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    • 9. 发明申请
    • METHOD OF MOTION TRACKING
    • 运动跟踪方法
    • WO2012161407A1
    • 2012-11-29
    • PCT/KR2012/001119
    • 2012-02-15
    • KOREA INSTITUTE OF SCIENCE AND TECHNOLOGYKIM, JinwookJUNG, YujinKANG, Donghoon
    • KIM, JinwookJUNG, YujinKANG, Donghoon
    • A61B5/103A61B5/11
    • G01B5/004A61B5/1114A61B5/6822A61B5/6823A61B5/6824A61B5/6825A61B5/6828A61B5/6829A61B5/6831A61B2503/10A61B2505/09G06F3/011
    • A motion of a model including a joint, at least one body part that rotates with respect to the joint, and a plurality of inertial sensors attached to each body part and measuring a rotational motion of the body part is tracked by obtaining a rotational matrix of a sensor coordinate system fixed to each of the inertial sensors with respect to an inertial coordinate system fixed to ground, by using a signal measured by the inertial sensor attached to each body part; obtaining a rotational matrix of the sensor coordinate systems with respect to a body part coordinate system fixed to each body part, by using an obtained rotational matrix value of the sensor coordinate system; obtaining a rotational matrix of each body part coordinate system with respect to the inertial coordinate system, by using a calculated rotational matrix of the sensor coordinate systems; and calculating a joint variable with respect to each body part, by using a calculated rotational matrix of the body part coordinate system.
    • 包括关节的模型的运动,相对于关节旋转的至少一个身体部分以及附接到每个身体部分并测量身体部位的旋转运动的多个惯性传感器被跟踪,通过获得 通过使用由附接到每个身体部分的惯性传感器测量的信号,相对于固定在地面上的惯性坐标系固定到每个惯性传感器的传感器坐标系; 通过使用获得的传感器坐标系的旋转矩阵值,获得相对于固定到每个身体部位的身体部位坐标系的传感器坐标系的旋转矩阵; 通过使用计算出的传感器坐标系的旋转矩阵获得每个身体部位坐标系相对于惯性坐标系的旋转矩阵; 以及通过使用身体部位坐标系的计算旋转矩阵来计算关于每个身体部位的关节变量。
    • 10. 发明申请
    • MOTION TRACKING METHOD USING SCANNING DEVICE
    • 使用扫描设备的运动跟踪方法
    • WO2010044509A1
    • 2010-04-22
    • PCT/KR2008/006881
    • 2008-11-21
    • KOREA INSTITUTE OF SCIENCE AND TECHNOLOGYKIM, JinwookHONG, SeungpyoKO, Heedong
    • KIM, JinwookHONG, SeungpyoKO, Heedong
    • H04N1/04H04N5/00
    • G01S17/66
    • The motion tracking method disclosed herein suggests a method for precisely tracking the motion of a scanning device by correcting the surrounding information distortedly recognized due to the time differences between pieces of information regarding the surroundings of the device over one scanning cycle. The method, as a motion tracking method of a scanning device collecting the surrounding information corresponding to a plurality of the points of the surroundings, includes collecting the surrounding information, obtaining the displacement data of the scanning device using the surrounding information, updating the velocity of the scanning device using the displacement data of the scanning device, correcting the surrounding information using the updated velocity of the scanning device, and determining location and position information of the scanning device using the corrected surrounding information. According to the method herein, the motion of the scanning device may be more precisely tracked because the surrounding information is corrected based on the velocity of the scanning device.
    • 本文公开的运动跟踪方法提出了一种通过校正由于在一个扫描周期上与设备的周围环境相关的信息之间的时间差异而失真识别的周围信息来精确跟踪扫描设备的运动的方法。 作为收集与周围的多个点对应的周围信息的扫描装置的运动跟踪方法,包括收集周围信息,使用周围信息获取扫描装置的位移数据,更新速度 所述扫描装置使用所述扫描装置的位移数据,使用所述扫描装置的更新速度来校正所述周围信息,以及使用所述校正的周围信息来确定所述扫描装置的位置和位置信息。 根据本文的方法,可以更精确地跟踪扫描装置的运动,因为基于扫描装置的速度来校正周围的信息。