Comparison of Human Skeleton Trackers Paired With a Novel Skeleton Fusion Algorithm

Jared T. Flowers, G. Wiens
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引用次数: 1

Abstract

The onset of Industry 4.0 brings a greater demand for Human-Robot Collaboration (HRC) in manufacturing. This has led to a critical need for bridging the sensing and AI with the mechanical-n-physical necessities to successfully augment the robot’s awareness and intelligence. In a HRC work cell, options for sensors to detect human joint locations vary greatly in complexity, usability, and cost. In this paper, the use of depth cameras is explored, since they are a relatively low-cost option that does not require users to wear extra sensing hardware. Herein, the Google Media Pipe (BlazePose) and OpenPose skeleton tracking software packages are used to estimate the pixel coordinates of each human joint in images from depth cameras. The depth at each pixel is then used with the joint pixel coordinates to generate the 3D joint locations of the skeleton. In comparing these skeleton trackers, this paper also presents a novel method of combining the skeleton that the trackers generate from each camera’s data utilizing a quaternion/link-length representation of the skeleton. Results show that the overall mean and standard deviation in position error between the fused skeleton and target locations was lower compared to the skeletons resulting directly from each camera’s data.
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与一种新的骨骼融合算法配对的人体骨骼跟踪器的比较
工业4.0的到来为制造业带来了对人机协作(HRC)的更大需求。这导致迫切需要将传感和人工智能与机械和物理必需品连接起来,以成功增强机器人的意识和智能。在HRC工作单元中,用于检测人体关节位置的传感器的选择在复杂性、可用性和成本方面差异很大。在本文中,深度相机的使用进行了探索,因为它们是一种相对低成本的选择,不需要用户佩戴额外的传感硬件。本文使用Google Media Pipe (BlazePose)和OpenPose骨骼跟踪软件包来估计深度相机图像中每个人体关节的像素坐标。然后将每个像素处的深度与关节像素坐标一起使用,以生成骨骼的3D关节位置。在比较这些骨骼跟踪器时,本文还提出了一种新的方法,利用骨骼的四元数/链接长度表示,将跟踪器从每个相机的数据生成的骨骼结合起来。结果表明,融合骨架与目标位置之间的总体位置误差均值和标准差比直接由每个相机数据产生的骨架要低。
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