基于Kinect的三维人体分块点云数据的拼接与模型重建

三维人体测量技术中,人体表面情况较为复杂以及存在视觉盲点,使得测量范围有限的Kinect技术无法通过一次测量完成对整个人体表面点云的获取工作。为了得到与原模型一致的分块点云数据和解决Kinect直接获取的点云坐标与实际不相符的问题,研究了基于Kinect对人体的不同区域的测量,首先推导出合理的坐标变换公式对点云进行处理。然后,使用三点对齐法和Delaunay三角剖分法实现分块点云的拼接和三维人体模型的重建。最后,运用Matlab平台进行仿真。实验结果表明,该算法简化了传统三维人体建模的复杂性,能够精确地提取人体深度图像,且模型的恢复程度较好。     

基于MAYA和Unity3D的在线定制鞋系统

针对传统制鞋企业无法满足个性化需求的问题,结合虚拟现实技术的交互性等特点,设计了基于MAYA和Unity3D在线定制鞋系统.首先采用MAYA建模软件中多边形与细分建模相结合的技术进行三维鞋建模;然后基于Unity3D引擎,采用Shader渲染技术实现打包纹理贴图并结合C#脚本语言,实现人机交互功能;最后,应用WebGL技术发布至网页,使用户通过浏览器即可进行在线三维定制鞋的设计及浏览.该系统可以实现用户在网页上个性化定制属于自己的鞋,满足人们个性化定制的理念,对制鞋企业的发展会产生很大的推动力.     

基于Kinect的轴类零件三维重建研究

使用Kinect采集的深度数据,进行了轴类零件三维重建算法的研究。首先借助Kinect获取深度和彩色数据,通过坐标转换将深度信息转换成三维点云数据;其次提取出感兴趣目标的点云数据,根据点云数据的噪声特点,并对其进行滤波降噪处理;然后进行点云分割获得点云集,最后对各点云集进行结构参数化分析。实验结果表明,本文算法能够精确、高效地实现轴类零件的重建。     

基于Kinect人体脚型三维构建

针对传统测量方法成本高、操作复杂、图像特征匹配率准确度不高等问题,提出了一种将Kinect传感器与计算机视觉技术相结合的构建人体三维脚型的方法。利用Kinect传感器搭建测量系统,获取不同角度的深度信息图像,通过改进的Harris-SIFT算法对特征点进行提取与匹配,并通过迭代最近点(ICP)算法完成对点云数据的拼接。结果表明:所提方法能够便捷、准确地实现人体三维脚型的构建。     

Kinect扫描数据驱动的几何建模方法

针对Kinect设备单视角扫描所得不完整点云数据,提出了一种快速三维建模方法.利用互联网上丰富的已有同类三维模型为资源进行三维建模,建模过程主要包括3个阶段:1)通过三维模型库的语义部件标注对所需建模的点云数据和图像数据进行结构分析,获得相应的部件级分割结果;2)利用点云和图像分割所得的部件级信息在三维模型库中搜索与其匹配的各部件;3)对搜索得到的部件进行组合,以获得与扫描模型相似的最终模型.实验结果表明,该方法能够快速、高效地完成对Kinect设备扫描所得的残缺点云数据的模型重建.     

基于参数化逆向建模的踝足矫形器设计

为了实现踝足矫形器(AFO)快速精准建模,提高矫形器个体化定制效率与患者佩 戴舒适性,提出了一种基于参数化逆向建模的AFO 设计方法。该方法采用3D 扫描技术获取足 部与小腿原始点云数据,通过点云数据处理与优化得到基础数字化模型。利用Grasshopper 插 件提取踝足个性化形状特征型值点,用于重建踝足数字化模型。创建了包括6 阶段的AFO 参数 化逆向建模程序,通过改变参数即可实现AFO 的定制设计。最终,通过脑卒中患者定制设计 AFO 实例验证了所提方法的可行性。     

基于光切法的全三维量脚制鞋系统的设计和实现

介绍了基于光切法的全三维量脚制鞋系统。利用基于光切法的三维形貌扫描仪对足型进行测量,得到精度为±0.4mm的足型数据。根据足部关键参数,选择标准鞋楦。将脚型划分为多个特征段,足型数据和标准鞋楦的规则化点云拟合为NURBS曲线,各段内根据脚型的特点对标准鞋楦进行整体缩放以局部修改,利用能量优化原则同时修改控制点和权因子,对标准鞋楦进行修改,使其符合脚型的整体三维特点。定制鞋楦建模后,利用等距面法得到鞋楦的刀具加工轨迹并转化为通用格式的NC代码送入数据刻楦机进行加工,定制的鞋楦用于生产适合脚型的鞋子。该系统打破了根据有限的足部参数来选鞋的传统,真正实现了基于全三维足型数据的量脚制鞋。     

