Skeletal Animation Based on BVH Motion Data

Dai, Huan; Cai, Bo; Song, Jia; Zhang, Dengyi

doi:10.1109/iciecs.2010.5678292

Cited by 24 publications

(9 citation statements)

References 2 publications

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“…The output format of the motion data is the BVH file, which is a format used to tore skeleton hierarchy information and three-dimensional motion data [19]. Perception Neuron 2.0 uses 17 sensors to measure the motion data of 17 points of the body.…”

Section: Extracting Features Of Motion Data 231 Extracting and Conver...mentioning

confidence: 99%

Motion Classification and Features Recognition of a Traditional Chinese Sport (Baduanjin) Using Sampled-Based Methods

Yap

Khoo

2021

Applied Sciences

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This study recognized the motions and assessed the motion accuracy of a traditional Chinese sport (Baduanjin), using the data from the inertial sensor measurement system (IMU) and sampled-based methods. Fifty-three participants were recruited in two batches to participate in the study. Motion data of participants practicing Baduanjin were captured by IMU. By extracting features from motion data and benchmarking with the teacher’s assessment of motion accuracy, this study verifies the effectiveness of assessment on different classifiers for motion accuracy of Baduanjin. Moreover, based on the extracted features, the effectiveness of Baduanjin motion recognition on different classifiers was verified. The k-Nearest Neighbor (k-NN), as a classifier, has advantages in accuracy (more than 85%) and a short average processing time (0.008 s) during assessment. In terms of recognizing motions, the classifier One-dimensional Convolutional Neural Network (1D-CNN) has the highest accuracy among all verified classifiers (99.74%). The results show, using the extracted features of the motion data captained by IMU, that selecting an appropriate classifier can effectively recognize the motions and, hence, assess the motion accuracy of Baduanjin.

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Section: Extracting Features Of Motion Data 231 Extracting and Conver...mentioning

confidence: 99%

Motion Classification and Features Recognition of a Traditional Chinese Sport (Baduanjin) Using Sampled-Based Methods

Yap

Khoo

2021

Applied Sciences

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“…The raw data was converted into BVH file by the Axis neuron software. The BVH file is a file format developed by the BVH Company to store skeleton hierarchy information and three-dimensional motion data [33]. The BVH file comprises two parts: one is used to store skeleton hierarchy information and the other to store motion information.…”

Section: Extracting and Converting Raw Datamentioning

confidence: 99%

“…Motion information stores the global translation amount and the rotation amount of Root in each frame of the movement. The global translation amount is the position coordinate: X position, Y position, and Z position in the world coordinate system and the rotation amount is the rotation component: X rotation, Y rotation, and Z rotation in the Euler angle [33]. The motion information of other skeleton points is recorded on the rotation amount related to the parent points.…”

Section: Extracting and Converting Raw Datamentioning

confidence: 99%

Differences in Motion Accuracy of Baduanjin between Novice and Senior Students on Inertial Sensor Measurement Systems

Khoo

Yap

2020

Sensors

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This study aimed to evaluate the motion accuracy of novice and senior students in Baduanjin (a traditional Chinese sport) using an inertial sensor measurement system (IMU). Study participants were nine novice students, 11 senior students, and a teacher. The motion data of all participants were measured three times with the IMU. Using the motions of the teacher as the standard motions, we used dynamic time warping to calculate the distances between the motion data of the students and the teacher to evaluate the motion accuracy of the students. The distances between the motion data of the novice students and the teacher were higher than that between senior students and the teacher (p < 0.05 or p < 0.01). These initial results showed that the IMU and the corresponding mathematical methods could effectively distinguish the differences in motion accuracy between novice and senior students of Baduanjin.

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“…With this method, real-time human motion can be displayed on the skeletal model in ANP through BVH data. As a universal file format for human feature animation usually adopted in skeleton models, it can store motion for a hierarchical skeleton, which means that motion of the child node is directly dependent on the motion of the parent one (Dai et al , 2010). As shown in Figure 3, a normal BVH file will consist of several parts as follows.…”

Section: Scene-motion Cross-modal Perceptionmentioning

confidence: 99%

Natural teaching for humanoid robot via human-in-the-loop scene-motion cross-modal perception

Gong

et al. 2019

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Purpose This paper aims to present a human-in-the-loop natural teaching paradigm based on scene-motion cross-modal perception, which facilitates the manipulation intelligence and robot teleoperation. Design/methodology/approach The proposed natural teaching paradigm is used to telemanipulate a life-size humanoid robot in response to a complicated working scenario. First, a vision sensor is used to project mission scenes onto virtual reality glasses for human-in-the-loop reactions. Second, motion capture system is established to retarget eye-body synergic movements to a skeletal model. Third, real-time data transfer is realized through publish-subscribe messaging mechanism in robot operating system. Next, joint angles are computed through a fast mapping algorithm and sent to a slave controller through a serial port. Finally, visualization terminals render it convenient to make comparisons between two motion systems. Findings Experimentation in various industrial mission scenes, such as approaching flanges, shows the numerous advantages brought by natural teaching, including being real-time, high accuracy, repeatability and dexterity. Originality/value The proposed paradigm realizes the natural cross-modal combination of perception information and enhances the working capacity and flexibility of industrial robots, paving a new way for effective robot teaching and autonomous learning.

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Skeletal Animation Based on BVH Motion Data

Cited by 24 publications

References 2 publications

Motion Classification and Features Recognition of a Traditional Chinese Sport (Baduanjin) Using Sampled-Based Methods

Motion Classification and Features Recognition of a Traditional Chinese Sport (Baduanjin) Using Sampled-Based Methods

Differences in Motion Accuracy of Baduanjin between Novice and Senior Students on Inertial Sensor Measurement Systems

Natural teaching for humanoid robot via human-in-the-loop scene-motion cross-modal perception

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