APPARATUS AND METHOD FOR ACQUIRING MAN MOVEMENT INFORMATION USING STEREO VISION SENSOR

摘要

An apparatus and a method for acquiring human motion information by using a stereo vision sensor are provided to acquire motion information of a human by using a stereo camera, thereby analyzing interaction between human and robot and motions such as gestures of human under ubiquitous environment. A stereo camera(100) collects and provides a stereo image and a depth map for each pixel of an image. A background separation processing module(200) separates a human, corresponding to a foreground, from a background based on the depth map. A mechanical model module(300) for a human provides a three dimensional plane association model for human and two dimensional complex Gaussian model. A self-block separation module(400) divides the stereo image and disparity information for human, separated in the background separation processing module, at predetermined intervals according to a model provided from the mechanical model module of human, and separates self-blocks by generating a two dimensional image through histogram analysis for the disparity information at the interval. A motion analyzing module(500) acquired three dimensional motion of the human by analyzing human motions by comparing the two dimensional image with the two dimensional complex Gaussian model and then by performing fitting with the three dimensional plane association model by adding distance information.