KR101663418B1

KR101663418B1 - Method for estimating data of foot joint, and recording medium thereof

Info

Publication number: KR101663418B1
Application number: KR1020150048562A
Authority: KR
Inventors: 류관희; 김인권
Original assignee: 충북대학교 산학협력단
Priority date: 2015-04-06
Filing date: 2015-04-06
Publication date: 2016-10-07

Abstract

The method of extracting foot joint data according to the present invention includes the steps of acquiring an image of an upper portion and a right portion of a foot using two depth cameras, creating a virtual bounding box using the acquired image, Extracting the foot joint data sequentially based on a line segment bisecting the bounding box vertically and a predetermined foot joint extraction standard from the lower end of the bounding box.
According to the present invention, by extracting the foot joint data using the depth camera, it is possible to easily extract the foot joint data and extract various foot joint data.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a method and apparatus for extracting foot joint data using a depth camera,

The present invention relates to a method of extracting foot joint data, and more particularly, to a method of extracting various foot joint data using a depth camera.

Human Computer Interaction (HCI) means three elements of person, computer, and interaction, but in recent years, meaning has expanded with the interaction of various information devices and people of group. In addition, the user experience (UX) is a concept established in human computer interaction, emphasizing the user's point of view by adding all the experiences and satisfaction of the user.

As such, UI and UX technologies continue to evolve, and the market continues to expand due to the emergence of smart devices. In addition, as the type of input is diversified, the technology direction of this field from the application of sound and motion has been diverging from computer peripherals.

Conventionally, a technique for extracting and modeling the hand joint using motion sensors has been disclosed, but there is no technology for extracting and modeling the foot joint

Korean Patent Publication No. 10-2001-0055393

SUMMARY OF THE INVENTION It is an object of the present invention to provide a method for accurately and variously extracting foot joint data using a depth camera.

The objects of the present invention are not limited to the above-mentioned objects, and other objects not mentioned can be clearly understood by those skilled in the art from the following description.

In order to achieve the above object, the method of extracting foot joint data according to the present invention includes the steps of acquiring images of an upper portion and a right portion of a foot using two depth cameras, generating a virtual bounding box using the acquired image And extracting foot joint data sequentially from a line segment bisecting the bounding box vertically and a bottom joint of the bounding box according to a predetermined extraction standard, when the foot end of the bounding box is referred to as an upper end .

In the step of extracting the foot joint data, the ratio of the distance from the ankle joint (TC) at the lower end of the bounding box to the talocalcaneonavicular joint (TCN) is set to 1.5, The foot joint data can be sequentially extracted according to the distance ratio between the joints.

In the step of extracting the foot joint data, the ratio of the distance from the ankle joint (TC) to the neck joint heel joint (TCN) at the lower end of the bounding box is set to 1.5, (CN1) to the first ankle joint (Tarsometatarsal Joint, TMT1) is 1, and the distance from the first wedge joint joint (CN1) to the first ankle joint A distance from the first ankle joint TMT1 to a first metatarsophalangeal joint MTP1 is 2.24 and a distance from the first toe joint MTP1 to an interphalangeal joint , f_IP1) of the toe joint can be sequentially extracted at a ratio of 1 to extract the toe joint data of the big toe.

Wherein a distance from the TCN to the second wedge joint joint CN2 is 0.6 and a distance from the second wrist joint CN2 to the second ankle joint TMT2 is 0.5 The distance from the second ankle joint TMT2 to the second toe joint MTP2 is a ratio of 3 and the distance between the second toe toe joint MTP2 to the second proximal toe joint joint Proximal And the distance from the second proximal toe intercostal joint (f_PIP2) to the second distal toe intercostal joint (f_DIP2) is 0.2, the distance from the second proximal toe intercostal joint (f_PIP2) to the second distal toe intercostal joint (f_PIP2) The foot joint data of the index toe can be extracted.

The distance from the TCN to the third wedge jointing joint CN3 is 0.6 and the distance from the third wedge joint CN3 to the third ankle joint TMT3 is 0.85 The distance from the third ankle joint TMT3 to the third toe joint MTP3 is 2.9 and the distance between the third toe joint MTP3 to the third proximal toe bone joint And the distance from the third proximal toe intercostal joint (f_PIP3) to the third distal toe intercostal joint (f_DIP3) is 0.15, and the distance from the distal toe The foot joint data can be extracted.

