtual reality. To realize these applications, it is necessary to track the motion trajectory of human joint points through the measurement of motion posture. Therefore, in the process of motion capture based on markers In , it is necessary to perform attitude calculation to obtain the rotation information of each joint in the human skeleton. [0003] In the prior art, the inverse kinematics (IK) algorithm is often used to calculate the skeletal pose, and the skeletal motion parameters can be obtained through the IK algorithm. Through the motion parameters, the actual motion trajectory of the end of the huma...

AI Technical Summary

Problems solved by technology

[0004] The main purpose of the present invention is to solve the problem of avoiding matrix inversion and optimizing a single transposition method to improve accuracy when the matrix is ​​irreversible in the inverse kinematics algorithm

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