测绘通报 ›› 2020, Vol. 0 ›› Issue (8): 33-38.doi: 10.13474/j.cnki.11-2246.2020.0244

• 学术研究 • 上一篇    下一篇

一种用于运动姿态评估的视觉伺服机器人

胡建朗1, 罗亚荣2, 郭迟2   

  1. 1. 武汉大学测绘学院, 湖北 武汉 430079;
    2. 武汉大学卫星导航定位技术研究中心, 湖北 武汉 430079
  • 收稿日期:2020-01-06 修回日期:2020-06-07 发布日期:2020-09-01
  • 通讯作者: 罗亚荣。E-mail:yarongluo@whu.edu.cn E-mail:yarongluo@whu.edu.cn
  • 作者简介:胡建朗(1998-),男,研究方向为计算机视觉与机器人导航。E-mail:773874013@qq.com
  • 基金资助:
    国家十三五重点研发计划(2018YFB1305001)

A visual servo robot for pose estimation

HU Jianlang1, LUO Yarong2, GUO Chi2   

  1. 1. School of Geodesy and Geomatics, Wuhan University, Wuhan 430079, China;
    2. GNSS Center, Wuhan University, Wuhan 430079, China
  • Received:2020-01-06 Revised:2020-06-07 Published:2020-09-01

摘要: 针对人们在运动中出现的姿态不标准且无人监督指导等问题,本文设计了一种用于运动姿态评估的视觉伺服机器人。这款机器人首先通过一种带有注意力机制的目标跟踪算法对运动目标进行跟踪,并与机器人的伺服电机结构协同工作以调整摄像头的角度,从而实现对在特定区域内运动的目标进行跟踪拍摄。然后由其姿态评估系统提取运动姿态,并与标准姿态进行比对评估。经验证,该机器人对人体运动姿态的质量高低具有较高的区分度,能对用户的多种姿态给予有效的评价,从而实现运动辅助及康复训练指导的目的。

关键词: 视觉伺服, 目标追踪, 空间注意力机制, 姿态评估, 运动辅助

Abstract: In order to solve the problem of people's non-standard pose and unsupervised guidance, a visual servo robot for pose estimation is designed in this paper. The robot tracks the moving target through a target tracking algorithm with attention mechanism, and works with the robot's servo motor structure to adjust the camera angle, so as to track and record the moving target in a specific area. Then, the target pose is extracted by robot's pose evaluation system and compared with the standard pose. It has been verified that the robot has a high degree of discrimination of the quality of the human pose, and can effectively evaluate the user's pose, so as to achieve the purpose of sports assistance and rehabilitation training guidance.

Key words: visual servo, object tracking, spatial attention mechanism, pose estimation, sports assistance

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