Presented By Motion Capture Group:

Azadeh JamalianAta Naemi

Sa'ed Abu-Alhaija Sunghoon Ivan Lee

SensIT Technology

Overview

Introduction

System Overview

Hardware unit

Image Processing

Modeling and Animation

Results

Financing

Applications and Marketing

Future Missions

Question Period

Demonstration

Welcome to our Presentation!

Introduction

Study dance movements MedicineRobotic

Sports

Our Mission:

Study dance movements

System Overview

Image Processing

Unit

Image Processing

Unit

Animation

Unit

Real time

User friendly

Easy to customize for different applications

Compatible with other systems

Low cost

System Overview

Image Processing

Unit

Animation

Unit

Hardware Block Diagram

Microcontroller

PIC16LF84A

4Sel

4-16

Decoder

Turn on One LED

Turn on LED’s for 10 frames/sec

Timing issues

Components from local vendors and engineering department

Hardware Components

Microcontroller (PIC16LF84A)- Assembly Language- Watch Dog Timer (WDT)- Low power (1mA), Sleep mode (3.5μA)

Regulator (LM317)- Regulate 3.3V power supply off a 9V battery- Power off operation as well as staple WDT

Infrared LED’s (KIE-7305)- 1.6V, draw a current of 2mA- Each LED is on for 50 msec

Test Models

Angle Sensitivity Problem solving as project progressed Use high efficient IR LED’s

System Overview

Image Processing

Unit

Animation

Unit

Software Components

Low Level Design - Capture Control Unit (CCU) - Image Processing Unit (IPU)

Capture Control Unit (CCU)

Three main tasks

1. Adjusting Phase Difference

2. Capturing Image

3. Convert Raw Image into RGB

Image Processing Unit (IPU)

Calculate position of IR light source in the frame Placing film in front of the web camera

- Film absorbs all visible light

- Only IR lights penetrate the film

IPU- Challenges

Synchronization with Hardware

Distorted Images and Virtual Images

Synchronization

Frequency of IR sensors and frame rate can be identical

IR Freq.

FrameRate

t

t

Tb

Tb

Frequency of IR sensors and frame rate can be identical

IR Freq.

FrameRate

t

t

Tb

Tb

Tphase

Synchronization

Unexpected Images

Distorted Images & Virtual ImagesSolutions:

- Intensity (changing threshold value)

- Width & Height

System Overview

Image Processing

Unit

Animation

Unit

Start CCU IPU

External FileAUDisplay Monitor

Data Flow Diagram

Captured

Frames

Calculated Coordinates of the LED’s

X and Y values

Animated Model

Animation Unit (AU)

Software:

-C++ (OpenGL)

Main Tasks:

-Reads the coordinates from an external file

-Assign the coordinates of each joint and record them in a file

-Model 2D motion in real time

AU- Challenges

Synchronization with IPU- Timing- Start Point- Missing Points

Simulation and Modeling- Coordinate Systems- Matrix Transformation and Rotation

Simulation Algorithm- Cont.Start

Reads From the External File

Is it neck- length away from the neck joint?

Is it hand- length away from the right shoulder?

Is it hand- length away from the left shoulder?

Is it leg- length away from the upper right leg joint?

Is it leg- length away from the upper left leg joint?

Record the Head position

Record the Right Hand position

Record the Left Hand position

Record the Left Leg position

Record the Right Leg` position

Animate the Model Accordingly

Y

Y

Y

Y

Y

N

N

N

N

It’s not that easy to think smart!

AU- User Interface

Results

Frame Rate: 10 frames/sec

Max Motion Frequency: 2Hz

Max Distance from camera: 1m

Precision: 100% (Clear angle of sight)

Accuracy: ± 10%

Finance

Equipment Estimated Cost

Sensors/markers + interface-electronics $400

Sources + interface-electronics $400

Computer interface-electronics $100

User Interface $80

Cables $20

Total Cost $1000.00

Available Funding:

$400 from EUSS

Actual Cost:

Estimated Cost:

Equipment Estimated Cost

Sensors/markers + interface-electronics $60

Sources + interface-electronics $80

Computer interface-electronics 0

User Interface $60

Cables $10

Total Cost $200

Supplementary Application

SensIT Mouse:

Tracks the motion of finger

Marketing

Different applications:

- Art

- Robotic

- Medicine

- Sports

- Game Industry

Competitors:

- Electronic Arts Canada

- C4 Digital Entertainment

- PhoeniX Technologies Incorporated

Future Improvements

Known Limitations:

- Captures the motion only in 2D

- Line of sight

- Angle of sight

- Limited range of monitoring

- Interference from other IR sources

- Frequency limitation of object motion

Improvements:

- Capture the motion in 3D

- Multiple marking

- Enhance the speed

What We Learned

“If you’re not sure what makes the problem

Guess what causes it,

Make it worse,

Try to solve it,

If it didn’t work, try another source!”

Conclusion

Our system:

- Research based project

- Proof of concept to design a low cost

motion capture system

- Initial step to designing a 3D motion capture system

In future:

- Unifying music and dance

- Future research opportunities

- Future Coop positions

Acknowledgements

Special Thanks to:

Dr. Lucky One

Mr. Steve Whitmore

Dr. Pavaneh

Dr. Patrick Leung

Dr. Ivan Bajic

Dr. Payandeh

Mr. Vinay Kotamraju

Mr. Amir Masoud Niroumand

Mr. Brad Oldham

Thanks a ton!

Questions ?

Points to make here

Camera Recognizes the IR as a white light

True white color pixel in 24-bit RGB gives

[R,G,B] = [255,255,255]

Only Use one of R,G,B matrices

IPU- Cont.

IPU Algorithm

IPU Algorithm

IPU Algorithm

IPU Algorithm

Simulation Algorithm

- One LED blinks twice indicating the start point

- An array to hold the coordinates

Useful for applications that track the motion of a specific object

However, not smart enough to detect the position of various joints in real time