WO2001035208A1 - Method for acquisition of motion capture data - Google Patents
Method for acquisition of motion capture data Download PDFInfo
- Publication number
- WO2001035208A1 WO2001035208A1 PCT/KR2000/001158 KR0001158W WO0135208A1 WO 2001035208 A1 WO2001035208 A1 WO 2001035208A1 KR 0001158 W KR0001158 W KR 0001158W WO 0135208 A1 WO0135208 A1 WO 0135208A1
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- WO
- WIPO (PCT)
- Prior art keywords
- data
- cameras
- motions
- motion capture
- coordinate values
- Prior art date
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Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F7/00—Methods or arrangements for processing data by operating upon the order or content of the data handled
- G06F7/38—Methods or arrangements for performing computations using exclusively denominational number representation, e.g. using binary, ternary, decimal representation
- G06F7/48—Methods or arrangements for performing computations using exclusively denominational number representation, e.g. using binary, ternary, decimal representation using non-contact-making devices, e.g. tube, solid state device; using unspecified devices
- G06F7/544—Methods or arrangements for performing computations using exclusively denominational number representation, e.g. using binary, ternary, decimal representation using non-contact-making devices, e.g. tube, solid state device; using unspecified devices for evaluating functions by calculation
- G06F7/548—Trigonometric functions; Co-ordinate transformations
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
Definitions
- the present invention relates in general to the acquisition of motion capture data, and more particularly to a method for acquisition of motion capture data, wherein motions of a person or animal are captured using color markers and three-dimensional motion data is produced on the basis of the captured motions.
- Most conventional motion capture systems are adapted to attach markers or sensors to the human body, analyze output data from the sensors or marker images picked-up by cameras and measure the positions and orientations of respective joints of the human body in accordance with the analyzed results.
- Such conventional motion capture systems may be classified into four types, an acoustic type, mechanical type, magnetic type and optical type, according to the operational types of markers or sensors used therein. Among them, the systems of the magnetic type and optical type are most widely used now.
- the motion capture system of the acoustic type comprises a plurality of acoustic sensors and three acoustic receivers.
- the acoustic sensors are attached to respective joints of an actor to sequentially generate acoustic waves, and the acoustic receivers are disposed apart from the acoustic sensors to receive the acoustic waves generated by the sensors.
- This motion capture system is adapted to calculate distances from the acoustic sensors to the acoustic receivers using time periods required for the receivers to receive the acoustic waves from the sensors.
- the position of each of the sensors in a three-dimensional space is obtained on the basis of a triangular surveying principle using values calculated respectively by the three receivers.
- This system of the acoustic type is disadvantageous in that the sampling frequency is low and the number of acoustic generators available at the same time is small. Also, motions of the actor may become unnatural because the sensors are large in size. Moreover, the acoustic-type motion capture system is greatly influenced by acoustic reflex because of the properties of its acoustic arrangement.
- the motion capture system of the mechanical type comprises a combination of a potentiometer and a slider for measuring motions of joints of an actor. Because this motion capture system has no receiver, it provides an absolute measurement arrangement which does not suffer any environmental interference or effects. Accordingly, as compared with the system of the acoustic type, the system of the mechanical type scarcely requires an initial calibration and need not have high-cost studio equipment. Further, as compared with other motion capture systems, the mechanical-type system is low in cost and very high in sampling frequency. However, the motion capture system of the mechanical type has a disadvantage in that the actor may unnaturally move because of mechanical units attached thereto. Moreover, the measurement accuracy of the mechanical-type system depends on how accurately the mechanical units are positioned on the respective joints of the actor.
- the motion capture system of the magnetic type comprises a plurality of sensors attached to respective joints of an actor for sensing a magnetic field.
- the sensors sense magnetic field variations, which are then transformed into spatial values used for motion measurement.
- the sensors, magnetic field generator and system body are interconnected via cables or, recently, wirelessly.
