TWI641858B

TWI641858B - Motion capture system

Info

Publication number: TWI641858B
Application number: TW107101412A
Authority: TW
Inventors: 李易璜
Original assignee: 宏碁股份有限公司
Priority date: 2018-01-15
Filing date: 2018-01-15
Publication date: 2018-11-21
Also published as: TW201932870A

Abstract

動態追蹤系統包含一第一標記群、一第二標記群，以及一取像裝置。第一標記群包含複數個第一標記元件，用來提供具第一波長之光源。第二標記群包含複數個第二標記元件，用來提供具一第二波長之光源，第二波長相異於第一波長。取像裝置包含用來偵測第一頻譜範圍內光線之一第一像素，以及用來偵測一第二頻譜範圍內光線之一第二像素。在第一波長和第二波長中，只有第一波長落在第一頻譜範圍內，且只有第二波長落在第二頻譜範圍內。The dynamic tracking system includes a first marker group, a second marker group, and an imaging device. The first marker group includes a plurality of first marker elements for providing a light source having a first wavelength. The second marker group includes a plurality of second marker elements for providing a light source having a second wavelength that is different from the first wavelength. The image capture device includes a first pixel for detecting light in a first spectral range and a second pixel for detecting light in a second spectral range. Among the first wavelength and the second wavelength, only the first wavelength falls within the first spectral range, and only the second wavelength falls within the second spectral range.

Description

動態追蹤系統Dynamic tracking system

本發明相關於一種動態追蹤系統，尤指一種具高辨識準確度和即時性之動態追蹤系統。The invention relates to a dynamic tracking system, in particular to a dynamic tracking system with high recognition accuracy and immediacy.

動態追蹤(motion capture)系統能將人體的動作轉換成數位資料，以供進一步的分析，主要應用在遊戲和動畫製作。現有動態追蹤系統多半使用發光二極體(light emitting diode, LED)來作為追蹤標記點(marker)，在面臨需要用到大量追蹤標記點的物體或是在物體較小的狀況下,常會有定位失真導致系統描述物體外型錯置或變形的問題。較早的動態追蹤系統會使用後製的方式進行修正，將相鄰的兩個標記點按需求在系統上將其修改描繪出來，形成由直線與標記點組合成的物體外型。但是這不僅會耗費大量的時間，並且在後製完成後的物體在經過較複雜的動作下系統還是會有辨識錯誤的可能,必須再經過一連串重複的動作校正才能達到理想的定位追蹤結果｡因此，需要一種具高辨識準確度之動態追蹤系統。The motion capture system converts human motion into digital data for further analysis, primarily in games and animation. Most of the existing dynamic tracking systems use light emitting diodes (LEDs) as tracking markers. In the case of objects that need to use a large number of tracking points or when the objects are small, positioning is often performed. Distortion causes the system to describe the problem of misplacement or deformation of the object. The earlier dynamic tracking system will use the post-production method to correct the two marking points on the system as needed to form the shape of the object combined by the straight line and the marking points. However, this not only consumes a lot of time, but also the object after the completion of the post-production system may have a recognition error after a relatively complicated operation, and a series of repeated motion corrections must be performed to achieve the desired positioning and tracking result. A dynamic tracking system with high recognition accuracy is needed.

本發明提供一種動態追蹤系統，其包含一第一標記群、一第二標記群，以及一取像裝置。該第一標記群包含N個第一標記元件，用來提供具一第一波長之光源。該第二標記群包含N個第二標記元件，用來提供具一第二波長之光源。該取像裝置包含一第一像素，用來偵測一第一頻譜範圍內之光線；以及一第二像素，用來偵測一第二頻譜範圍內之光線。N為大於1之整數，該第一波長相異於該第二波長，該第一波長和該第二波長中只有該第一波長落在該第一頻譜範圍內，且該第一波長和該第二波長中只有該第二波長落在該第二頻譜範圍內。The invention provides a dynamic tracking system comprising a first marking group, a second marking group, and an image capturing device. The first marker group includes N first marker elements for providing a light source having a first wavelength. The second marker group includes N second marker elements for providing a light source having a second wavelength. The image capturing device includes a first pixel for detecting light in a first spectral range, and a second pixel for detecting light in a second spectral range. N is an integer greater than 1, the first wavelength is different from the second wavelength, and only the first wavelength of the first wavelength and the second wavelength falls within the first frequency range, and the first wavelength and the Only the second wavelength of the second wavelength falls within the second spectral range.

