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Improved 3D Human Motion Capture Using Kinect Skeleton and Depth Sensor

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Title: Improved 3D Human Motion Capture Using Kinect Skeleton and Depth Sensor
Authors: Bilesan, Alireza Browse this author
Komizunai, Shunsuke Browse this author →KAKEN DB
Tsujita, Teppei Browse this author →KAKEN DB
Konno, Atsushi Browse this author →KAKEN DB
Keywords: Kinect
motion capture
gait analysis
joint angles
humanoid robot
Issue Date: Dec-2021
Publisher: 富士技術出版(Fuji Technology Press)
Journal Title: Journal of robotics and mechatronics
Volume: 33
Issue: 6
Start Page: 1407
End Page: 1421
Publisher DOI: 10.20965/jrm.2021.p1408
Abstract: Kinect has been utilized as a cost-effective, easy-touse motion capture sensor using the Kinect skeleton algorithm. However, a limited number of landmarks and inaccuracies in tracking the landmarks' positions restrict Kinect's capability. In order to increase the accuracy of motion capturing using Kinect, joint use of the Kinect skeleton algorithm and Kinect-based marker tracking was applied to track the 3D coordinates of multiple landmarks on human. The motion's kinematic parameters were calculated using the landmarks' positions by applying the joint constraints and inverse kinematics techniques. The accuracy of the proposed method and OptiTrack (NaturalPoint, Inc., USA) was evaluated in capturing the joint angles of a humanoid (as ground truth) in a walking test. In order to evaluate the accuracy of the proposed method in capturing the kinematic parameters of a human, lower body joint angles of five healthy subjects were extracted using a Kinect, and the results were compared to Perception Neuron (Noitom Ltd., China) and OptiTrack data during ten gait trials. The absolute agreement and consistency between each optical system and the robot data in the robot test and between each motion capture system and OptiTrack data in the human gait test were determined using intraclass correlations coefficients (ICC3). The reproducibility between systems was evaluated using Lin's concordance correlation coefficient (CCC). The correlation coefficients with 95% confidence intervals (95%CI) were interpreted substantial for both OptiTrack and proposed method (ICC > 0.75 and CCC > 0.95) in humanoid test. The results of the human gait experiments demonstrated the advantage of the proposed method (ICC > 0.75 and RMSE = 1.1460 degrees) over the Kinect skeleton model (ICC < 0.4 and RMSE = 6.5843 degrees).
Type: article
Appears in Collections:情報科学院・情報科学研究院 (Graduate School of Information Science and Technology / Faculty of Information Science and Technology) > 雑誌発表論文等 (Peer-reviewed Journal Articles, etc)

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