Research And Development Of Human Motion Capture System Base On IMU And Kinect

Human motion capture technology is to reproduce the motion information of the target human body in three-dimensional space.At present,there are two kinds of human motion capture technology: Wearable mark motion capture system and machine vision unmarked motion capture system,but both of them have their own shortcomings.This paper combines the advantages of Delsys IMU and Kinect sensor to develop a human motion capture system.The system takes advantage of two kinds of sensors in human motion capture technology,This system has the advantages of simple data acquisition,high accuracy,low requirements for time and place.The capture system mainly has the following functions: Collection of human motion data,real-time display of nine axis data,data modeling of whole body posture,real-time display of joint angle and joint position information,3D human animation demonstration.Firstly,Delsys IMU sensor is selected as the acquisition device of human motion data,get the data of acceleration,magnetometer and gyroscope.According to the characteristics of each kind of data,select the appropriate processing method to complete the data preprocessing and calibration.Data modeling of human body with mathematical tools of attitude calculation and the real-time attitude data of human body is obtained.Secondly,the shortcomings of quaternion in human motion capture are analyzed,and an improved quaternion algorithm is proposed to complete the positioning of human joints.The experimental data shows that the RMSE of joint angle calculated by the improved quaternion algorithm is reduced by about 0.175,The accuracy of calculation results is improved,It makes up for the shortcomings of the traditional quaternion method in the positioning of human joints.Then a software of human motion capture based on IMU sensor is designed.When the software captures the human body's movements,it can complete the functions of real-time display of human motion data and motion capture effect,motion data analysis,etc.During multiple use of the software,it is found that: Although the IMU sensor alone can basically meet the design requirements for motion capture,but for different capture targets,the measurement of human characteristics data needs to be completed in advance(such as height,arm length,shoulder width,etc.),it increases a lot of works;and the software also has the problem that the action demonstration is not vivid.Finally,by consulting a large number of documents,decide to combine with the technical advantages of IMU sensor and Kinect sensor to optimize and improve the software.The experimental results show that: The human motion capture system based on IMU and Kinect can quickly acquire the characteristic data of human body and simplify the experimental process of motion capture,the experimental process of action capture is simplified,and the human actions can be vividly demonstrated in the form of 3D animation.