Human Body Orientation Estimation Using Segmented Rotation Matrices
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Solution Overview
Problem
Current methods for estimating the orientation of a body in computer engineering, particularly in security and robot interaction, face challenges in accurately transforming human body coordinates into a world coordinate system.
Innovation Solution
A method and apparatus that determine a reference point on the human body, calculate a translation matrix, and use rotation matrices to transform the human body coordinate system into a world coordinate system, incorporating angles and vectors to achieve accurate orientation estimation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If current methods are used to estimate body orientation, then the process is simpler, but the accuracy of transforming human body coordinates into a world coordinate system deteriorates
Solution Approach 1:
The transformation process is segmented into distinct mathematical operations: determining a reference point, calculating a translation matrix, calculating rotation matrices, and combining them into a transformation matrix. This segmentation allows each component to be optimized independently while maintaining overall accuracy in orientation estimation.
Solution Approach 2:
The patent introduces intermediate mathematical constructs (translation matrix, rotation matrices, and their combination) as mediators between the human body coordinate system and the world coordinate system. These intermediaries enable precise coordinate transformation while providing a structured approach to managing the complexity of the transformation process.
2Reliability
If a simple coordinate transformation method is used, then the computational process is faster, but the feature integrity during transformation deteriorates
Solution Approach 1:
The patent performs preliminary actions by first determining a reference point and calculating the translation matrix before proceeding with rotation transformations. This preliminary setup ensures that feature integrity is maintained throughout the transformation process, as the reference point and translation matrix establish the correct coordinate relationship before any rotation operations are applied.
Solution Approach 2:
The transformation process utilizes parameter changes through rotation angles (α and β) that are calculated based on vector relationships. By changing these angular parameters systematically through matrix operations, the patent maintains feature integrity during coordinate transformation while providing a computationally efficient mathematical framework.
Data Source
AI summary
A method of estimating an orientation of a body is provided. The method includes determining a reference point based on a first region of a body, calculating a translation matrix of a world coordinate system based on the reference point; determining a first vector based on the reference point and a second region of the body, calculating a first rotation matrix rotated by an angle α about a first rotation vector, which is perpendicular to the first vector and a Z-axis of the world coordinate system, as a first rotation axis, determining a second vector based on the first vector and a third region of the body, calculating a second rotation matrix rotated by an angle β about the Z-axis of the world coordinate system as a second rotation axis, and calculating a transformation matrix based on the translation matrix, the first rotation matrix, and the second rotation matrix.