第1圖為本發明實施例中一種動態追蹤系統100之示意圖。動態追蹤系統100包含M組標記群GROUP ₁~GROUP _M和一取像裝置20。每一組標記群各包含N個標記元件(例如N個發光二極體)，可提供頻譜相異之光源，其中M和N為大於1之整數。為了說明目的，第1圖顯示了M=4和N=3時之實施例，亦即動態追蹤系統100包含4組標記群GROUP ₁~GROUP ₄，第一標記群GROUP ₁包含3個第一發光二極體LED1，第二標記群GROUP ₂包含3個第二發光二極體LED2，第三標記群GROUP ₃包含3個第三發光二極體LED3，而第四標記群GROUP ₄包含3個第四發光二極體LED4。然而，M和N之值並不限定本發明之範疇。 1 is a schematic diagram of a dynamic tracking system 100 in accordance with an embodiment of the present invention. Dynamic tracking system 100 _{comprises. 1} group M ~ the GROUP tag group _M and the GROUP an image capturing device 20. Each set of marker groups each contains N marker elements (eg, N light-emitting diodes) that provide a source of spectrally distinct light, where M and N are integers greater than one. For illustrative purposes, Figure 1 shows an embodiment where M=4 and N=3, that is, the dynamic tracking system 100 includes four sets of marker groups GROUP ₁ ~GROUP ₄ , and the first marker group GROUP ₁ contains three first illuminations. The diode LED 1, the second mark group GROUP ₂ includes three second light-emitting diode LEDs 2, the third mark group GROUP ₃ includes three third light-emitting diode LEDs 3, and the fourth mark group GROUP ₄ includes three Four light-emitting diode LED4. However, the values of M and N do not limit the scope of the invention.

本發明利用發光二極體之頻譜來辨識每一標記群，亦即第一標記群GROUP ₁之第一發光二極體LED1可提供第一波長之光源，第二標記群GROUP ₂之第二發光二極體LED2可提供第二波長之光源，第三標記群GROUP ₃之第三發光二極體LED3可提供第三波長之光源，第四標記群GROUP ₄之第四發光二極體LED4可提供第四波長之光源，且第一波長、第二波長、第三波長和第四波長彼此相異。 The present invention utilizes the spectrum of the light-emitting diode to identify each of the mark groups, that is, the first light-emitting diode LED1 of the first mark group GROUP ₁ can provide the light source of the first wavelength, and the second light of the second mark group GROUP ₂ The diode LED 2 can provide a light source of a second wavelength, the third LED LED ₃ of the third mark group GROUP ₃ can provide a light source of a third wavelength, and the fourth LED LED ₄ of the fourth mark group GROUP ₄ can provide A light source of a fourth wavelength, and the first wavelength, the second wavelength, the third wavelength, and the fourth wavelength are different from each other.

第2A~2D圖為本發明實施例中取像裝置20之示意圖。取像裝置20包含陣列式排列之複數種類型的像素PX1~PXM, 每一種類型之像素只偵測單一波長。針對上述M=4時之實施例，像素PX1可偵測一第一頻譜範圍內之光線、像素PX2可偵測一第二頻譜範圍內之光線、像素PX3可偵測一第三頻譜範圍內之光線，而像素PX4可偵測一第四頻譜範圍內之光線。其中，第一波長至第四波長中只有第一波長落在第一頻譜範圍內，第一波長至第四波長中只有第二波長落在第二頻譜範圍內，第一波長至第四波長中只有第三波長落在第三頻譜範圍內，且第一波長至第四波長中只有第四波長落在第四頻譜範圍內。值得注意的是，第2A~2D圖所顯示之陣列式排列方式僅為說明目的，每一種類型像素的數量和排列方式並不限定本發明之範疇。2A-2D are schematic views of the image capturing apparatus 20 in the embodiment of the present invention. The image capturing device 20 includes a plurality of types of pixels PX1 to PXM arranged in an array, and each type of pixel detects only a single wavelength. For the above embodiment of M=4, the pixel PX1 can detect light in a first spectrum range, the pixel PX2 can detect light in a second spectrum range, and the pixel PX3 can detect a third spectrum range. Light, while pixel PX4 detects light in a fourth spectral range. Wherein only the first wavelength of the first wavelength to the fourth wavelength falls within the first frequency range, and only the second wavelength of the first wavelength to the fourth wavelength falls within the second frequency range, and the first wavelength to the fourth wavelength Only the third wavelength falls within the third spectral range, and only the fourth wavelength of the first to fourth wavelengths falls within the fourth spectral range. It should be noted that the array arrangement shown in Figures 2A to 2D is for illustrative purposes only, and the number and arrangement of pixels of each type do not limit the scope of the present invention.

