基于光学运动捕捉的虚拟交互系统开发

工学硕士学位论文

基于光学运动捕捉的虚拟交互系统开发

OPTICAL CAPTURE BASED DEVELOPMENT OF

VIRTUAL INTERACTION SYSTEM

周晓阳

哈尔滨工业大学

2012年7月

国内图书分类号：TP391 学校代码：10213 国际图书分类号：621 密级：公开

工学硕士学位论文

基于光学运动捕捉的虚拟交互系统开发

硕士研究生： 周晓阳

导师： 李建广教授

申请学位： 工学硕士

学科、专业： 机械制造及其自动化

所在单位： 机电工程学院

答辩日期： 2012年7月

授予学位单位： 哈尔滨工业大学

Classified Index: TP391

U.D.C: 621

Dissertation for the Master Degree in Engineering

OPTICAL CAPTURE BASED DEVELOPMENT OF

VIRTUAL INTERACTION SYSTEM

Candidate:

Supervisor:

Academic Degree Appliedfor:

Specialty:

Affiliation:

Date of Defence:

Degree-conferring Institution: Zhou Xiaoyang Prof. Li Jianguang Master of Engineering Mechanical Manufacturing and Automation School of Mechatronics Engineering July, 2012 Harbin Institute of Technology

哈尔滨工业大学工学硕士学位论文

摘要

虚拟现实系统能够实现声音、影像以及触觉等多通道的信息传递，为实现高效、灵活的人机交互提供了可行途径。运动捕捉技术可以获取真实环境中物体的运动状态，从而为实现虚拟环境和真实环境之间的通信提供了技术保障。为此本文采用被动式光学运动捕捉系统，对虚拟现实系统中的人机交互技术进行了研究。

为了构建基于光学跟踪捕捉的虚拟交互系统，对虚拟交互系统的功能结构、性能要求以及其中关键技术进行了分析。在此基础上，对整个系统进行了框架结构的总体设计，确定了系统的硬件组成和软件结构，并且完成了软件层和相关类的设计。

建立了系统的交互环境，包括几何模型数据接口的开发，实现了商用CAD模型数据与虚拟交互系统的数据传递；对人体骨骼结构的分析，完成人体几何模型的构建；对人手的运动特点进行了分析，构建了人体上肢的层次结构模型，确定了手部模型的运动参数，完成了人体上肢运动模型的构建；对常用的碰撞检测算法的检测精度和检测效率进行了分析，确定了系统的碰撞检测方法，通过使用层次包围盒以及三角图元的检测，实现了符合系统实时性要求的碰撞检测。

根据人体的运动模型确定标记点的放置位置，进行了相机标定以及Vicon系统参数的调整，对人体手部的运动进行了实时的运动捕捉；分析了ViconReal-Time Energy的通信协议和数据结构，使用Vicon的SDK软件开发包进行了运动数据接口的开发，实现了Vicon系统与虚拟交互系统的数据通信；对人体几何模型进行运动控制，完成了人手运动到虚拟手模型运动的映像；分析了人手抓取物体的动作，对虚拟手的抓取规则进行了定义，实现了在虚拟现实环境中的物体的抓取。

最后完成了虚拟交互系统的开发和验证，使用Visual Studio 2008作为开发工具，结合Vicon光学运动捕捉系统和OpenGL图形库，进行了虚拟场景显示模块的开发；使用SQL Server 2005数据库进行了模型数据库的构建，实现了模型数据的管理；在虚拟交互系统中进行了抓取、移动和释放等操作，实现了指定的交互操作任务。

关键词： 虚拟现实；人机交互；光学运动捕捉；碰撞检测；实时性

哈尔滨工业大学工学硕士学位论文

Abstract

Virtual reality system, which can achieve multi-channel information transfer through sound, video, and tactual sensation, provides probability and methods for efficient flexible Human-Computer Interaction. Since Motion capture technology can obtain the object’s motion state in real environment, it provides technical guarantee for communication between virtual environments and real ones. For these reasons, the research onthe technology and realization of Human-Computer Interaction in virtual reality system by means of passive optical motion capture system is conducted in dissertation.

To establish the virtual interaction system based on optical motion capture, the functional structures and performance requirements, and key technology of virtual interaction system are discussed. On this basis, generalframework of the system is constructed, and constitutions and structures of the software and hardware modules areformulated. Additionally, the software layers are related classes are designed.

In this thesis,interactive environment of virtual interaction system is created, including analysis of human body structure and establishment of geometric model of human body. The development of data interface for geometric model makes data transfer possible between commercial CAD model and virtual interaction system. Meanwhile, it analyzes movement characteristics of human hands andbuilds hierarchical structure model for the movement of human hands. The motion parameter of hand model is also determined. Based on detection precision and efficiencyanalysisof collision detection algorithm, suitable collision detection methods for this research is selected, and real-time collision detection by means of bounding volume hierarchies is achieved.

According to human motion model, placing position of markers are identified. The calibration of cameras is conducted, and real-time motion capture is applied to movement of human hands. In addition, communication protocol and data structure of Vicon Real-Time Energy are analyzed, motion data interface is developed based on the Software Development Kit (SDK) of Vicon and data communication between Vicon and virtual interactive system is implemented. Moreover, motion control is applied to geometric model of human body as well as mapping image from human hand’s motion to virtual hand motion model is established. Furthermore, itstudieshuman hands grabbing motion and defines grabbing rulesof virtual hands for grabbing motion of objects in VR Environment.

Finally, development and test of virtual interaction system are accomplished. The development of environment is conducted by Visual Studio 2008, working as a

哈尔滨工业大学工学硕士学位论文

development tool, in combination with Vicon optical motion capture system and OpenGL (Open graphics library). The model database is set up through the employment of SQL Server 2005, which makes th …… 此处隐藏：4666字，全部文档内容请下载后查看。喜欢就下载吧 ……