- the motion capture system of the magnetic type is advantageous in that it is relatively low in cost and excellent in cost-to-performance ratio and can perform real-time processing.
- the sensors are of a wired type, the actor must move within a limited sphere due to cable connections from the sensors to his or her body, thereby making it difficult for the actor to naturally express his or her complex and rapid motions.
- the actor cannot naturally move, either, because of the large size of the transmitter attached to his or her body. Further, the actor must move within a limited sphere because he or she must remain within the range of the magnetic field.
- the motion capture system of the optical type comprises a plurality of reflex markers attached respectively to main joints of an actor for reflecting infrared rays, and a plurality of cameras, each having three to sixteen infrared filters mounted thereto.
- the cameras are adapted to create two-dimensional coordinates of reflected marker images.
- a dedicated program is used to analyze the two-dimensional coordinates captured by the cameras and transform them into three-dimensional spatial coordinates as a result of the analysis.
- This conventional optical-type motion capture system is disadvantageous in that it lays emphasis on the realistic expression of motions of a character, resulting in the need for an extraordinary large amount of data and a high-performance computer to process it.
- the present invention has been made in view of the above problems, and it is an object of the present invention to provide a method for acquisition of motion capture data which is capable of processing a reduced amount of data by extracting and processing only coordinate values varying with motions.
- a provision of a method for acquisition of motion capture data in a motion capture system which is capable of recording motions of a person or object in a computer-processable form.
- This method is based on a variety of technical requirements, or a color extraction algorithm, a color position tracking algorithm, a technique for tracking motions of an actor using a plurality of color markers with different color values, an image processing technique for perceiving images of 24 to 30 frames per second by a USB camera, and a technique for transforming extracted two-dimensional data into three-dimensional data.
- This motion capture technique has a basic interface function of acquiring data regarding motions of a character prior to realistically expressing the motions of the character.
- the present invention proposes a method capable of readily acquiring data about motions of an actor.
- Fig. 1 is a view showing the construction of a system for execution of a method for acquisition of motion capture data in accordance with the present invention
- Fig. 2 is a view showing an arrangement of cameras for acquisition of three-dimensional data in accordance with the present invention
- Fig. 3 is a schematic view illustrating the detection of X and Z coordinate values by a front camera in Fig. 2;
- Fig. 4 is a schematic view illustrating the detection of X, Y and Z coordinate values by a left camera in Fig. 2
- Fig. 5 is a schematic view illustrating the detection of X, Y and Z coordinate values by a right camera in Fig. 2;
- Fig. 6 is a view showing a virtual motion area of an object whose motions are to be captured.
- Figs. 7 to 9 are views showing respective dead zones of the front, left and right cameras in Fig. 2 and illustrating the detection of data in the dead zones.
- a plurality of color pointers with different color values are attached respectively to main joint portions and terminal portions of the body of a data provider.
- Three or more cameras are equiangularly arranged while being spaced apart from one another at regular intervals, to shoot actions and motions of the data provider.
- a personal computer is used to convert image data picked-up by the cameras into three-dimensional coordinate values (X, Y and Z), detect position variations of the color pointers on the respective body portions of the data provider from the converted three-dimensional coordinate values and store the detected position variations as motion capture data.
- the computer is adapted to receive image signals from the cameras through its buffer and extract only position coordinate values about motions of the color pointers on the respective body portions of the data provider from the received image signals. Because the computer extracts and stores not all the image signals, but only position coordinate values varying with motions of the color pointers on the respective body portions, the amount of data to be processed is reduced, resulting in an increase in processing speed.
- Table 1 shows an example of the assignment of 13 primary colors among 256 colors to main body portions of an actor.
- the resolution is set to 160 pixels x 120 pixels
- the color depth is set to 16 bits
- the frame rate is set to 30 frames/sec
- N represents the number of color pointers.
- a camera extracts three primary color elements, or red, green and blue elements, from input images and transfers them to a personal computer (PC).
- the result is 1152000 bytes/sec.
