Human body tracking method and system
阅读说明：本技术 一种人体跟踪方法及系统 (Human body tracking method and system ) 是由 路延晓 何洁 苏菊明 马亮 于 2019-09-02 设计创作，主要内容包括：本发明涉及人体跟踪技术领域,公开了一种人体跟踪方法,可根据需要选择不同的人体跟踪精度,光学跟踪模块负责较低精度的人体跟踪,由电磁跟踪模块和声学跟踪模块以及运动传感器协同进行较高精度的人体跟踪,达到提升测量精度的目的。(The invention relates to the technical field of human body tracking, and discloses a human body tracking method, which can select different human body tracking accuracies according to requirements, wherein an optical tracking module is responsible for human body tracking with lower accuracy, and an electromagnetic tracking module, an acoustic tracking module and a motion sensor cooperate to perform human body tracking with higher accuracy, so that the aim of improving the measurement accuracy is fulfilled.)
1. A human body tracking method is characterized by comprising the following steps:
s1: determining the precision requirement of human body tracking;
if the precision requirement is low, go to step S2;
if the precision requirement is high, the step S3 is entered;
s2: the optical tracking module (1) measures the period T every other fuzzy measurement1Acquiring fuzzy position parameters of a detected human body target;
the fuzzy position parameter is the quiltMeasuring the fuzzy space coordinate of the measured part of the human body target at the time T, wherein the time T is the fuzzy measurement period T1A certain time within;
s3: every other precise measuring period T2Acquiring the posture parameter, the static position parameter and the speed parameter of the detected human body target, and entering the step S4;
the attitude parameters are acquired by an electromagnetic tracking module (2), and the measured part of the measured human body target is at t1A first spatial coordinate a of the time and rotation angles α, β, γ;
the static position parameter is acquired by an acoustic tracking module (3) and is the measured part of the measured human body target at t2A second spatial coordinate B of the time;
the speed parameter is obtained by a motion sensor (4) and is the measured part of the measured human body target in the accurate measurement period T2The average velocity V inside;
said t is1Time and said t2All the moments are the accurate measurement period T2At a certain time within, and t1<t2；
S4: determining the measured part of the measured human body target at the t position according to the first space coordinate and the second space coordinate1The process proceeds to step S5, where the motion vector direction at the time is the same as the motion vector direction at the time;
s5: and performing compensation calibration on the second space coordinate according to the average speed V and the motion vector direction to obtain an accurate space coordinate P of the measured part of the measured human body target.
2. The human body tracking method according to claim 1, wherein the step S3 comprises the steps of:
s31: presetting space position coordinates A1 and A2 … … An of the acoustic wave transceivers, wherein n is the number of the acoustic wave transceivers;
s32: at tAStarting all the sound wave transceivers all the time, and sending out ranging waves B1 and B2 … … Bn for unique identification of the sound wave transceivers;
s33: the acoustic wave transceiver correspondingly sends out response waves C1 and C2 … … Cn for the acoustic wave transceiver to receive after receiving the ranging wave;
s34: the acoustic wave receiver receives and successfully identifies the response wave;
the time when the acoustic wave receiver successfully identifies the response wave is tD1、tD2……tDn，T2>t2>Max[tD1、tD2……tDn]；
S35: calculating the distance D between each sound wave transceiver and the sound wave transceiver through a calculation formulaA1、DA2……DAn；
The calculation formula is as follows: dA1=VSound*(tD1-tA-tC)/2、DA2=VSound*(tD2-tA-tC)/2……DAn=VSound*(tDn-tA-tC)/2；
S36: according to said DA1、DA2……DAnAnd the A1, A2 … … An, determining the second spatial coordinate B;
said t isCFor the time from the reception of the ranging wave by the acoustic transceiver to the emission of the response wave, the VSoundIs the mechanical wave propagation speed at the current air pressure.
3. The human body tracking method according to claim 2, wherein in the step S36:
respectively taking the A1 and the A2 … … An as the sphere centers and the DA1、DA2……DAnAnd drawing a sphere for the radius, wherein the intersection point is the second space coordinate B.
4. The human body tracking method according to claim 2, wherein in the step S5:
the motion vector direction is the unit vector e of vector (B-a).
5. The human body tracking method according to claim 4, wherein in the step S6:
the precise spatial coordinates P = a + e V TRSaid T isRAny one of the times required for each of the reply waves to reach each of the acoustic wave transceivers.
