基于李代数的人体手臂惯性动作捕捉算法

为了实现实时人体手臂动作捕捉,提出了一种利用惯性传感器实现人体手臂动作捕捉的方法.利用惯性测量单元(IMU)解算出的四元数信息,得到手臂腕部、肘部和肩部关节点的位置.将惯性数据通过蓝牙无线通信方法传到上位机.采用具有毫米级动作捕捉精度的OptiTrack光学动作捕捉设备,得到人体手臂的位置数据,并将其作为基准位置数据.将IMU坐标系下解算出的位置信息变换到OptiTrack坐标系下进行对比.结果表明,该方法适用于自由活动环境下的动作跟踪,具有较高的动作捕捉精度.

Inertial motion tracking algorithm for human arm based on Lie algebra

In order to realize the real time tracking of human arm motion, a method for realizing the tracking of human arm motion with an inertial sensor was proposed. With the quaternion information obtained by the inertial measurement unit(IMU), the joint positions of wrist, elbow and shoulder were obtained. The inertial data were transmitted to a host computer through bluetooth wireless communication method. Through adopting the OptiTrack optical motion tracking device with millimeter level motion tracking accuracy, the position data of human arm were obtained and taken as the reference position data. The position information in the IMU coordinate system was transformed into the information in the OptiTrack coordinate system for comparison. The results show that the proposed method is suitable for the motion tracking in the free motion environment, and has higher motion tracking accuracy.