- calculating it in terms of Kbytes the result is 1152 Kbytes/sec. In conclusion, data of 1152 Kbytes per second is transferred from the camera to the computer.
- Coordinate systems shown in Figs. 1 to 9 are absolute coordinate systems available for computer three-dimensional (3D) graphic and animation technologies. Taking a front view of the coordinate systems shown in Figs. 1 to 9, the Z axis is placed in the upward and downward directions, the X axis is placed in the left and right directions and the Y axis is placed in the forward and backward directions.
- three or more cameras shoot actions and motions of a data provider and transfer the resulting images respectively to associated computers.
- the computers extract position variations of a plurality of color pointers, attached respectively to main joint portions and terminal portions of the body of the data provider, from the images transferred from the associated cameras and obtain two- dimensional motion data coordinate values from the extracted position variations.
- the computers transfer the obtained two-dimensional motion data coordinate values over an internal network to a server computer, which then transforms the transferred coordinate values into three-dimensional motion capture data according to a synthesis program based on a three-dimensional synthesis function engine.
- Fig. 1 is a view showing the construction of a system for execution of a method for acquisition of motion capture data in accordance with the present invention.
- three or more cameras are provided to shoot motions of a data provider and transfer the resulting images respectively to associated computers.
- the computers are adapted to process the images transferred from the associated cameras in the above calculation manner and transfer the processed results to a server computer over an internal network.
- the server computer is adapted to obtain three-dimensional motion capture data on the basis of data transferred from the above computers.
- Fig. 2 is a view showing an arrangement of cameras for acquisition of three-dimensional data in accordance with the present invention. As shown in this drawing, three cameras, or a front camera 100, left camera 200 and right camera 300 are disposed around an object, or a data provider.
- the three cameras are equiangularly arranged in such a manner that they are spaced apart from one another at regular angles of 120 degrees.
- a virtual area is set to a predetermined range around a cross point of views of the three cameras, and it is recognized as a coordinate system by computers.
- the three cameras acquire Z coordinate values on all sides of an object.
- X and Y coordmate values of the object are obtained by performing an appropriate calculation algorithm for X coordinate value variations acquired by the front camera 100 and +X, -Y, +Y and - Y data acquired by the left and right cameras 200 and 300. Motion capture data on all sides of the object can be acquired in this manner.
- Fig. 3 is a schematic view illustrating the detection of X and Z coordinate values by the front camera 100 in Fig. 2. All X and Z position coordinate values of pointers on the front side of an object are detected through the front camera 100 and then provided as a reference for comparison with data detected through the left and right cameras 200 and 300. The X and Z coordinate values detected by the front camera 100 are also provided as a reference for correction of data detected by the other cameras.
- Fig. 4 is a schematic view illustrating the detection of X (30°), Y (60°) and Z coordinate values by the left camera 200 in Fig. 2.
- Z coordinate values and X and Y coordinate values of pointers on the left and rear sides of an object are detected through the left camera 200.
- the detected X and Y coordinate values are rotated on the basis of the detected Z coordinate values and then provided as a reference for comparison with data detected by the front camera 100 and right camera 300.
- Fig. 5 is a schematic view illustrating the detection of Y (60°), X (30°) and Z coordinate values by the right camera 300 in Fig. 2.
- Z coordinate values and X and Y coordinate values of pointers on the right and rear sides of an object are detected through the right camera 300.
- the detected X and Y coordinate values are rotated on the basis of the detected Z coordinate values and then provided as a reference for comparison with data detected by the front camera 100 and left camera 200.
- Fig. 6 is a view showing a virtual motion area (an X and Y coordinate system) of an object whose motions are to be captured.
- the virtual area is set to a predetermined range around a cross point of views of the three cameras 100, 200 and 300, and all motions of the object are limited to within the virtual area.
- a dead zone of each of the cameras is detected through the crossing views of the other two cameras and accurate coordinate values thereof are obtained through verification and correction operations.
