VIDEO PROCESSING IN MOTION MODELLING
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1 VIDEO PROCESSING IN MOTION MODELLING Miroslav KUBÍČEK, Aleš PROCHÁZKA, Aleš PAVELKA Institute of Chemical Technology Department of Computing and Control Engineering Digital Signal and Image Processing Research Group VIDEO PROCESSING IN MOTION MODELLING Miroslav KUBÍČEK, Aleš PROCHÁZKA, Aleš PAVELKA Process Control 2005 p.1/10
2 Contents Introduction VIDEO PROCESSING IN MOTION MODELLING Miroslav KUBÍČEK, Aleš PROCHÁZKA, Aleš PAVELKA Process Control 2005 p.2/10
3 Contents Introduction System Description VIDEO PROCESSING IN MOTION MODELLING Miroslav KUBÍČEK, Aleš PROCHÁZKA, Aleš PAVELKA Process Control 2005 p.2/10
4 Contents Introduction System Description Three-Dimensional Object Detection VIDEO PROCESSING IN MOTION MODELLING Miroslav KUBÍČEK, Aleš PROCHÁZKA, Aleš PAVELKA Process Control 2005 p.2/10
5 Contents Introduction System Description Three-Dimensional Object Detection Motion Visualization VIDEO PROCESSING IN MOTION MODELLING Miroslav KUBÍČEK, Aleš PROCHÁZKA, Aleš PAVELKA Process Control 2005 p.2/10
6 Contents Introduction System Description Three-Dimensional Object Detection Motion Visualization Conclusions VIDEO PROCESSING IN MOTION MODELLING Miroslav KUBÍČEK, Aleš PROCHÁZKA, Aleš PAVELKA Process Control 2005 p.2/10
7 Introduction Goals of the project Study of image acquisition using synchronized two camera system and A/D convertors Study of mathematical methods for body localization in the three dimensional space Visualization of the body movement using virtual reality environment VIDEO PROCESSING IN MOTION MODELLING Miroslav KUBÍČEK, Aleš PROCHÁZKA, Aleš PAVELKA Process Control 2005 p.3/10
8 Introduction Goals of the project Study of image acquisition using synchronized two camera system and A/D convertors Study of mathematical methods for body localization in the three dimensional space Visualization of the body movement using virtual reality environment Application Modelling of the body movement Analysis of the object movement using several reference points VIDEO PROCESSING IN MOTION MODELLING Miroslav KUBÍČEK, Aleš PROCHÁZKA, Aleš PAVELKA Process Control 2005 p.3/10
9 System Description Light Technical details Cameras with color CCD sensor and with resolution 1024x768, 30 fps Synchronization 125 µs A Camera B Camera Connection with computer via IEEE 1394 Direct connection to the MATLAB system and Image Acquisition Toolbox IEEE 1394 MATLAB & Image Acquisition Tlbx Computer VIDEO PROCESSING IN MOTION MODELLING Miroslav KUBÍČEK, Aleš PROCHÁZKA, Aleš PAVELKA Process Control 2005 p.4/10
10 Three-Dimensional Object Detection Principle of the object localisation (a) INITIAL POSITIONING FRONT VIEW (b) K TH POSITION FRONT VIEW C [x C,z C ] C [x C (1),0] b 2 α 2 β 2 a 2 C [x C (1),y C (1)] TOP VIEW TOP VIEW C [x C,y C ] b 1 (1) a 1 (1) b 1 a 1 α 1 (1) β 1 (1) c α 1 c β 1 A [x A,y A ] B [x B,y B ] A [x A,y A ] B [x B,y B ] Camera A Camera B Camera A Camera B VIDEO PROCESSING IN MOTION MODELLING Miroslav KUBÍČEK, Aleš PROCHÁZKA, Aleš PAVELKA Process Control 2005 p.5/10
11 Three-Dimensional Object Detection Principle of the object localisation (a) INITIAL POSITIONING FRONT VIEW (b) K TH POSITION FRONT VIEW C [x C,z C ] C [x C (1),0] b 2 α 2 β 2 a 2 C [x C (1),y C (1)] TOP VIEW TOP VIEW C [x C,y C ] b 1 (1) a 1 (1) b 1 a 1 α 1 (1) β 1 (1) c α 1 c β 1 A [x A,y A ] B [x B,y B ] A [x A,y A ] B [x B,y B ] Camera A Camera B Camera A Camera B α 1 (1) = arccos ( (b 1 (1) 2 + c 2 a 1 (1) 2 )/(2 b 1 (1) c) ) β 1 (1) = arccos ( (a 1 (1) 2 + c 2 b 1 (1) 2 )/(2 a 1 (1) c) ) VIDEO PROCESSING IN MOTION MODELLING Miroslav KUBÍČEK, Aleš PROCHÁZKA, Aleš PAVELKA Process Control 2005 p.5/10
12 Three-Dimensional Object Detection Calibration of the camera system HORIZONTAL AND VERTICAL CAMERA ANGLE EVALUATION (a) CALIBRATION GRID (b) INITIAL LIGHT POSITIONING α 2max CAMERA s vertical /2 d α 2 (1) α 2min d s horizontal /2 α 1min α 1 (1) α 1max VIDEO PROCESSING IN MOTION MODELLING Miroslav KUBÍČEK, Aleš PROCHÁZKA, Aleš PAVELKA Process Control 2005 p.6/10
