基于少量惯性传感器的姿态重建与仿真

doi:10.16182/j.issn1004731x.joss.201710005

系统仿真学报 ›› 2017, Vol. 29 ›› Issue (10): 2261-2267.doi: 10.16182/j.issn1004731x.joss.201710005

基于少量惯性传感器的姿态重建与仿真

崔丽君¹, 黄天羽¹, 冯枫², 张杰³, 杨凯⁴, 刘陈⁵

1.北京理工大学软件学院,北京 100081;
2.空军装备部107办公室,北京 100854;
3.中国航空工业集团成都飞机设计研究所,四川成都 610091;
4.航天系统仿真重点实验室,北京 100854;
5.中国航天科工集团公司,北京 100048

收稿日期:2015-10-08 发布日期:2020-06-04
作者简介:崔丽君(1989-),男,山东潍坊,硕士,研究方向为计算机仿真、行为建模与仿真。
基金资助:
国家自然科学基金(61202243)

Motion Reconstruction and Simulation Using Sparse Inertial Sensors

Cui Lijun¹, Huang Tianyu¹, Feng Feng², Zhang Jie³, Yang Kai⁴, Liu Dong⁵

1. School of Software, Beijing Institute of Technology, Beijing 100081, China;
2. Equipment Department of China PLA Air Force,Beijing 100854, China;
3. AVIC Chengdu Aircraft Design & Research Institute, Chengdu 610091, China;
4. Science and Technology on Special System Simulation Laboratory, Beijing 100854, China;
5. China Aerospace Science & Industry Corp, Beijing 100048, China

Received:2015-10-08 Published:2020-06-04

摘要/Abstract

摘要： 提出了一种基于少量惯性传感器的姿态重建方法,将输入的低维角加速度信息作为控制信号,以高维欧拉角运动数据库为基础,重建出高维的人体全身姿态序列。通过建立数字相似性-几何相似性-时间持续性模型,对加速度进行重构,保证候选重建姿态的在数字-逻辑上相似性的统一。通过引入最优化能量函数,求解最优重建姿态序列。通过分析和对比实验,表明方法能够重建出真实可信的人体姿态序列。本研究使用少量惯性传感器控制,能产生持续的全身关节的姿态序列,通过减少传感器数量,达到降低系统成本的目的。

关键词: 运动捕捉, 姿态重建, 低维控制信号, 运动库, 运动检索

Abstract: A method was proposed to reconstruct high-dimensional full-body motion sequences from low-dimensional control data collected by sparse inertial sensors. The approach solved the mapping problem from low dimension to high dimension. A numerical similarity- geometrical similarity-time continuity model was setup to ensure the reconstructed motion candidates in numerical-logical similarity. The gap between angle and angular acceleration was eliminated by acceleration reconstruction. An energy function was introduced to optimize the reconstructed results which guaranteed the accuracy. The analysis and comparison experiments show that the proposed method can reconstruct nature and credible motions in real-time and can be applied in low-cost full-body motion capture by using few inertial sensors.

Key words: motion capture, motion reconstruction, low-dimensional control signals, motion database, motion retrieval

中图分类号:

TP393.0

崔丽君, 黄天羽, 冯枫, 张杰, 杨凯, 刘陈. 基于少量惯性传感器的姿态重建与仿真[J]. 系统仿真学报, 2017, 29(10): 2261-2267.

Cui Lijun, Huang Tianyu, Feng Feng, Zhang Jie, Yang Kai, Liu Dong. Motion Reconstruction and Simulation Using Sparse Inertial Sensors[J]. Journal of System Simulation, 2017, 29(10): 2261-2267.

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基于少量惯性传感器的姿态重建与仿真

Motion Reconstruction and Simulation Using Sparse Inertial Sensors

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