摘 要

　　本論文主要建立一套光電三維人體運動追蹤器的自動化校正方法，包含鏡頭扭曲校正及三度空間計算用之參數最佳化。採用三組線性CCD感光模組和柱狀透鏡來接收人體上貼的紅外線標誌點所發出的光源。實驗中使用步進馬達來帶動校正機台進行校正，並以光學尺回報回授控制位置，進而達到精準的控制。除此之外，我們也設計旋轉系統來追蹤標誌點，並以擷取到的位置來控制旋轉台。本系統以USB 2.0作為與PC溝通的介面。中央控制器則是以CPLD及FIFO記憶體做為核心，管理控制訊號及資料流動。本人體運動追蹤器系統是一多功能及低成本之三維量測系統。

ABSTRACT

　This thesis proposed automatic calibration processes including lens distortion correction and 3D positioning parameters optimization calibration of a self-made 3D optoelectronic tracking system. The system consists of three line CCD sensor sets to sense the light of the IrLED markers attached on the object. The instrumentations are designed for the automatic calibrations. To achieve a higher precision, stepping motors and linear scales are used to drive linear stages in a feedback control algorithm. Besides the calibration process, a rotator system is built to track the motion of a human body. This system is controlled automatically with the captured data from the sensor system. USB 2.0 is used as the communication interface between PC and the systems. A CPLD chip cooperates with a FIFO memory chip on the central control unit (CCU) is used to control the signal and data transfer flow. This system is named as the Human Motion Tracker System, which is a versatile and low cost 3D capturing system.