- Coordinate values of pointers positioned in the dead zone of the front camera 100 in Fig. 7 are determined by comparing data detected by the left and right cameras 200 and 300 with each other and verifying and correcting data detected by the front camera 100 on the basis of the compared result.
- Coordinate values of pointers positioned in the dead zone of the left camera 200 in Fig. 8 are determined by comparing data detected by the front and right cameras 100 and 300 with each other and verifying and correcting data detected by the left camera 200 on the basis of the compared result.
- Coordinate values of pointers positioned in the dead zone of the right camera 300 in Fig. 9 are determined by comparing data detected by the front and left cameras 100 and 200 with each other and verifying and correcting data detected by the right camera 300 on the basis of the compared result.
- the present invention provides a method for acquisition of motion capture data which is capable of extracting and processing only color pointer data representing motions of an actor. Therefore, the amount of data to be processed is significantly reduced, resulting in an increase in processing speed as compared with the processing of the entire image. Further, a low-cost personal computer, camcorder and USB camera are used with no need for complex or high-cost peripheral equipment, thereby implementing a more cost- effective system capable of very simply and conveniently performing an initial calibration for motion capture at any place.
- the entire performance of the present system can be simpler improved by merely upgrading software, as compared with the conventional performance improvement based on hardware.
- the present invention is widely applicable to an entertainment field, a virtual reality field and other image production fields.
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10083785T DE10083785T1 (en) | 1999-11-11 | 2000-10-17 | Process for capturing motion capture data |
AU79672/00A AU7967200A (en) | 1999-11-11 | 2000-10-17 | Method for acquisition of motion capture data |
JP2001536676A JP2003514298A (en) | 1999-11-11 | 2000-10-17 | How to capture motion capture data |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1999/049880 | 1999-11-11 | ||
KR1019990049880A KR100361462B1 (en) | 1999-11-11 | 1999-11-11 | Method for Acquisition of Motion Capture Data |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2001035208A1 true WO2001035208A1 (en) | 2001-05-17 |
Family
ID=19619529
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/KR2000/001158 WO2001035208A1 (en) | 1999-11-11 | 2000-10-17 | Method for acquisition of motion capture data |
Country Status (6)
Country | Link |
---|---|
JP (1) | JP2003514298A (en) |
KR (1) | KR100361462B1 (en) |
CN (1) | CN1340170A (en) |
AU (1) | AU7967200A (en) |
DE (1) | DE10083785T1 (en) |
WO (1) | WO2001035208A1 (en) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
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US6831603B2 (en) | 2002-03-12 | 2004-12-14 | Menache, Llc | Motion tracking system and method |
US7009561B2 (en) | 2003-03-11 | 2006-03-07 | Menache, Llp | Radio frequency motion tracking system and method |
CN101982836A (en) * | 2010-10-14 | 2011-03-02 | 西北工业大学 | Mark point identification initializing method based on principal components analysis (PCA) in motion capture system |
WO2011077445A1 (en) * | 2009-12-24 | 2011-06-30 | Caleb Suresh Motupalli | System and method for super-augmenting a persona to manifest a pan-environment super-cyborg for global governance |
US8454428B2 (en) | 2002-09-12 | 2013-06-04 | Wms Gaming Inc. | Gaming machine performing real-time 3D rendering of gaming events |
EP1825438A4 (en) * | 2004-12-03 | 2017-06-21 | Sony Corporation | System and method for capturing facial and body motion |
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KR100362383B1 (en) * | 1999-12-27 | 2002-11-23 | 한국전자통신연구원 | Post-processing method for motion captured data using 3D interface |
