Trajectory Tracking of Joint Based on Kinect

Abstract

This work discusses a problem of trajectory tracking of joint based on Kinect carema. First, an improved recursive algorithm for Skeleton location tracing based on Kalman filtering algorithms in discrete data linear filtering is presented. Then a trajectory tracking system of joint is designed based on Kinect camera which is consisted of human-computer interaction subsystem which track the trajectory of the hand and dual-axis motion control subsystem which track the collected trajectory of the human-computer interaction subsystem. For the communication between the two subsystems, a reliable protocol and the reasonable software flow on human-computer interaction and dual-axis motion control subsystem are developed. Finally, an experiment is given to validate the algorithm and the system.