本文選題：慣性傳感器 + 虛擬現(xiàn)實��； 參考：《哈爾濱工程大學》2013年碩士論文

【摘要】：高效、便捷地獲取人體運動姿態(tài)信息在動漫制作、游戲開發(fā)、影視制作等眾多領(lǐng)域具有重要的應用價值。目前已經(jīng)取得應用成果的人體運動捕捉重構(gòu)方式主要有機械式、聲學式、電磁式和光學式等，這些方式大多存在成本高、對動作限制大和使用不方便等缺點。本文針對以上這些常見的運動捕捉重構(gòu)方式所存在的缺點，研究了可用于慣性傳感器的人體運動捕捉技術(shù)中人體運動模型建立的一些基本方法，設(shè)計了基于剛體動力學的三維層次人體骨骼模型，采用基于慣性傳感器的動作捕捉方式。這種方式具有操作方式簡單、價格低廉、對環(huán)境要求低和對運動動作限制小的優(yōu)點。 根據(jù)人體結(jié)構(gòu)和運動人體科學理論知識，本文設(shè)計了慣性傳感器可以在人體運動肢體上以任意姿態(tài)朝向綁定的姿態(tài)初始化標定方法。通過初始化標定時的特定動作可以實現(xiàn)對傳感器和關(guān)節(jié)的對應識別，并計算出各個慣性傳感器的自身坐標系與三維人體骨骼模型中對應的人體骨骼坐標系的坐標轉(zhuǎn)換關(guān)系。然后通過各個慣性傳感器姿態(tài)坐標系的坐標轉(zhuǎn)換和對人體骨骼樹進行深度優(yōu)先遍歷計算，，完成人體運動肢體姿態(tài)數(shù)據(jù)的實時更新，驅(qū)動人體骨骼模型模擬人體動作，實現(xiàn)了對動作的實時捕獲跟蹤。 在計算機三維虛擬場景中重構(gòu)人體運動姿態(tài)需要繪制三維人體模型，為了使得整個動作捕捉系統(tǒng)具有更為廣泛的應用前景，本文選擇了微軟公司提供的適用于Windows平臺的Direct3D圖形繪制接口。通過X文件加載網(wǎng)格模型數(shù)據(jù)中的骨骼蒙皮信息和骨骼層次信息，在進行動作跟蹤時根據(jù)慣性傳感器捕獲到的骨骼姿態(tài)角數(shù)據(jù)實時更新人體模型中的骨骼變換矩陣信息，以此確定人體各個骨骼的位置和朝向，實現(xiàn)了三維人體骨骼蒙皮動畫。 為了能夠最大限度地減少動作捕捉裝置對人體運動動作的限制，本文采用了無線數(shù)據(jù)傳輸方式，并制定了慣性傳感器與上位機之間的數(shù)據(jù)通信格式。為了能夠方便地對大量運動數(shù)據(jù)進行統(tǒng)計和分析，本文結(jié)合目前軟件開發(fā)常用的MySQL開源數(shù)據(jù)庫，設(shè)計了人體運動姿態(tài)數(shù)據(jù)庫。將采集到的實時人體姿態(tài)數(shù)據(jù)存入數(shù)據(jù)庫后，可進一步用于人體健康、生物力學、動作預測和行為識別等科學研究。各個慣性傳感器采集到人體運動肢體姿態(tài)數(shù)據(jù)后將數(shù)據(jù)傳輸?shù)絇C終端機，PC終端機上的上位機軟件實現(xiàn)了對人體運動姿態(tài)的三維重構(gòu)。從三維重構(gòu)結(jié)果來看，人體運動動作跟蹤實時性良好，動作重構(gòu)效果逼真。
[Abstract]:It has important application value in many fields such as animation production, game development, film production and so on. At present, the main methods of human motion capture and reconstruction have been obtained, such as mechanical, acoustic, electromagnetic and optical. Most of these methods have the disadvantages of high cost, large restrictions on movement and inconvenient use. In view of the shortcomings of these common motion capture and reconstruction methods mentioned above, this paper studies some basic methods for the establishment of human motion model, which can be used in human motion capture technology for inertial sensors. A three-dimensional hierarchical human skeleton model based on rigid body dynamics was designed, and the motion capture method based on inertial sensor was adopted. This method has the advantages of simple operation, low price, low requirement to environment and small restriction on movement. Based on the scientific knowledge of human body structure and motion human body, this paper designs an initialized calibration method in which the inertial sensor can bind in any attitude direction on the human body moving limb. By initializing the specific action of calibration, the corresponding recognition of sensors and joints can be realized, and the coordinate transformation relationship between each inertial sensor's own coordinate system and the corresponding human skeleton coordinate system in three-dimensional human skeleton model can be calculated. Then through the coordinate transformation of each inertial sensor attitude coordinate system and the depth first traversal calculation of the human skeleton tree, the real-time update of the human body motion limb posture data is completed, and the human skeleton model is driven to simulate the human body action. The real-time capture and tracking of the action is realized. In order to make the whole motion capture system have a more extensive application prospect, it is necessary to draw a three-dimensional human body model in order to reconstruct the human motion posture in the computer 3D virtual scene. In this paper, we choose the Direct3D graphic drawing interface for Windows platform provided by Microsoft. By loading the skeleton skin information and skeleton level information from the mesh model data in the X file, the skeleton transformation matrix information in the human body model can be updated in real time according to the skeletal attitude angle data captured by the inertial sensor in the course of motion tracking. In order to determine the position and orientation of each human skeleton, a three-dimensional human skeleton skin animation is realized. In order to minimize the limitation of motion capture device on human motion, this paper adopts wireless data transmission mode, and formulates the data communication format between inertial sensor and upper computer. In order to make statistics and analysis of a large number of motion data conveniently, this paper designs a human motion posture database based on MySQL open source database, which is commonly used in software development. The collected real-time human posture data can be used in human health, biomechanics, motion prediction and behavior recognition. After each inertial sensor collects the human body motion limb posture data, the data is transmitted to the PC terminal PC terminal computer software to realize the 3D reconstruction of the human body motion posture. From the result of three-dimensional reconstruction, the real-time motion tracking of human body is good, and the effect of motion reconstruction is lifelike.
【學位授予單位】：哈爾濱工程大學
【學位級別】：碩士
【學位授予年份】：2013
【分類號】：TP391.9;TP212

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