研究生: |
劉士賢 Shih-Hsien Liu |
---|---|
論文名稱: |
磁力暨慣性感測之動作捕捉系統 Motion Capture System Based on Magnetic and Inertial Sensor |
指導教授: |
楊傳凱
Chuan-Kai Yang 鮑興國 Hsing-Kuo Pao |
口試委員: |
林伯慎
Bor-Shen Lin |
學位類別: |
碩士 Master |
系所名稱: |
電資學院 - 資訊工程系 Department of Computer Science and Information Engineering |
論文出版年: | 2011 |
畢業學年度: | 99 |
語文別: | 中文 |
論文頁數: | 45 |
中文關鍵詞: | 磁力計 、加速度計 、慣性感測器 、動作捕捉 |
外文關鍵詞: | inertial sensor, motion capture, Mocap, magnetometer |
相關次數: | 點閱:391 下載:4 |
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動作捕捉的應用很廣泛,常見於電影、遊戲產業。傳統光學式系統雖然準確度高,但其昂貴的價格,受限的運動空間,侷限了動作捕捉的應用。
我們使用磁力感測器、加速度感測器、角速度感測器實作一套低價位、即時的運動捕捉系統。首先我們會校正感測器的零點偏移(zero-offset bias)和比例誤差(scale error),並使用卡爾曼濾波器(Kalman Filter)或互補式濾波器(Complementary Filter)計算感測器在空間中的姿態。將姿態感測器綁定於骨架時,我們要求使用者進行T Pose校正,計算感測器與骨架的相對姿態,並依此計算關節角度,進而擷取動作。
Applications of motion capture are widespread, and they have been extensively used in movie, video game industries. Although accuracy of traditional optical motion capture systems is high, they are very expensive and only suitable for limited space, thus constraining their applications.
We implement a low cost, real-time motion capture system that combines magnetometer, accelerometer and gyroscope. At first the zero-offset bias and scale error were corrected, and then we use this corrected measurement data to calculate orientation by complementary filter or kalman filer. A user should do T pose calibration while binding sensor boards to body segments to calculate sensor board-body segment offset, and then we can use this offset and orientation of sensor board to calculate angle of joints, thus the capture of the overall motion.
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