基于Kinect的人体三维重建方法

通过Kinect体感仪,实现人体三维重建.使用Kinect体感仪,扫描获取人体三维数据,利用深度数据转换算法实现二维顶点的三维化,再通过红外相机姿态跟踪算法进行顶点集配准,求解出相机每次的相对位移与转动角度,实现相机姿态跟踪,并将每次拍摄到的点集转换到同一全局坐标系下,使用晶格化显示集成算法将点云集成到提前划分好精度及尺寸的体素晶格中,最后利用投影映射算法获得可视化的人体三维立体模型.使用Kinect体感仪及三脚架等辅助设备方便快捷地获取人体三维重建结果,并通过3D打印技术对模型进行输出.该研究实现了人体三维重建中人体扫描、处理、重建、输出全流程.     

基于机械臂的Kinect车辆轮廓点云配准

车辆轮廓的三维点云模型在汽车智能化制造及维保过程中具有重要作用。为提高点云配准的精度和效率,以汽车维保机器人为研究对象,提出一种基于点云数据处理技术的车辆轮廓扫描定位及点云数据配准方法。在机械臂末端安装Kinect深度传感器实现精准移动,在汽车四周采集点云数据并进行预处理,根据机械臂运动学方程计算传感器采样位姿,完成初步配准。在此基础上,使用迭代最近点算法完成车辆轮廓点云的精确配准。实验结果表明,该方法可完成各视角点云数据的准确、快速配准,得到完整的三维点云数字模型。     

基于纹理特征的三维点云数据配准算法研究

使用Kinect可以方便地获取物体的纹理图像和三维点云数据。研究一种通过获取纹理图像的特征点进行快速三维点云数据配准的算法．并最终应用到室内环境的三维场芾重建中。实验表明,此算法具有直观、实现简单、运算量小等优点。     

基于深度图像的三维场景重建系统

针对计算机图形学和视觉领域研究热点--三维场景重建,首先分析了 Kinect v2 (Kinect for Windows v2 sensor)获取深度图像的原理,说明深度图像噪声的来源。然后根据获取 深度图像的原理设计一种算法对点云采样范围进行裁剪。其次对点云离群点进行去除,填补点 云孔洞,以提高重建质量。常见的三维场景重建大都采用了 KinectFusion 的一个全局立方体方 案,但只能对小范围内的场景进行重建。对此设计了一种对大场景进行点云匹配的 ICP 算法。 最后对点云进行曲面重建,实现一套低成本、精确的针对大场景的三维重建系统。     

Use of pressure insoles to compare in-shoe loading for modern running shoes

The primary objective of this paper was to compare in-shoe loading for different models of running shoe using measurements of force distribution. It was hypothesised that a shoe designed with minimal focus on cushioning would demonstrate significantly higher peak forces and rates of loading than running shoes designed with cushioning midsoles. Loading was compared using in-shoe peak forces for six footwear conditions. It was found that peak rate of loading at the heel provided clear distinctions between shoes. In support of the study hypothesis, the shoe with minimal focus on cushioning had a significantly higher rate of loading than all but one of the other test shoes. Data collected for midfoot and forefoot areas of the foot highlighted the importance of considering loading across the foot surface. The results of the present study demonstrate that pressure insoles provide a useful tool for the assessment of loading across the foot plantar surface for different footwear conditions. There are numerous models of running shoe for individuals to select from, with limited information available regarding the performance of the shoes during running. The current study demonstrates differences in loads across the foot plantar surface during running, indicating differences in performance for different footwear models.     

Use of pressure insoles to compare in-shoe loading for modern running shoes

The primary objective of this paper was to compare in-shoe loading for different models of running shoe using measurements of force distribution. It was hypothesised that a shoe designed with minimal focus on cushioning would demonstrate significantly higher peak forces and rates of loading than running shoes designed with cushioning midsoles. Loading was compared using in-shoe peak forces for six footwear conditions. It was found that peak rate of loading at the heel provided clear distinctions between shoes. In support of the study hypothesis, the shoe with minimal focus on cushioning had a significantly higher rate of loading than all but one of the other test shoes. Data collected for midfoot and forefoot areas of the foot highlighted the importance of considering loading across the foot surface. The results of the present study demonstrate that pressure insoles provide a useful tool for the assessment of loading across the foot plantar surface for different footwear conditions. There are numerous models of running shoe for individuals to select from, with limited information available regarding the performance of the shoes during running. The current study demonstrates differences in loads across the foot plantar surface during running, indicating differences in performance for different footwear models.     