在本發明一實施例中，為避免環境光的干擾，以及考量較長波長光源的能量較弱，所以可採用近紅外光範圍(波長810nm~900nm)之設計。舉例來說，第一標記群GROUP1中的第一發光二極體LED1可提供波長為830nm之光源，而相對應之像素PX1可偵測波長為830nm之光線；第二標記群GROUP2中的第二發光二極體LED2可提供波長為850nm之光源，而相對應之像素PX2可偵測波長為850nm之光線；第三標記群GROUP3中的第三發光二極體LED3可提供波長為870nm之光源，而相對應之像素PX3可偵測波長為870nm之光線；第四標記群GROUP4中的第四發光二極體LED4可提供波長為890nm之光源，而相對應之像素PX4可偵測波長為890nm之光線。然而，每一標記群之頻譜範圍和每一像素之偵測範圍並不限定本發明之範疇。In an embodiment of the invention, in order to avoid interference of ambient light and to consider the energy of the longer wavelength source, the near-infrared range (wavelength 810 nm to 900 nm) can be used. For example, the first LED diode 1 in the first marker group GROUP1 can provide a light source with a wavelength of 830 nm, and the corresponding pixel PX1 can detect the light with a wavelength of 830 nm; the second of the second marker group GROUP2 The LED 2 can provide a light source with a wavelength of 850 nm, and the corresponding pixel PX2 can detect light with a wavelength of 850 nm. The third LED of the third mark group GROUP3 can provide a light source with a wavelength of 870 nm. The corresponding pixel PX3 can detect light with a wavelength of 870 nm; the fourth LED of the fourth mark group GROUP4 can provide a light source with a wavelength of 890 nm, and the corresponding pixel PX4 can detect a wavelength of 890 nm. Light. However, the spectral range of each marker group and the detection range of each pixel do not limit the scope of the present invention.

第3A~3H圖為本發明實施例中動態追蹤系統100運作時之示意圖。發光二極體在通電時會在明狀態(1)，而在未通電時會在暗狀態(0)，因此每一標記群可提供2 ^N位元的識別編號(ID)，透過不同時間間隔的輸入電壓在二進制序列即可編碼每一標記群。針對M=4和N=3時之實施例，第一標記群GROUP ₁之辨識編號包含8個位元A1~A8，第二標記群GROUP ₂之辨識編號包含8個位元B1~B8，第三標記群GROUP ₃之辨識編號包含8個位元C1~C8，而第四標記群GROUP ₄之辨識編號包含8個位元D1~D8。取像裝置20在一圖框(frame)內會同時讀取第一標記群GROUP ₁至第四標記群GROUP ₄中各自一特定位元，再使用陣列式排列之像素PX1~PX4來辨識不同標記群之波長，以分辨所讀取到共4個特定位元是屬於哪一組標記群。因此，本發明動態追蹤系統100僅需要8個圖框就能辨認出所有標記群之辨識編號，依序由第3A~3H圖所示。 3A-3H are schematic diagrams showing the operation of the dynamic tracking system 100 in the embodiment of the present invention. The light-emitting diode will be in the bright state (1) when it is energized and in the dark state (0) when it is not energized, so each tag group can provide 2 ^N- bit identification number (ID) through different time intervals. The input voltage is encoded in a binary sequence to encode each tag group. For the embodiment where M=4 and N=3, the identification number of the first mark group GROUP ₁ includes 8 bits A1~A8, and the identification number of the second mark group GROUP ₂ includes 8 bits B1~B8, The identification number of the three marker group GROUP ₃ includes 8 bits C1 to C8, and the identification number of the fourth marker group GROUP ₄ includes 8 bits D1 to D8. The image capturing device 20 simultaneously reads a specific bit in each of the first mark group GROUP ₁ to the fourth mark group GROUP ₄ in a frame, and then uses the array pixels PX1 to PX4 to identify different marks. The wavelength of the group to distinguish which group of tag groups it belongs to by reading a total of 4 specific bits. Therefore, the dynamic tracking system 100 of the present invention can recognize the identification numbers of all the marker groups by only eight frames, which are sequentially shown in FIGS. 3A-3H.

