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1 Kinec Developmen of Moion Capure Sysem using Muliple Kinecs Miyaake Jumpei 1 Ohubo Masakazu 1 Yoshida Kaori Graduae School of Life Science and Sysems Enginnering, Kyushu Insiue of echnology Absrac: Nowadays, user-friendly moion gesure sysem has been expeced according o humanoid robo spread. On he oher hand, moion sensing sysem like Kinec is easy o ge and enables o develop moion capure sysem. However, convenional moion capure sysem has he following weak poins, (i) poor accuracy excep fron direcion, (ii) unable o capure hidden par, and (iii) problem agains occlusion. In his paper, we propose he moion capure sysem using muliple Kinecs and show he experimenal resuls. 1 ICT [1] Pepper[2] [3] Microsof Kinec[4] Kinec [5] miyaake-jumpei@edu.brain.kyuech.ac.jp ( ) Kinec 2 Kinec Kinec 2.1 Kinec Kinec Zennaro [6] Kinec Kinec ver1(kinecv1) Kinec ver2 (KinecV2) KinecV1 Ligh Coding(LC) LC KinecV1 Buler [7] KinecV2 Time of Fligh (ToF)

2 KinecV2 2.2 Kinec Kinec [8] Kinec Kinec [9] KinecV1 3D [10] Kisikidis [11] Kinec Kinec Kinec 3 KinecV2 PC 1 KinecV2 Kinec PC Kinec KinecV2 PC KinecV2 USB3.0 PC UDP Kinec Microsof Kinec SDK Kinec Kinec Kinec 1: 4 Kinec Kinec Zhang [12] Kinec Kinec [13] Kinec N Kinec 1 Kinec K main = K 0 N Kinec K n = {K 0,, K N 1 } K n Kinec K 0 = A n K n (1) A n (2) A n = K 0 K 1 n (2) A n Kinec n Kinec S n = {j 1,.., j I } S n (2)

3 K main j i i j i = (x i, y i, z i ) X Y Z 3 i = 1,, I I Kinec 25 I = Kinec 30 fps Kinec Kinec Kinec Kinec f0 n Kinec fn fn = arg min( S f n S f 0 0 ) (3) f f n f 0 F max F max (3) 5 Kinec S = {j 1,.., j I } j i (4) j i N 1 = n=0 α n,i δ n,i j n,i (4) α n,i,δn,i δ n,i 5.1 αn,i Kinec SDK rue, false (Tracked) rue (Los) false δn,i rue 1,false 0 { 0 (Los) δn,i = (5) 1 (Tracked) δ n,i Tracked Los 5.2 Kinec j n,i δ n,i 1 1 X,Y,Z (6) 1 j n,i n Kinec n Kinec 1 i n Kinec 1 d n,i i, j 1 n,i d n,i = J n,i J 1 n,i (6) 1 d n,i dmax n,i = max(d n,i) (7) (7) α n,i (8) r n,i r n,i = exp(dmax n,i d n,i ) exp(dmax n,i ) (8) (8) rn,i 1 (9) N 1 n=0 α n,i = 1 αn,i α n,i = r n,i N 1 n =0 r n,i (9) (9) αn,i δn,i 0

4 αn,i δn,i = 0 α n,i = 0 0 N 1 n=0 α n,i = 1 αn,i αn,i = δ n,i N 1 n =0 α n,i δ n,i (10) N 1 n=0 α n,i = 1 αn,i α n,i δ n,i (11) 6 j i N 1 = n=0 α n,i j n,i (11) d m,n Kinec Kinec Kinec(K 0 K 1 ) 2 Kinec Kinec X,Y,Z Kinec(K 0 ) Kinec(K 1 ) 1 fps 33 msec. ±28 msec. Kinec 30 fps : 1 d n,i [m] j K 0 K : Kinec 1 2 K 0 K 1 K 0 K 0 K 1 K 0

5 6.2 2 Kinec(K 0 K 1 ) 2 {K 0 } {K 1 } {K 0 K 1 } 2 Kinec Tracked 1 los 1 rae {K 0 } {K 1 } 2: Tracked los rae {K 0 } % {K 1 } % {K 0 K 1 } % {K 0 K 1 } Kinec Kinec 2 Kinec 92.5% Kinec Kinec X Y Z 3 K 0 3: K 0 4 K 0 K 0 4: K 1 5 K 0 5: K 0 K 1 6 Kinec 6 Kinec

6 HRP-1S, CVIM, pp 31-39, [4] Kinec, hps://developer.microsof.com/ en-us/windows/kinec [5] J. Shoon, A. Fizgibbon, M. Cook, T. Sharp, M. Finocchio, R. Moore, A. Kipman, A. Blake, Real-ime human pose recogniion in pars from a single deph image, IEEE Conference on Compuer Vision and Paern Recogniion, : Kinec RGB 7 Kinec Kinec Kinec [1] 2 ICT, hp:// whie-paper/ja/h27/hml/nc hml [2] Pepper, hp:// [6] S. Zennaro, M. Munaro, S. Milani, P. Zanuigh, A. Bernardi, S. Ghidoni, E. Menegai PERFORMANCE EVALUATION OF THE 1ST AND 2ND GENERATION KINECT FOR MUL- TIMEDIA APPLICATIONS, Proceedings of he 2015 IEEE Inernaional Conference on Mulimedia and Expo, ICME 15, pp. 1-6, [7] D. A. Buler, S. Izadi, O. Hilliges, D. Molyneaux, S. Hodges, D. Kim., Shake n sense: reducing inerference for overlapping srucured ligh deph cameras, Proc. of CHI2012, pp , [8],, Kinec, Prooeedings of he 2011 JSME Cenference on Roboics and Mecharonics, No.11-5, 2P2-LO5, pp. 1-3, [9],, 3, 76, pp , [10],,, Kinec, 75, pp , [11] A. Kisikidis, K. Dimiropoulos,S.Douka, N.Grammalids, Dance Analysis using Muliple Kinec Sensor, VISAPP2014, [12] Z. Zhang, A flexible new echnique for camera calibraion, IEEE TPAMI, 22(11), pp , [13],,CG-ARTS, pp , [3],,,,,

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