In the step of extracting the foot joint data, the distance from the ankle joint (TC) to the heel cube joint (CC) at the lower end of the bounding box is 0.85, and the distance from the heel cube joint (CC) The distance from the transverse ankle joint to the fourth ankle joint TMT4 is 1.2 and the distance from the fourth ankle joint TMT4 to the fourth ankle joint TMT4 is 0.85, The distance from the fourth toe toe joint (MTP4) to the fourth proximal toe bone joint (f_PIP4) is 0.75, the distance between the fourth proximal toe bone (MTP4) The joint joint data (f_PIP4) to the fourth distal toe bone joint (f_DIP4) can be extracted at a ratio of 0.2, sequentially, to the foot joint data of the weak toe.

The distance from the ankle joint TC to the heel cantilever joint CC at the lower end of the bounding box is 0.85 and the distance from the heel cube joint CC to the transverse joint ankle joint TT, And the distance from the transverse ankle joint to the fifth ankle joint TMT5 is 0.9, and the distance from the fifth ankle joint TMT5 to the fifth toe joint MTP5 The distance between the fifth proximal toe joint (MTP5) and the fifth proximal toe bone joint (f_PIP5) is 0.6, and the distance between the fifth proximal toe bone joint (f_PIP5) And the distance from the distal toe to the distal toe joint (f_DIP5) is 0.02, so that the foot joint data of the toes can be sequentially extracted.

According to the present invention, by extracting the foot joint data using the depth camera, it is possible to easily extract the foot joint data and extract various foot joint data. Therefore, in the present invention, it is possible to understand the foot structure more accurately and easily in medical education or the like using the foot model in the 3D virtual space.

In addition, in the present invention, an improved animation expression of the foot model can be expected in the 3D virtual space by expressing the joint point of the new foot, and the name of the joints can be named based on an anatomical basis, .

1 is a view showing a foot model according to an embodiment of the present invention.
FIG. 2 is a view showing a foot joint extraction standard in another foot model according to an embodiment of the present invention. FIG.
FIGS. 3 to 6 illustrate an extraction process of the foot joint using a depth camera according to an embodiment of the present invention.
FIG. 7 is a flowchart illustrating a method of extracting foot joint data using a depth camera according to an embodiment of the present invention.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. It should be understood, however, that the invention is not intended to be limited to the particular embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprises" or "having" and the like are used to specify that there is a feature, a number, a step, an operation, an element, a component or a combination thereof described in the specification, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and are to be interpreted in an ideal or overly formal sense unless expressly defined in the present application Do not.

In the following description of the present invention with reference to the accompanying drawings, the same components are denoted by the same reference numerals regardless of the reference numerals, and redundant explanations thereof will be omitted. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail.

In the present invention, the subject performing the method of extracting foot joint data using a depth camera may be a system for extracting foot joint data, or may be a control unit or a processor for controlling a system or an apparatus for extracting foot joint data ). That is, the method of extracting the foot joint data using the depth camera of the present invention is composed of an algorithm which is a kind of software, and the software can be executed in a controller of a foot joint extraction system, a controller of a foot joint data extraction device, or a processor.

First, the generic definition of foot joints and abbreviations are as follows.

The terms of the foot joint used in the present invention include Talocalural Joint (TC), Talocalcaneonavicular Joint (TCN), Cuneonavicular Joint (CN), Calcaneus cuboid (CC) The transverse tarsal joint (TT), the tarsometatarsal joint (TMT), the metatarsophalangeal joint (MTP), the proximal interphalangeal joint (f_PIP), the distal toe bone joint Distal Interphalangeal Joint, f_DIP) and Interphalangeal Joint (f_IP).

1 is a view showing a foot model according to an embodiment of the present invention. Fig. 1 is a diagram modeling the foot joint from the tibia.

FIGS. 3 to 6 illustrate an extraction process of the foot joint using a depth camera according to an embodiment of the present invention.

FIG. 7 is a flowchart illustrating a method of extracting foot joint data using a depth camera according to an embodiment of the present invention.

Referring to FIGS. 3 and 7, images of an upper portion and a right portion of the foot are acquired using two depth cameras (S710).

Then, the virtual bounding box 110 is created using the acquired image (S720).

4, 5, and 7, when the end portion of the foot of the bounding box 110 is referred to as an upper end, a line segment bisecting the bounding box 110 vertically and a line segment extending vertically from the bottom of the bounding box 110 The foot joint data is sequentially extracted in accordance with the predetermined foot joint extraction standard (S730).

Referring to FIG. 3, in the present invention, the bounding box 110 is a virtual space for extracting foot joint data. The foot box 110 is used to photograph a foot for extracting joint data using two depth cameras, The width is the width of the bounding box 110, the length of the foot is the length of the bounding box 110, and the height of the foot to the ankle joint is the height of the bounding box 110.

