| Summary: | 碩士 === 國立交通大學 === 資訊工程系所 === 93 === The main purpose of this thesis is to refine a sequence of stereo vision-based human motion raw data with a goal that the true limb lengths and proper joint angles can be satisfied.
Two CCD cameras are used to gain a video of human motion from two different view points. 3D joint positions are extracted from these two image sequences through techniques of image-processing and computer vision.
The thesis introduces a hierarchic human body structure, which is a tree structure using the heel as root. It includes twenty-one degrees of freedom in eleven joints. 4 end-effectors are used in inverse kinematics refinement. The overview of Jacobian, pseudo-inverse method, Damped Least Square Method is given.
In the experiments, results of refinement using different inverse kinematics methods are obtained. The analysis and comparisons of the results are given. A typical segment of a smooth motion data is used to show the similarity between the frame-by-frame refined stick figure motion and the key-frame interpolated motion. At the end, the damped least square method using the IP-based solution as the initial solution is generally top-choice solution in terms of efficiency and precision.
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