REFERENCES

[1] Northern Digital Inc., “Optotrak Certus”, www.ndigital.com, 2005.
[2] Boulder Innovation Group Inc.,“FlashPoint”, www.boulderinnovators.com, 2005.
[3] Phoenix Technologies Inc., “Visualeyez”, www.ptiphoenix.com, 2005.
[4] Krypton, “K400 CMM”, www.krypton-intl.com, 2005.
[5] Cybernet Systems Corporation, “Firefly”, www.cybernet.com, 2005.
[6] 蔡明俊，黃宏龍，林長慶，陳治評，“三度空間人體掃描機”，中華民國專利。申請案號：091211434，專利核准審定書字號（92）智專二（三）05577字第09220483850號，2003.
[7] Kurihara K., Hoshino S., Yamane K., and Nakamura Y., “Optical Motion Capture system with Pan-Tilt Camera Tracking and Realtime Data Processing,” IEEE Proceedings of the International Conference on Robotics and Automation, Washington D.C., pp.1241-1248, 2002.
[8] Murray D., and Basu A., “Motion Tracking with an Active Camera,” IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol.16, No.5, pp.449-459, 1994.
[9] Shinn D.I. and Huh. S.J., “Sychronized Position Detection Using Two CCD Cameras with One Frame Grabber for the 3D Navigator,” The 4th Korea-Russia Proceedings on International Symposium on Science and Technology, KORUS, Vol: 1, pp. 233-236, 2000.
[10] Shibata M., and Honma T., “3D Object Tracking on Active Stereo Vision Robot,” IEEE 7th International Workshop on Advanced Motion Control, pp.567-572, 2002.
[11] Yu H., Wang Y., Wan Q., and Kuang F., “The Design and Development of Active Stereovision System for Mobile Robot Navigation,” IEEE Proceedings of the 5th World Congress on Intelligent Control and Automation, Hangzou, P.R.C., pp. 3734-3737, 2004.
[12] Colbert M.A., Nayfeh T.H., Nayfeh A.H., and McKeeman J.C., “An Optical System For Three-Dimensional Motion Measurement,” IEEE Proceedings of Southeastcon, New Orleans, LA, pp. 873-876, 1990.
[13] Steinwender G., “The 3-D Motion Measurement System Used in the Austrian-Soviet Space Flight,” IEEE Proceeding 14th IEEE-EMBS Paris, pp. 41-42, 1992.
[14] Hayashi T., Kurokawa M., Miyakawa M., Saitoh A., Ishioka K., Kanaki A., and Aizawa T., “A System for Measuring Jaw Movements in 6 Degrees of Freedom Using High Resolution Linear CCD Camera,” IEEE Proceedings of the Annual International Conference Volume 3 - Engineering in Medicine and Biology Society, Vol:14, pp. 1094-1095, 1992.
[15] Schulz W.A., “Method and Apparatus for Three-Dimensional Non-Contact Shape Sensing,” US Patent, No. 5198877, March 30, 1993.
[16] Schulz W.A., “Apparatus for Determining the Position and Orientation of an Invasive Portion of a Probe Inside a Three-dimensional Body,” US Patent, No. 5622170, April 22, 1997.
[17] Schulz W.A., “Determination of the Position and Orientation of at Least One Object in Space,” US Patent, No. 6442416, August 27, 2002.
[18] Stefansic J.D., Bass W.A., Hartmann S.L., Beasley R.A., Sinha T.K., Cash D.M., Herline A.J., and Galloway Jr. R.L., “Design and implementation of a PC-based image-guided surgical system,” Elsevier: Computer Methods and Programs in Biomedicine, Vol.69, pp.211-224, 2002.
[19] Bai S., and Teo M.Y., “A Robotic Neuro-Surgery System and Its Calibration by Using a Motion Tracking System,” IEEE Proceedings of the International Worshop on Robot and Human Interactive Communication Berlin, Germany, pp.436-441, 2002.
[20] Kim A., and Golnaraghi M.F., “Initial Calibration of an Inertial Measurement Unit Using an Optical Position Tracking System,” IEEE Position Location and Navigation Symposium, pp.96-101, 2004.
[21] Fazel-Rezai R., Shwedyk E., and Onyshko S., “Three Dimensional Kinematic model of the Upper Limb with Ten Degrees of Freedom,” IEEE Proceedings of the19th Annual International Conference Volume 4 - Engineering in Medicine and Biology Society, Chicago IL USA, Vol:4, pp.1735-1737, 1997.
[22] Steinwender G., Zwick B., Saraph V., Stolz M., Kecskemethy A., and Storbach D., “Improvements in Measure-Based Simulation of the Human Lower Extremity,” IASTED Conference on Biomechanics, Rhodes, pp. 155-160, 2003.
[23] Halvorsen K., Lesser M., and Lundberg A., “A new method for estimating the axis of rotation and the center of rotation,” Elsevier: Journal of Biomechanics, Vol.32, pp.1221-1227, 1999.
[24] Tolani D., Goswami A., and Badler N.I., “Real-time inverse kinematics technique for anthropomorphic limbs,” Graphical Models, Vol.62, pp. 353-388, 2000.
[25] Aggarwal J.K. and Cai Q., “Human Motion Analysis: A Review,” IEEE Proceedings of Nonrigid and Articulated Motion Workshop, pp. 90-102, 1997.
[26] Herda L., Fua P., Plänkers R., Boulic R., and Thalmann D., “Skeleton-Based Motion Capture for Robust Reconstruction of Human Motion,” IEEE Proceedings of Computer Animation, pp.77-83, 2000.
[27] Gleicher M., “Animation From Observation: Motion Capture and Motion Editing,” Special Issue on Applications of Computer Vision to Computer Graphics, Computer Graphics, Vol.33, Issue: 4, pp. 51-54, 1999.
[28] Frantz D.D., Kirsch S.R., and Wiles A.D., “Specifying 3D Tracking System Accuracy, One Manufacturer’s View,” Northern Digital Inc., 2004.
[29] Schmerber S., and Chassat F., “Accuracy Evaluation of a CAS System: Laboratory Protocol and Results with 6D Localizers, and Clinical Experiences in Otorhinolaryngology,” Computer Aided Surgery Vol.6 pp.1-13, 2001.
[30] 林東穎，“使用數位訊號處理器與光感測器進行三維位置量測”，國立成功大學機械工程研究所論文，台南市，2004.
[31] 謝嘉全，“光學式運動追蹤器之研發”，國立成功大學機械工程研究所碩士論文，台南市，2004。
[32] 林長慶，“人體掃瞄機之研發與其點資料處理之研究”，國立成功大學機械工程研究所碩士論文，台南市，2003。
[33] 陳治評，“自動化人體計測與電腦人模之建立”，國立成功大學機械工程研究所論文，台南市，2003。
[34] 鄭秋隆，“自動化手部特徵萃取與手部模型之建立”，國立成功大學機械工程研究所論文，台南市，2005。
[35] Texas Instruments Technical Staff, “TMS320F2810, TMS320F2811, TMS320F2812, TMS320C2810, TMS320C2811, TMS320C2812 Digital Signal Processors Data Manual”, Texas Instruments, 2003.
[36] Averlogic Technologies Inc., “AL440B data sheet,” 2003.
[37] Cypress Semiconductor, “EZ-USB Technical Reference Manual,” 2002.
[38] Cypress Semiconductor, “GPIF Primer,” 2003.
[39] Toshiba Semiconductor, “TB62706BN-TB62706BF data sheet,” 2002.
[40] Hamamatsu Corporation, “Infrared LED L1939 series,” 2001.
[41] Sony Semiconductor, “ILX554B data sheet,” 2002.
[42] 尤春風，陳宗伯，陳柏瑞，林益楓，趙甦農，林威延，“CATIA V5 使用手冊--機械設計篇”，知城數位科技，台北市，2002。
[43] Carmar Technologies, “LE Type Linear Scale data sheet,” 2004.
[44] Sanyo Denki Inc., “2 Phase Stepper Motor Catalog”, 2002.
[45] Allegro Microsystems, Inc., “A3977 data sheet,” 2004.
[46] Rao, S. S., “Engineering Optimization,” A Wiley-Interscience Publication, 1996.
[47] Sanyo Denki Inc., “PY Traditional Servo System Catalog”, 2004.
[48] 張義和，“Protel DXP電腦輔助設計全記錄”，全華，台北市，2003。
[49] 許永和，“8051微處理機程式設計--USB介面之完成解決方案系列一”，長高科技圖書，台中市，2003。
[50] Don Anderson 原著，陳振榮編譯，“USB 系統架構”，碁峰資訊，台北市，1998。
[51] Cypress Semiconductor, “Cypress CyAPI Programmer’s Reference,” 2003.
[52] 楊明豐，“8051單晶片C語言設計實務--使用Keil C”，碁峰資訊，台北市，2003。
[53] 唐佩忠，“VHDL與數位邏輯設計”，高立圖書，台北縣，2002。
[54] 古頤榛，“數位邏輯”，碁峰資訊，台北市， 2001。