FIG. 6 is a view illustrating foot joint points extracted through the extraction process of foot joint data of FIGS. 3 to 5. FIG.

FIG. 2 is a view showing a foot joint extraction standard in another foot model according to an embodiment of the present invention. FIG.

Referring to FIG. 2, in step S730, the ratio of the distance from the ankle joint (TC) to the talocalcaneonavicular joint (TCN) at the lower end of the bounding box 110 is set to 1.5, The foot joint data is sequentially extracted according to the determined ratio of the distance between the joints.

In the case of a big toe, the ratio of the distance from the ankle joint (TC) at the lower end of the bounding box 110 to the thorny heel joint joint (TCN) is set to 1.5. The distance from the TCN to the cuneonavicular joint (CN1) was 0.65, and the distance from the first wedge joint (CN1) to the first joint of the first ankle (Tarsometatarsal Joint And TMT1 is 1 and the distance from the first ankle joint TMT1 to the first toe joint Metatarsophalangeal joint MTP1 is 2.24 and the distance from the first toe joint MTP1 Extract the joint data of the big toe sequentially at a ratio of 1 to the distance between the first toe joint (Interphalangeal Joint, f_IP1).

In the case of the index toe, the distance from the TCN to the second wedge joint (CN2) is 0.6, the distance from the second wrist joint CN2 to the second ankle joint TMT2, And the distance from the second ankle joint (TMT2) to the second toe toe joint (MTP2) is 3, and the distance from the second toe toe joint (MTP2) to the second proximal toe bone The distance to the joint (Proximal Interphalangeal Joint, f_PIP2) was 0.85 and the distance from the second proximal toe intercostal joint (f_PIP2) to the second distal toe joint (f_DIP2) was 0.2 , The foot joint data of the index toe are sequentially extracted.

The distance from the TCN to the third wedge joint (CN3) is 0.6, the distance from the third wrist joint CN3 to the third ankle joint TMT3, The distance from the third ankle joint (TMT3) to the third ankle joint (MTP3) is 2.9, and the distance from the third toe toe joint (MTP3) to the third proximal toe bone The distance from the third proximal toe intercostal joint (f_PIP3) to the third distal toe intercostal joint (f_PIP3) was 0.75, and the distance from the third proximal toe intercostal joint (f_PIP3) to the third distal toe intercostal joint The foot joint data of the toe is extracted.

In the case of the weak toe, the distance from the ankle joint (TC) at the lower end of the bounding box 110 to the heel cuspid joint (Calcaneus cuboid) is 0.85, and the heel cusp joint (CC) (TMT4) to the fourth ankle joint (TMT4) to the fourth ankle joint (TMT4), while the distance from the ankle joint to the fourth ankle joint (TMT4) ) Was 2.6, and the distance from the fourth toe toe joint (MTP4) to the fourth proximal toe bone joint (f_PIP4) was 0.75, and the distance from the fourth proximal toe bone joint (f_PIP4) The foot joint data of the toes are sequentially extracted at a ratio of 0.2 to the distance between the four distal toe bones (f_DIP4).

The distance from the ankle joint (CC) to the heel cube joint (CC) at the lower end of the bounding box 110 is 0.85 and the distance from the heel cube joint (CC) to the transverse ankle joint (TT) 0.85, the distance from the transverse ankle joint to the fifth ankle joint (TMT5) is 0.9, the distance from the fifth ankle joint (TMT5) to the fifth toe joint (MTP5) is 2.5 And the distance from the fifth foot toe joint (MTP5) to the fifth proximal toe bone joint (f_PIP5) is 0.6, and the distance from the fifth proximal toe bone joint (f_PIP5) to the fifth distal toe bone joint (f_DIP5 ) Is 0.02, and sequentially extracts the foot joint data of the corresponding toe.

Meanwhile, the extraction method of foot joint data using the depth camera according to the embodiment of the present invention can be implemented as a computer-readable code on a computer-readable recording medium. A computer-readable recording medium includes all kinds of recording apparatuses in which data that can be read by a computer system is stored.

For example, the computer-readable recording medium may be a ROM, a RAM, a CD-ROM, a magnetic tape, a hard disk, a floppy disk, a removable storage device, a nonvolatile memory, , Optical data storage devices, and the like, as well as carrier waves (for example, transmission over the Internet).

In addition, the computer readable recording medium may be distributed and executed in a computer system connected to a computer communication network, and may be stored and executed as a code readable in a distributed manner.

