Primena senzora tipa Kinect u snimanju trajektorija zglobova šake

Abstract

Rad prikazuje jedan pristup u merenju 3D pozicija karakterističnih zglobova ljudske šake korišćenjem senzora tipa Kinect, kao jeftine alternative skupim vizuelnim sistemima. Navedene su osnovne karakteristike ovog senzora i ukratko je opisan kalibracioni model i način integracije parametara kalibracije u proces izračunavanja 3D koordinata izabranih tačaka u prostoru. Analizirana je ostvarena tačnost u merenju 3D koordinata zglobova duž primera trajektorije hvatanja cilindra. Analiza je sprovedena posmatranjem devijacija izmerenih dužina pojedinih segmenata prstiju. Uočene su značajne razlike grešaka merenja u zavisnosti od pozicije zgloba na šaci.

This paper presents one approach for measurement of 3D positions of characteristic joints of human hand using a Kinect-type sensor as a low-cost alternative to expensive visual systems. Main properties of the sensor are indicated and a brief description of the calibration model and integration of calibration parameters in the process of calculating the 3D coordinates of selected points in space is given. Achieved accuracy in measurement of 3D coordinates of joints along sample cylinder grasping trajectory was analysed. The analysis was conducted by observing deviations in measured lengths of finger segments. Significant differences in measurement errors were found for different joints, depending on their position on the hand.