6. A human body tracking system is characterized by comprising an optical tracking module (1), an electromagnetic tracking module (2), an acoustic tracking module (3) and a motion sensor (4);
the optical tracking module (1) is used for obtaining the orientation of a tracked object according to the projection of light on the image projection plane at different moments or different positions;
the electromagnetic tracking module (2) is used for determining parameters of a detected target, and the parameters comprise a first space coordinate A and rotation angles alpha, beta and gamma;
the acoustic tracking module (3) is used for positioning and tracking a target to be detected by utilizing the time difference of the sound of different sound sources reaching a certain specific place;
the electromagnetic tracking module (2) detects human body parts at fixed points, the acoustic tracking module (3) detects human body parts at non-fixed points, and the optical tracking module (1) integrally detects human bodies according to light ray transformation;
the motion sensor (4) is fixed on the measured part of the measured human body target and used for acquiring a speed parameter, wherein the speed parameter is that the measured part of the measured human body target is measured in an accurate measurement period T2The average velocity V in.
7. The human tracking system according to claim 6, characterized in that the electromagnetic tracking module (2) comprises a magnetic field source module, a magnetic sensor module and a control module, the magnetic field source module is composed of 3 bipolar magnetic sources generated by alternating currents with mutually perpendicular magnetic field directions;
the magnetic sensor module consists of 3 groups of coils, one group of coils of the magnetic sensor module corresponds to one bipolar magnetic source, and the current change in the coils is transmitted to the control module;
the control module is used for analyzing the current change to obtain the first space coordinate A and the rotation angles alpha, beta and gamma.
8. The human body tracking system according to claim 7, wherein the acoustic tracking module (3) comprises a plurality of acoustic wave receivers and a plurality of acoustic wave receivers, and the acoustic wave receivers are matched with the acoustic wave receivers in a one-to-one association manner;
the sound wave transceiver is used for sending a distance measuring wave which is uniquely identified by the sound wave transceiver, and the sound wave transceiver sends a response wave which is uniquely identified by the sound wave transceiver after receiving and successfully identifying the distance measuring wave;
and the acoustic wave transceiver calculates the time from the time when the acoustic wave transceiver transmits the ranging wave to the time when the response wave is successfully identified, and calculates the distance from the acoustic wave transceiver to the acoustic wave transceiver.
9. The human tracking system according to claim 8, characterized in that the optical tracking module (1) comprises a video camera, a light source and a photodiode array, the light source is illuminated by the human body to be detected;
the photosensitive diode array receives image projections of a human body at different moments or different positions under the condition of light ray conversion;
the video camera records the image projection.
Technical Field
The invention relates to the technical field of human body tracking, in particular to a human body tracking method and a human body tracking system.
Background
With the development of the technology, the digital display industry combining three-dimensional digital images and various hardware such as touch screens, infrared sensors, projection and the like is becoming more mature. By taking the digital image as a core, different display modes can be presented, and the functionality of display, experience and interaction is emphasized. In the exhibition process, the tourists and the exhibition products can be interactively related through body feeling, the intuitive feeling of the tourists can be further improved,
in some scenes, the gesture motion of the guest needs to be tracked with high precision to acquire motion data of the guest, and in some scenes, data of the overall position of the guest only needs to be acquired.
The human body tracking technology in the prior art basically detects human bodies through a single tracking mode, such as an acoustic tracking module, and basically calculates and determines detection distances through time differences of ultrasonic waves reflected back after the ultrasonic waves are transmitted and received, the propagation of the acoustic waves needs a certain time, and when a detected part moves at a high speed, the measurement precision is greatly influenced.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a human body tracking method and system, which have the advantages of variable tracking accuracy and capability of performing relatively accurate human body tracking.
The above object of the present invention is achieved by the following technical solutions:
a human body tracking method includes the following steps:
s1: determining the precision requirement of human body tracking;
if the precision requirement is low, go to step S2;
if the precision requirement is high, the step S3 is entered;
s2: the optical tracking module measures the period T every other fuzzy1Acquiring fuzzy position parameters of a detected human body target;
the fuzzy position parameter is a fuzzy space coordinate of a measured part of the measured human body target at a time T, and the time T is the fuzzy measurement period T1A certain time within;
s3: every other precise measuring period T2Acquiring the posture parameter, the static position parameter and the speed parameter of the detected human body target, and entering the step S4;
the attitude parameters are acquired by an electromagnetic tracking module, and the measured part of the measured human body target is at t1A first spatial coordinate a of the time and rotation angles α, β, γ;
the static position parameter is acquired by an acoustic tracking module and is the measured part of the measured human target at t2Second spatial coordinates of time of dayB；
The speed parameter is obtained by a motion sensor, and is the measured part of the measured human body target in the accurate measurement period T2The average velocity V inside;
said t is1Time and said t2All the moments are the accurate measurement period T2At a certain time within, and t1<t2；
S4: determining the measured part of the measured human body target at the t position according to the first space coordinate and the second space coordinate1The process proceeds to step S5, where the motion vector direction at the time is the same as the motion vector direction at the time;
s5: and performing compensation calibration on the second space coordinate according to the average speed V and the motion vector direction to obtain an accurate space coordinate P of the measured part of the measured human body target.