綜上所述，本發明將複數個發光二極體分為不同標記群，使用輸入電壓在二進制序列作為編碼提供每一標記點的辨認編號,並配合取像裝置20分時取像來增加定位精準度｡同時，每一標記群具相異頻譜範圍，搭配包含陣列式排列像素之取像裝置20可同時對不同標記群做信號擷取，因此不會影響系統的更新時間。因此，本發明能提供一種高辨識準確度和即時性之動態追蹤系統。以上所述僅為本發明之較佳實施例，凡依本發明申請專利範圍所做之均等變化與修飾，皆應屬本發明之涵蓋範圍。In summary, the present invention divides a plurality of light-emitting diodes into different mark groups, uses an input voltage to provide an identification number of each mark point in a binary sequence as a code, and cooperates with the image taking device 20 to take images at a time to increase positioning. Accuracy. At the same time, each marker group has a different spectral range, and the image capturing device 20 including the array of pixels can simultaneously extract signals from different marker groups, thus not affecting the update time of the system. Therefore, the present invention can provide a dynamic tracking system with high recognition accuracy and immediacy. The above are only the preferred embodiments of the present invention, and all changes and modifications made to the scope of the present invention should be within the scope of the present invention.

20‧‧‧取像裝置20‧‧‧Image capture device

100‧‧‧動態追蹤系統100‧‧‧Dynamic tracking system

GROUP₁~GROUP₄‧‧‧標記群GROUP ₁ ~GROUP ₄ ‧‧‧Mark group

LED1~LED4‧‧‧發光二極體LED1~LED4‧‧‧Light Emitting Diode

PX1~PX4‧‧‧像素PX1~PX4‧‧‧ pixels

A1~A8、B1~B8、C1~C8、D1~D8‧‧‧位元A1~A8, B1~B8, C1~C8, D1~D8‧‧‧ bits

第1圖為本發明實施例中一種動態追蹤系統之示意圖。第2A~2D圖為本發明實施例中取像裝置之示意圖。第3A~3H圖為本發明實施例中動態追蹤系統運作時之示意圖。FIG. 1 is a schematic diagram of a dynamic tracking system according to an embodiment of the present invention. 2A-2D are schematic views of the image taking device in the embodiment of the present invention. 3A-3H are schematic diagrams showing the operation of the dynamic tracking system in the embodiment of the present invention.

