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Human Motion Capture with Sparse Inertial Sensors and Video / Titelei/Inhaltsverzeichnis
Human Motion Capture with Sparse Inertial Sensors and Video / Titelei/Inhaltsverzeichnis
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Page
I–XII
Titelei/Inhaltsverzeichnis
I–XII
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5–21
1 Introduction
5–21
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1.1 A Brief History
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1.2 Applications
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1.3 The MoCap Problem
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1.4 State of the Art
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1.4.1 Vision-based
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1.4.2 IMU-based
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1.4.3 Hybrid Approaches
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1.4.4 Other Sensor Modalities
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1.5 Contributions and Outline
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22–48
2 Fundamentals
22–48
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2.1 Rigid Body Motion
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2.1.1 SO(3) and SE(3): Rigid Body Transformations
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2.1.2 Exponential Coordinates
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2.1.3 Differentiation
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2.2 Human Motion Modeling
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2.2.1 Kinematic Chains
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2.2.2 Pose Parametrization
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2.2.3 SMPL Body Model
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2.2.4 Pose Differentiation
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2.3 Non-Linear Least-Squares Optimization
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2.3.1 Gauss-Newton Algorithm
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2.3.2 Levenberg-Marquardt Algorithm
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2.3.3 Optimization on SO(3) and SE(3)
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2.4 Inertial Measurement Units
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2.4.1 Coordinate Frames
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2.4.2 Measurement Models
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2.4.3 Orientation Estimation
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2.4.4 Calibration
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2.5 Benchmarking
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2.5.1 Datasets
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2.5.2 Accuracy Metrics
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2.5.3 Ground-Truth Poses
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49–73
3 Sparse Inertial Poser
49–73
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3.1 Introduction
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3.2 Model
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3.2.1 Body Model
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3.2.2 IMU Placement
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3.2.3 Coordinate Systems
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3.3 Method
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3.3.1 The Orientation Term
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3.3.2 The Acceleration Term
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3.3.3 The Anthropometric Term
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3.3.4 Energy Minimization
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3.4 Evaluation
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3.4.1 Tracker Setup
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3.4.2 Evaluation on TNT15
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3.4.3 Evaluation on TotalCapture
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3.4.4 Qualitative Results
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3.5 Conclusion
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74–102
4 Video Inertial Poser
74–102
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4.1 Introduction
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4.2 Model
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4.2.1 Body Model
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4.2.2 Camera Model
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4.2.3 Coordinate Frames
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4.2.4 Heading Drift
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4.2.5 Visual Cues: 2D Poses
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4.3 Method
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4.3.1 Initialization
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4.3.2 Pose Candidate Assignment
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4.3.3 Video-Inertial Data Fusion
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4.3.4 Optimization
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4.4 Evaluation
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4.4.1 Tracker Setup
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4.4.2 Evaluation on TotalCapture
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4.4.3 Evaluation on 3DPW
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4.5 Conclusion
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103–106
5 Conclusions
103–106
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107–120
Bibliography
107–120
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Human Motion Capture with Sparse Inertial Sensors and Video , page I - XII
Titelei/Inhaltsverzeichnis
Autoren
Timo von Marcard
DOI
doi.org/10.51202/9783186866103-I
ISBN print: 978-3-18-386610-6
ISBN online: 978-3-18-686610-3
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doi.org/10.51202/9783186866103-I
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