Human foot modeling towards footwear design

Comfort test of footwear is mainly based on subjective perception of the wearer and a large number of subjects are required to obtain a reliable result. Therefore, the subjective comfort test is expensive and time consuming. Although the foot size and shape of a subject can be obtained by using a three-dimensional (3D) foot scanner, it is still difficult to create foot motion animations of each subject suitable for computer simulation.In this paper, we propose a fast approach to model foot deformation and present its application in simulating interaction with footwear towards footwear design. The simulation determines deformation of foot and footwear models. It can also determine stress distribution in the footwear. Given an initial foot model and a captured foot motion, human foot animation is created first. Then, the footwear model is fitted to the foot to compute the deformation and stress in the footwear. In this article, the boundary element method (BEM) is adopted. We demonstrate the results by conducting simulation of a captured gait motion. Experimental results showed that the method can be used to simulate human gait motion, and can determine deformation of footwear.     

Determining the protective function of sports footwear

To reduce the risk of injury associated with foot-ground interaction during sporting activities, there is a need for adequate assessment of the protective function of sports footwear. The present objectives are to review the typical biomechanical approaches used to identify protection offered by sports footwear during dynamic activities and to outline some of the recent methodological approaches aimed at improving this characterization. Attention is focused on biomechanical techniques that have been shown to best differentiate safety features of footwear. It was determined that subject tests would be used in combination with standard mechanical techniques to evaluate footwear protection. Impact attenuation characteristics of footwear during sporting activities were most distinguished by analysis of tibial shock signals in the frequency and joint time-frequency domains. It has been argued that lateral stability and traction properties of footwear are better assessed using game-like manoeuvres of subjects on the actual sporting surface. Furthermore, the ability of such tests to discriminate between shoes has been improved through methods aimed at reducing or accounting for variability in individual execution of dynamic manoeuvres. Advances in tools allowing measurement of dynamic foot function inside the shoe also aid our assessment of shoe protective performance. In combination, these newer approaches should provide more information for the design of safer sports footwear.     

Determining the protective function of sports footwear

To reduce the risk of injury associated with foot-ground interaction during sporting activities, there is a need for adequate assessment of the protective function of sports footwear. The present objectives are to review the typical biomechanical approaches used to identify protection offered by sports footwear during dynamic activities and to outline some of the recent methodological approaches aimed at improving this characterization. Attention is focused on biomechanical techniques that have been shown to best differentiate safety features of footwear. It was determined that subject tests would be used in combination with standard mechanical techniques to evaluate footwear protection. Impact attenuation characteristics of footwear during sporting activities were most distinguished by analysis of tibial shock signals in the frequency and joint time-frequency domains. It has been argued that lateral stability and traction properties of footwear are better assessed using game-like manoeuvres of subjects on the actual sporting surface. Furthermore, the ability of such tests to discriminate between shoes has been improved through methods aimed at reducing or accounting for variability in individual execution of dynamic manoeuvres. Advances in tools allowing measurement of dynamic foot function inside the shoe also aid our assessment of shoe protective performance. In combination, these newer approaches should provide more information for the design of safer sports footwear.     

基于线结构光和足底扫描的足部参数测量研究

针对现有足部轮廓三维重构方法精度低,鲁棒性差,成本昂贵且不符合实际足部生物力学研究要求等问题,设计了一种利用光学测量技术实现无接触式足部参数测量的系统。该系统一方面通过对足底扫描图像处理,构建足底轮廓点云,分割足底压力区域,计算足底相关参数;另一方面利用线结构光技术,重构足面轮廓,将足底轮廓点云与足面轮廓点云在系统规定世界坐标系内融合,形成完整足部轮廓点云,根据定义计算足部围度等足部系列参数。通过搭建相应硬件平台对多组人体足部进行测量,实验结果表明系统能够快速、精确地完成足部三维重构,具有很好的鲁棒性。     

Augmented reality-based design customization of footwear for children

This paper presents a systematic framework for design customization of footwear for children and identifies three modules related to shoe styling: shoe surface, shoe bottom, and accessory. A new module, shoe cloth, is created to allow a quick change of shoe appearance. Consumers can specify various design attributes in each module, including color, texture, embroidery, and shape. A prototype design system is implemented using augmented reality and sensing technologies based on the framework. This system consists of novel functions that support customization, design evaluation, and pattern development. The user can virtually put a customized shoe model on his/her foot in a video stream. The proposed framework not only facilitates evaluating products that are highly interactive with users, but also helps engage them in the design process. This work realizes the concept of human-centric design for mass customization.