By the technical scheme, different human body tracking accuracies can be selected according to requirements, the optical tracking module is responsible for human body tracking with lower accuracy, and the electromagnetic tracking module, the acoustic tracking module and the motion sensor cooperate to perform human body tracking with higher accuracy; the detection of the electromagnetic tracking module is based on the change of magnetic field and current, the acoustic tracking module basically realizes the tracking of human body by using the sound wave to propagate in the air, and the sound speed is far lower than the change speed of the magnetic field and the current, namely, in the same accurate measurement period T2At the starting time, the first space coordinate A and the rotation angles alpha, beta and gamma are acquired faster and earlier than the second space coordinate B, and the motion sensor can measure the measured part in the accurate measurement period T2The average speed V in the ultrasonic wave measuring device is combined with the motion direction of the measured part under the average speed V, which is obtained through the first space coordinate A and the second space coordinate B, so that the motion amount of the measured part in the process that the ultrasonic wave reaches the measured part and returns can be compensated, and the purpose of improving the measurement precision is achieved.
The invention is further configured to: the step S3 includes the following steps:
s31: presetting space position coordinates A1 and A2 … … An of the acoustic wave transceivers, wherein n is the number of the acoustic wave transceivers;
s32: at tAStarting all the sound wave transceivers all the time, and sending out ranging waves B1 and B2 … … Bn for unique identification of the sound wave transceivers;
s33: the acoustic wave transceiver correspondingly sends out response waves C1 and C2 … … Cn for the acoustic wave transceiver to receive after receiving the ranging wave;
s34: the acoustic wave receiver receives and successfully identifies the response wave;
the time when the acoustic wave receiver successfully identifies the response wave is tD1、tD2……tDn，T2>t2>Max[tD1、tD2……tDn]；
S35: calculating the distance D between each sound wave transceiver and the sound wave transceiver through a calculation formulaA1、DA2……DAn；
The calculation formula is as follows: dA1=VSound*(tD1-tA-tC)/2、DA2=VSound*(tD2-tA-tC)/2……DAn=VSound*(tDn-tA-tC)/2；
S36: according to said DA1、DA2……DAnAnd the A1, A2 … … An, determining the second spatial coordinate B;
said t isCFor the time from the reception of the ranging wave by the acoustic transceiver to the emission of the response wave, the VSoundIs the mechanical wave propagation speed at the current air pressure.
Through the technical scheme, the multiple sound wave receivers and the response of the sound wave receivers which can be identified mutually can ensure the accuracy of measurement.
The invention is further configured to: in the step S36:
respectively taking the A1 and the A2 … … An as the sphere centers and the DA1、DA2……DAnAnd drawing a sphere for the radius, wherein the intersection point is the second space coordinate B.
The invention is further configured to: in the step S5:
the motion vector direction is the unit vector e of vector (B-a).
The invention is further configured to: in the step S6:
the precise spatial coordinates P = a + e V TRSaid T isRAny one of the times required for each of the reply waves to reach each of the acoustic wave transceivers.
Through the technical scheme, the distances between the sound wave transmitters and the sound wave receivers at different positions are different, and the receiving time of the response wave is different inevitably under the condition of simultaneously sending the ranging wave, so that TROne of the selected random signals has certain randomness, so that errors can be effectively reduced.
A human body tracking system comprises an optical tracking module, an electromagnetic tracking module, an acoustic tracking module and a motion sensor;
the optical tracking module is used for obtaining the orientation of the tracked object according to the projection of the light on the image projection plane at different moments or different positions;
the electromagnetic tracking module is used for determining parameters of a measured target, and the parameters comprise a first space coordinate A and rotation angles alpha, beta and gamma;
the acoustic tracking module is used for positioning and tracking a target to be detected by utilizing the time difference of the sound of different sound sources reaching a certain specific place;
the electromagnetic tracking module detects human body parts at fixed points, the acoustic tracking module detects human body parts at non-fixed points, and the optical tracking module detects the whole human body according to light ray transformation;
the motion sensor is fixed on the measured part of the measured human body target and used for acquiring a speed parameter, wherein the speed parameter is that the measured part of the measured human body target is in the accurate measurement period T2The average velocity V in.