13 Three-Dimensional Object Detection Calibration of the camera system HORIZONTAL AND VERTICAL CAMERA ANGLE EVALUATION (a) CALIBRATION GRID (b) INITIAL LIGHT POSITIONING α 2max CAMERA s vertical /2 d α 2 (1) α 2min d s horizontal /2 α 1min α 1 (1) α horizontal = 2 arctan ( s horizontal /2/d ) α vertical = 2 arctan ( s vertical /2/d ) VIDEO PROCESSING IN MOTION MODELLING Miroslav KUBÍČEK, Aleš PROCHÁZKA, Aleš PAVELKA Process Control 2005 p.6/10 α 1max
14 Motion Visualization VIDEO PROCESSING IN MOTION MODELLING Miroslav KUBI C EK, Ales PROCHA ZKA, Ales PAVELKA Process Control 2005 p.7/10
15 Motion Visualization VIDEO PROCESSING IN MOTION MODELLING Miroslav KUBÍČEK, Aleš PROCHÁZKA, Aleš PAVELKA Process Control 2005 p.7/10
16 Motion Visualization MOTION MODELLING z axis CAMERA A 1000 CAMERA B y axis 0 0 x axis VIDEO PROCESSING IN MOTION MODELLING Miroslav KUBÍČEK, Aleš PROCHÁZKA, Aleš PAVELKA Process Control 2005 p.7/10
17 Motion Visualization MOTION MODELLING z axis CAMERA A 1000 CAMERA B 1500 Display y axis x axis simin From Workspace Bally.translation VR Sink Scope VIDEO PROCESSING IN MOTION MODELLING Miroslav KUBÍČEK, Aleš PROCHÁZKA, Aleš PAVELKA Process Control 2005 p.7/10
18 Motion Visualization MOTION MODELLING z axis CAMERA A 1000 CAMERA B 1500 Display y axis x axis simin From Workspace Bally.translation VR Sink Scope VIDEO PROCESSING IN MOTION MODELLING Miroslav KUBÍČEK, Aleš PROCHÁZKA, Aleš PAVELKA Process Control 2005 p.7/10
19 Conclusions Results VIDEO PROCESSING IN MOTION MODELLING Miroslav KUBÍČEK, Aleš PROCHÁZKA, Aleš PAVELKA Process Control 2005 p.8/10
20 Conclusions Results Successfully tested system with one moving object VIDEO PROCESSING IN MOTION MODELLING Miroslav KUBÍČEK, Aleš PROCHÁZKA, Aleš PAVELKA Process Control 2005 p.8/10
21 Conclusions Results Successfully tested system with one moving object Creation of the virtual reality model based on the real movement VIDEO PROCESSING IN MOTION MODELLING Miroslav KUBÍČEK, Aleš PROCHÁZKA, Aleš PAVELKA Process Control 2005 p.8/10
22 Conclusions Results Successfully tested system with one moving object Creation of the virtual reality model based on the real movement Further Research VIDEO PROCESSING IN MOTION MODELLING Miroslav KUBÍČEK, Aleš PROCHÁZKA, Aleš PAVELKA Process Control 2005 p.8/10
23 Conclusions Results Successfully tested system with one moving object Creation of the virtual reality model based on the real movement Further Research Deterministic and statistical analysis of the set of moving objects VIDEO PROCESSING IN MOTION MODELLING Miroslav KUBÍČEK, Aleš PROCHÁZKA, Aleš PAVELKA Process Control 2005 p.8/10
24 Conclusions Results Successfully tested system with one moving object Creation of the virtual reality model based on the real movement Further Research Deterministic and statistical analysis of the set of moving objects Their proper recognition and detection followed by visualization in specific applications VIDEO PROCESSING IN MOTION MODELLING Miroslav KUBÍČEK, Aleš PROCHÁZKA, Aleš PAVELKA Process Control 2005 p.8/10
25 References 1. R. Boulic, P. Fua, L. Herda, M. Silaghi, J.S. Monzani, L. Nedel, and D. Thalmann.An Anatomic Human Body for Motion Capture. In Technologies for the Information Society: Developments and Opportunities. EMMSEC98, J. Lasenby and A. Stevenson. Using Geometric Algebra for Optical Motion Capture. In E.Bayro-Corrochano and G. Sobcyzk, editors, Applied Clifford Algebras in Computer Science and Engineering. Birkhauser, Boston, U.S.A., M. Kubíček. Using Dragonfly IEEE-1394 Digital Camera and Image Acquisition Toolbox. In Sborník konference MATLAB 2004, pages VŠCHT Praha, M. Nixon and A. Aguado. Feature Extraction & Image Processing. NewNes Elsevier, M. Ringer, T. Drummond, and J. Lasenby. Using Occlusions to Aid Position Estimation for Visual Motion Capture. In Proc Computer Vision and Pattern Recoginition (CVPR). IEEE USA, M. Ringer and J. Lasenby. Modelling and Tracking of Articulated Motion from Multiple Camera Views. In Proc. British Machine Vision Conf (BMVC), pages , VIDEO PROCESSING IN MOTION MODELLING Miroslav KUBÍČEK, Aleš PROCHÁZKA, Aleš PAVELKA Process Control 2005 p.9/10
26 Thank You! VIDEO PROCESSING IN MOTION MODELLING Miroslav KUBÍČEK, Aleš PROCHÁZKA, Aleš PAVELKA Process Control 2005 p.10/10
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