Claims

一種動態追蹤系統，其包含：一第一標記群，其包含N個第一標記元件，用來提供具一第一波長之光源；一第二標記群，其包含N個第二標記元件，用來提供具一第二波長之光源；以及一取像裝置，其包含：一第一像素，用來偵測該第一標記群所提供之一第一頻譜範圍內之光線；以及一第二像素，用來偵測該第二標記群所提供之一第二頻譜範圍內之光線；其中：N為大於1之整數；該第一波長相異於該第二波長；該第一波長和該第二波長中只有該第一波長落在該第一頻譜範圍內；該第一波長和該第二波長中只有該第二波長落在該第二頻譜範圍內；且該取像裝置用來：使用該第一像素來在第1至第2^N圖框內分別讀取該N個第一標記元件之值以得到包含2^N位元之一第一資料；且使用該第二像素來在該第1至第2^N圖框內分別讀取該N個第二標記元件之值以得到包含2^N位元之一第二資料。 A dynamic tracking system comprising: a first mark group comprising N first mark elements for providing a light source having a first wavelength; and a second mark group comprising N second mark elements for Providing a light source having a second wavelength; and an image capturing device comprising: a first pixel for detecting light in a first spectral range provided by the first mark group; and a second pixel And detecting a light in a second spectrum range provided by the second mark group; wherein: N is an integer greater than 1; the first wavelength is different from the second wavelength; the first wavelength and the first Only the first wavelength of the two wavelengths falls within the first spectral range; only the second wavelength of the first wavelength and the second wavelength falls within the second spectral range; and the image capturing device is configured to: use The first pixel reads the values of the N first marking elements in the first to the second ^N frames to obtain a first data including 2 ^N bits; and uses the second pixel to Reading the values of the N second marking elements in the 1 to ^2N frames to obtain 2 ^{One of the N} bits of the second data.

如請求項1所述之動態追蹤系統，其中該第一頻譜範圍和該第二頻譜範圍包含在一近紅外光範圍內。 The dynamic tracking system of claim 1, wherein the first spectral range and the second spectral range are included in a near infrared range.

如請求項1所述之動態追蹤系統，其另包含一第三標記群，其包含複數個第三標記元件，用來提供具一第三波長之光源，其中：該取像裝置另包含一第三像素，用來偵測該第三標記群所提供之一第三頻譜範圍內之光線；該第三波長相異於該第一波長和該第二波長，且並未落在該第一頻譜範圍或該第二頻譜範圍內；且該第一波長至該第三波長中只有該第三波長落在該第三頻譜範圍內。 The dynamic tracking system of claim 1, further comprising a third marking group, comprising a plurality of third marking elements for providing a light source having a third wavelength, wherein: the image capturing device further comprises a first a three-pixel for detecting light in a third frequency range provided by the third mark group; the third wavelength is different from the first wavelength and the second wavelength, and does not fall on the first spectrum a range or the second spectrum range; and only the third wavelength of the first wavelength to the third wavelength falls within the third frequency range.

如請求項3所述之動態追蹤系統，其中該第一像素、該第二像素和該第三像素採用一陣列式排列。 The dynamic tracking system of claim 3, wherein the first pixel, the second pixel, and the third pixel are arranged in an array.

如請求項3所述之動態追蹤系統，其另包含一第四標記群，其包含複數個第四標記元件，用來提供具一第四波長之光源，其中：該取像裝置另包含一第四像素，用來偵測該第四標記群所提供之一第四頻譜範圍內之光線；該第四波長相異於該第一波長、該第二波長和該第三波長，且並未落在該第一頻譜範圍、該第二頻譜範圍或該第三頻譜範圍內；且該第一波長至該第四波長中只有該第四波長落在該第四頻譜範圍內。 The dynamic tracking system of claim 3, further comprising a fourth marking group, comprising a plurality of fourth marking elements for providing a light source having a fourth wavelength, wherein: the image capturing device further comprises a first Four pixels for detecting light in a fourth spectral range provided by the fourth mark group; the fourth wavelength is different from the first wavelength, the second wavelength, and the third wavelength, and does not fall In the first spectral range, the second spectral range, or the third spectral range; and only the fourth wavelength of the first wavelength to the fourth wavelength falls within the fourth spectral range.

如請求項5所述之動態追蹤系統，其中該第一像素至該第四像素採用一陣列式排列。 The dynamic tracking system of claim 5, wherein the first pixel to the fourth pixel are arranged in an array.

如請求項5所述之動態追蹤系統，其中該第一波長、該第二波長、該第三波長和該第四波長之值介於830nm和890nm之間。 The dynamic tracking system of claim 5, wherein the first wavelength, the second wavelength, the The values of the third wavelength and the fourth wavelength are between 830 nm and 890 nm.

如請求項1所述之動態追蹤系統，其中該複數個第一標記元件和該複數個第二標記元件為發光二極體(light emitting diode,LED)。 The dynamic tracking system of claim 1, wherein the plurality of first marking elements and the plurality of second marking elements are light emitting diodes (LEDs).