The invention is further configured to: the electromagnetic tracking module comprises a magnetic field source module, a magnetic sensor module and a control module, wherein the magnetic field source module is composed of 3 bipolar magnetic sources generated by alternating currents with mutually vertical magnetic field directions;
the magnetic sensor module consists of 3 groups of coils, one group of coils of the magnetic sensor module corresponds to one bipolar magnetic source, and the current change in the coils is transmitted to the control module;
the control module is used for analyzing the current change to obtain the first space coordinate A and the rotation angles alpha, beta and gamma.
The invention is further configured to: the acoustic tracking module comprises a plurality of acoustic transceivers and a plurality of acoustic transceivers, and the acoustic transceivers are in one-to-one correlation matching with the acoustic transceivers;
the sound wave transceiver is used for sending a distance measuring wave which is uniquely identified by the sound wave transceiver, and the sound wave transceiver sends a response wave which is uniquely identified by the sound wave transceiver after receiving and successfully identifying the distance measuring wave;
and the acoustic wave transceiver calculates the time from the time when the acoustic wave transceiver transmits the ranging wave to the time when the response wave is successfully identified, and calculates the distance from the acoustic wave transceiver to the acoustic wave transceiver.
The invention is further configured to: the optical tracking module comprises a video camera, a light source and a photosensitive diode array, and the light source emits light rays from a detected human body;
the photosensitive diode array receives image projections of a human body at different moments or different positions under the condition of light ray conversion;
the video camera records the image projection.
Compared with the prior art, the invention has the beneficial effects that:
different human body tracking accuracies can be selected according to needs, the optical tracking module is responsible for human body tracking with lower accuracy, and the electromagnetic tracking module, the acoustic tracking module and the motion sensor cooperate to perform human body tracking with higher accuracy; the detection of the electromagnetic tracking module is based on the change of magnetic field and current, the acoustic tracking module basically realizes the tracking of human body by using the sound wave to propagate in the air, and the sound speed is far lower than the change speed of the magnetic field and the current, namely, the same accurate measurement is carried outVolume period T2At the starting time, the first space coordinate A and the rotation angles alpha, beta and gamma are acquired faster and earlier than the second space coordinate B, and the motion sensor can measure the measured part in the accurate measurement period T2The average speed V in the ultrasonic wave measuring device is combined with the motion direction of the measured part under the average speed V, which is obtained through the first space coordinate A and the second space coordinate B, so that the motion amount of the measured part in the process that the ultrasonic wave reaches the measured part and returns can be compensated, and the purpose of improving the measurement precision is achieved.
Drawings
FIG. 1 is a schematic diagram of a system connection configuration in an embodiment of the present invention;
fig. 2 is a block diagram of a method in an embodiment of the invention.
Reference numerals: 1. an optical tracking module; 2. an electromagnetic tracking module; 3. an acoustic tracking module; 4. a motion sensor.
Detailed Description
The invention is described in detail below with reference to the figures and examples.
A human body tracking system, as shown in fig. 1, comprises an optical tracking module 1, an
The
The AD conversion circuit and the sampling circuit collect cosine excitation signals of a magnetic field source and the synthetic magnetic induction intensity of the position of a target point, two paths of analog signals are converted into two paths of digital signals after AD conversion and then input into the processor for processing, the processor performs square operation on the cosine excitation signals obtained by sampling to obtain a first signal, performs square operation on the synthetic magnetic induction intensity signals to obtain a second signal, calculates the phase difference between the first signal and the second signal, further calculates a projection angle, further calculates rotation angles alpha, beta and gamma, and realizes tracking and positioning of the target point.
The
The
The sound wave transceiver is used for sending a distance measurement wave for the unique identification of the sound wave transceiver, and the sound wave transceiver receives and successfully identifies the distance measurement wave and then sends a response wave for the unique identification of the sound wave transceiver. The identification can be carried out by distinguishing the frequency, amplitude and the like of the ranging wave and the response wave. Therefore, the time from the sending of the ranging wave to the successful identification of the response wave can be calculated by the acoustic wave transceiver, and the distance from the acoustic wave transceiver to the acoustic wave transceiver can be calculated.