KR20020017576A (en) * | 2000-08-31 | 2002-03-07 | 이준서 | System and method for motion capture using camera image |
KR20020095867A (en) * | 2001-06-16 | 2002-12-28 | 이희만 | A Motion Capture System using Color Wavelength |
KR20030065620A (en) * | 2002-01-30 | 2003-08-09 | 대한민국(전남대학교총장) | apparatus and method for recognizing action of virtual game system |
CN100361070C (en) * | 2004-10-29 | 2008-01-09 | 中国科学院计算技术研究所 | skeleton motion extraction method by means of optical-based motion capture data |
US7580546B2 (en) | 2004-12-09 | 2009-08-25 | Electronics And Telecommunications Research Institute | Marker-free motion capture apparatus and method for correcting tracking error |
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KR100763578B1 (en) * | 2005-12-01 | 2007-10-04 | 한국전자통신연구원 | Method for Estimating 3-Dimensional Position of Human's Joint using Sphere Projecting Technique |
US7869646B2 (en) | 2005-12-01 | 2011-01-11 | Electronics And Telecommunications Research Institute | Method for estimating three-dimensional position of human joint using sphere projecting technique |
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US20080170750A1 (en) * | 2006-11-01 | 2008-07-17 | Demian Gordon | Segment tracking in motion picture |
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US20100277470A1 (en) * | 2009-05-01 | 2010-11-04 | Microsoft Corporation | Systems And Methods For Applying Model Tracking To Motion Capture |
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KR101968420B1 (en) * | 2017-11-24 | 2019-04-11 | 이화여자대학교 산학협력단 | System and Method for Customized Game Production Based on User Body Motion and Recording Medium thereof |
CN108742841B (en) * | 2018-05-30 | 2020-11-06 | 上海交通大学 | Tool real-time positioning device of multi-position tracker |
CN109186455A (en) * | 2018-09-06 | 2019-01-11 | 安徽师范大学 | A kind of device of view-based access control model measurement dynamic object three-dimensional coordinate |
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- 2000-10-17 AU AU79672/00A patent/AU7967200A/en not_active Abandoned
- 2000-10-17 WO PCT/KR2000/001158 patent/WO2001035208A1/en active Application Filing
- 2000-10-17 CN CN00803619A patent/CN1340170A/en active Pending
- 2000-10-17 DE DE10083785T patent/DE10083785T1/en not_active Withdrawn
- 2000-10-17 JP JP2001536676A patent/JP2003514298A/en active Pending
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JPH01131430A (en) * | 1987-11-17 | 1989-05-24 | Anzen Jidosha Kk | Confrontation detecting device |
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Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6831603B2 (en) | 2002-03-12 | 2004-12-14 | Menache, Llc | Motion tracking system and method |
US8454428B2 (en) | 2002-09-12 | 2013-06-04 | Wms Gaming Inc. | Gaming machine performing real-time 3D rendering of gaming events |
US7009561B2 (en) | 2003-03-11 | 2006-03-07 | Menache, Llp | Radio frequency motion tracking system and method |
US7432810B2 (en) | 2003-03-11 | 2008-10-07 | Menache Llc | Radio frequency tags for use in a motion tracking system |
EP1825438A4 (en) * | 2004-12-03 | 2017-06-21 | Sony Corporation | System and method for capturing facial and body motion |
WO2011077445A1 (en) * | 2009-12-24 | 2011-06-30 | Caleb Suresh Motupalli | System and method for super-augmenting a persona to manifest a pan-environment super-cyborg for global governance |
GB2491990A (en) * | 2009-12-24 | 2012-12-19 | Caleb Suresh Motupalli | System and method for super-augmenting a persona to manifest a pan-environment super-cyborg for global governance |
CN101982836A (en) * | 2010-10-14 | 2011-03-02 | 西北工业大学 | Mark point identification initializing method based on principal components analysis (PCA) in motion capture system |
Also Published As
Publication number | Publication date |
---|---|
KR100361462B1 (en) | 2002-11-21 |
JP2003514298A (en) | 2003-04-15 |
KR20000017755A (en) | 2000-04-06 |
CN1340170A (en) | 2002-03-13 |
DE10083785T1 (en) | 2001-11-29 |
AU7967200A (en) | 2001-06-06 |
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