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Method, device and equipment for tracking rigid body position information based on 1[symbol in description] filtering
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A position information and rigid body technology, applied in the field of motion capture, can solve problems such as easy loss and rigid body mismatch
Active Publication Date: 2021-03-16
SHENZHEN REALIS MULTIMEDIA TECH CO LTD
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[0004] In order to solve the problems of rigid body flying strings, rigid body mismatch, and easy loss in the process of human body capture, the present invention proposes a method based on human body constraints and 1 Method for tracking correct position information of rigid body by filtering algorithm, device and equipment thereof
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Embodiment 1
[0042] Please refer to figure 1 , this application discloses a The method for filtering and tracking the position information of a rigid body includes steps S110-S160, which will be described separately below.
[0043] Step S110, obtain the rigid body position information set P{(P 1t 1 , P 2t , 1 ...P pt 1 ), (P 1t 2 , P 2t 2 ,...P pt 2 )...(P 1t N , P 2t N ,...P pt N )}, and write down the maximum distance set ME{(E 10 1 ,E 20 1 ,...E p0 1 ), (E 10 2 ,E 20 2 ,...E p0 2 )...(E 10 N ,E 20 N ,...E p0 N )}, where, p is the body part number, P pt is the position information of the rigid body on the human body part p, N is the total number of human bodies, .E p0 is the maximum distance between the rigid body marker points on the body part p;
[0044] In one embodiment, the human body first performs TPose at a certain distance, that is, the hands are spread horizontally, the legs are close together, the head is looking straight ahead, and the w...
Embodiment 2
[0067] Please refer to figure 2 , this application discloses a The device 3 for filtering and tracking the position information of the rigid body includes:
[0068] The acquisition unit 31 is used to acquire the rigid body position information set P {(P 1t 1 , P 2t , 1 ...P pt 1 ), (P 1t 2 , P 2t 2 ,...P pt 2 )...(P 1t N , P 2t N ,...P pt N )}, and write down the maximum distance set ME{(E 10 1 ,E 20 1 ,...E p0 1 ), (E 10 2 ,E 20 2 ,...E p0 2 )...(E 10 N ,E 20 N ,...E p0 N )}, where, p is the body part number, P pt is the position information of the rigid body on the human body part p, N is the total number of human bodies, .E p0 is the maximum distance between the rigid body marker points on the body part p; it can be seen that figure 2 Obtaining the position information of the rigid body at the time t=0 and the time t≥1 of the rigid body can be obtained by tracking the movement of the rigid body through the motion capture device;
[...
Embodiment 3
[0072] Please refer to image 3 , the application also discloses a A device 4 for filtering and tracking rigid body position information, the device 4 may include a memory 41 and a processor 42, and include a 1-based Method program for filtering tracking rigid body position information. In addition, it should be noted that here based on 1 The method program for filtering and tracking rigid body position information can be implemented when executed by the processor 42. The steps of the method for filtering and tracking the position information of the rigid body (that is, steps S110-S160).
[0073] It should be noted that, in this embodiment, the 1-based The method program for filtering and tracking rigid body position information may include some functional modules, such as the acquisition unit 31 , judgment unit 32 and calculation unit 33 claimed in the second embodiment. Wherein, the acquiring unit 31 is used to acquire the rigid body position information set P{(P 1t...
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Abstract
The invention discloses a method for tracking rigid body position information based on filtering, and the method comprises the steps of obtaining the rigid body position information worn on each partof a multi-person body at a moment t = 0 and a moment t > = 1 and the maximum distance between rigid body mark points, judging whether the head rigid body position information is correct or not according to a preset first constraint condition, and if not, predicting rigid body mark point position information in the space by using a filtering algorithm, and solving correct head rigid body positioninformation according to a preset second constraint condition; solving the distance relation of the positions of the rigid bodies on each human body; and judging whether the distance relationship is correct or not according to a preset third constraint condition, and if not, solving a correct rigid body mark point set according to a preset fourth constraint condition, thereby tracking to obtain accurate rigid body position information. According to the scheme, the problems of rigid body flying strings, rigid body mismatching and the like among different human bodies in the human body capturingprocess are solved, so that the correctness of rigid body position calculation is greatly improved.
Description
technical field [0001] The invention relates to the technical field of motion capture, in particular to a 1-based A method for filtering and tracking rigid body position information and its device and equipment. Background technique [0002] In the current optical motion capturesystem, human bodymotion capture generally uses a rigid body worn on the human body to calculate the positioning and posture of the body parts, thereby deriving information such as human body movements, so the accuracy of rigid body positioning and posture calculation is very critical. . Rigid body tracking includes position tracking. Position information is the key to rigid body tracking. Existing 1 The filtering algorithm has faster response and lower delay, and can better track dynamic signals, so 1 The filtering algorithm can be used to track the position of the rigid body more accurately. [0003] In the existing motion capture system, in the case of multi-rigid bodies and multi-person m...
Claims
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