The
In summary, the
A human body tracking method, as shown in fig. 2, comprising the steps of:
s1: determining the precision requirement of human body tracking;
if the precision requirement is low, go to step S2;
if the precision requirement is high, the step S3 is entered; therefore, different measurement tracking modes can be selected according to needs, and the flexibility is high.
S2: the optical tracking module 1 measures the period T every other ambiguity1Acquiring fuzzy position parameters of a detected human body target;
the fuzzy position parameter is the fuzzy space coordinate of the measured part of the measured human body target at the time T, and the time T is the fuzzy measurement period T1At a certain moment, because the optical tracking module 1 is based on the processing of light rays, the feedback is faster, but the human body target to be detected can only be positioned on the approximate outline, so that the human body tracking requirement with lower precision can only be met.
S3: every other precise measuring period T2Acquiring the posture parameter, the static position parameter and the speed parameter of the measured human body target, and entering the step S4;
the attitude parameters are acquired by the
the static position parameter is obtained by the
the speed parameter is obtained by the
t1time t and2all moments are accurate measurement periods T2At a certain time within, and t1<t2；
S4: determining the measured part of the measured human body target at t through the first space coordinate and the second space coordinate1The process proceeds to step S5, where the motion vector direction at the time is the same as the motion vector direction at the time;
s5: and performing compensation calibration on the second space coordinate according to the average speed V and the motion vector direction to obtain an accurate space coordinate P of the measured part of the measured human body target.
In the case that the
The following is a method for realizing human body tracking by the acoustic tracking module 3:
step S3 includes the following steps:
s31: presetting space position coordinates A1 and A2 … … An of the acoustic wave transceivers, wherein n is the number of the acoustic wave transceivers;
s32: at tAAll the sound wave transceivers are started all the time to send out the distance measurement for unique identification of the sound wave transceiversWaves B1, B2 … … Bn;
s33: the acoustic wave transceiver correspondingly sends out response waves C1 and C2 … … Cn for the acoustic wave transceiver to receive after receiving the ranging wave;
s34: the acoustic wave transceiver receives and successfully identifies the response wave;
the time when the acoustic wave receiver successfully identifies the response wave is tD1、tD2……tDn，T2>t2>Max[tD1、tD2……tDn]；
S35: calculating the distance D between each sound wave transceiver and the sound wave transceiver through a calculation formulaA1、DA2……DAn；
The calculation formula is as follows: dA1=VSound*(tD1-tA-tC)/2、DA2=VSound*(tD2-tA-tC)/2……DAn=VSound*(tDn-tA-tC)/2；
S36: according to DA1、DA2……DAnAnd a1, a2 … … An, determining a second spatial coordinate B;
tCfor the time, V, from the reception of the ranging wave to the transmission of the response wave by the acoustic transceiverSoundIs the mechanical wave propagation speed at the current air pressure.
As can be seen from the above, the multiple acoustic wave receivers and the responses recognizable from each other of the acoustic wave receivers can ensure the accuracy of the measurement, and DA1、DA2……DAnThe measured part of the measured human body target is in a motion state under the average speed V within the time of a period that the distance measuring wave is received by the received response wave and received because the propagation speed of the sound wave, namely the mechanical wave is limited, the time is required for the identification of the distance measuring wave, the time is also required for the response wave to be sent and reach the sound wave transceiver, and the sum of the two is tC. Therefore, the error in distance measurement can be effectively reduced. In step S36:
respectively taking A1 and A2 … … An as the center of the sphere and DA1、DA2……DAnThe sphere is drawn for the radius, and the intersection point is the second spatial coordinate B.
In step S5:
the motion vector direction is the unit vector e of vector (B-a). According to the second space coordinate B and the first space coordinate a, the displacement direction of the measured part of the measured human body target in the period of time can be obtained, and the displacement direction is expressed in a vector form to provide a basis for the step S6.
In step S6:
precise spatial coordinates P = a + e V TR，TRAny one of the times required for the respective reply waves to reach the respective acoustic wave transceivers. T is because the distance between the acoustic wave transmitter and the acoustic wave receiver is different at different positions, and the time when the response wave is received is different when the ranging wave is sent out simultaneouslyROne of the selected random signals has certain randomness, so that errors can be effectively reduced. However, to ensure that the accuracy can be calibrated, TRPreferably, two times, namely the longest time and the shortest time, are removed, so that breakpoints are removed, and the testing precision is improved.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
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