While the present invention has been described with reference to several preferred embodiments, these embodiments are illustrative and not restrictive. It will be understood by those skilled in the art that various changes and modifications may be made therein without departing from the spirit of the invention and the scope of the appended claims.

110 bounding box

Claims

Obtaining images of an upper portion and a right portion of the foot using two depth cameras;
Creating a virtual bounding box using the acquired image; And
And extracting the foot joint data sequentially from a line segment bisecting the bounding box vertically and a bottom joint of the bounding box according to a predetermined foot joint extraction standard when the foot end of the bounding box is referred to as an upper end,
The right part of the foot is the right part of the bisecting line segment,
In the step of extracting the foot joint data, the ratio of the distance from the ankle joint (TC) at the lower end of the bounding box to the talocalcaneonavicular joint (TCN) is set to 1.5, And extracting foot joint data sequentially according to a distance ratio between the joints.

delete

The method according to claim 1,
In the step of extracting the foot joint data,
The ratio of the distance from the ankle joint (TC) to the thorny heel pulling joint (TCN) at the lower end of the bounding box is set to 1.5,
The distance from the TCN to the cuneonavicular joint (CN1) is 0.65, and the distance from the first wedge-pulling joint (CN1) to the first joint of the first ankle joint (Tarsometatarsal Joint And TMT1 is 1 and the distance from the first ankle joint TMT1 to the first toe joint Metatarsophalangeal joint MTP1 is 2.24 and the distance between the first ankle joint MTP1 ) To the first toe-tootain joint (Interphalangeal Joint, f_IP1) is 1, and the toe joint data of the big toe are sequentially extracted.

The method of claim 3,
Wherein a distance from the TCN to the second wedge joint joint CN2 is 0.6 and a distance from the second wrist joint CN2 to the second ankle joint TMT2 is 0.5 The distance from the second ankle joint TMT2 to the second toe joint MTP2 is a ratio of 3 and the distance between the second toe toe joint MTP2 to the second proximal toe joint joint Proximal And the distance from the second proximal toe intercostal joint (f_PIP2) to the second distal toe intercostal joint (f_DIP2) is 0.2, the distance from the second proximal toe intercostal joint (f_PIP2) to the second distal toe intercostal joint (f_PIP2) And extracting the foot joint data of the index toe.

The method of claim 4,
The distance from the TCN to the third wedge jointing joint CN3 is 0.6 and the distance from the third wedge joint CN3 to the third ankle joint TMT3 is 0.85 The distance from the third ankle joint TMT3 to the third toe joint MTP3 is 2.9 and the distance between the third toe joint MTP3 to the third proximal toe bone joint And the distance from the third proximal toe intercostal joint (f_PIP3) to the third distal toe intercostal joint (f_DIP3) is 0.15, and the distance from the distal toe And extracting the foot joint data.

The method of claim 5,
In the step of extracting the foot joint data,
The distance from the ankle joint TC to the heel cuspid joint CC at the lower end of the bounding box is 0.85 and the distance from the heel cusp joint CC to the transverse tarsal joint TT 0.85, the distance from the transverse ankle joint to the fourth ankle joint TMT4 is 1.2, and the distance from the fourth ankle joint TMT4 to the fourth toe joint MTP4 is 2.6 The distance from the fourth toe toe joint (MTP4) to the fourth proximal toe bone joint (f_PIP4) is a ratio of 0.75, the fourth proximal toe intercostal joint (f_PIP4) to the fourth distal toe bone And the foot joint data of the weak toe is sequentially extracted at a ratio of 0.2 to the inter-joint (f_DIP4).

The method of claim 6,
In the step of extracting the foot joint data,
Wherein the distance from the ankle joint TC to the heel cube joint CC at the lower end of the bounding box is 0.85 and the distance from the heel cube joint CC to the transverse ankle joint TT is 0.85, The distance from the transverse athroble joint to the fifth ankle joint TMT5 is 0.9, the distance from the fifth ankle joint TMT5 to the fifth toe joint MTP5 is 2.5, The distance from the fifth foot toe joint (MTP5) to the fifth proximal toe bone joint (f_PIP5) is 0.6 and the distance from the fifth proximal toe bone joint (f_PIP5) to the fifth distal toe bone joint (f_DIP5) Wherein the step of extracting the foot joint data includes extracting the foot joint data of the toes in order at a ratio of 0.02.

A computer-readable recording medium having recorded thereon a program which can be executed by a computer according to any one of claims 1 to 7.