Abstract

A Comparison of Dual-Kinect and Vicon Tracking of Human Motion for Use in Robotic Motion Programming

Highlights

  • Motion capture systems can acquire human body motion for use in programming robotic applications that mimic human motion

  • This study aims to assess the potential of employing a camera system to study upper-body joint motions by comparing the joint tracking abilities of a dual-Kinect system and a Vicon 3D Motion Capture system

  • The Microsoft Kinect V2 is a non-invasive, low-cost camera primarily used in the video game industry which can be used for human-body motion analysis

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Summary

Research Article

A Comparison of Dual-Kinect and Vicon Tracking of Human Motion for Use in Robotic Motion Programming. This study evaluates the joint-tracking abilities of a dual-Kinect system and compares it to a Vicon 3D Motion Capture system. This study aims to assess the potential of employing a camera system to study upper-body joint motions by comparing the joint tracking abilities of a dual-Kinect system and a Vicon 3D Motion Capture system Such motion data can be used to train a robot with data collected from humans performing representative motions. This paper describes a method of improved markerless tracking of human upper-body motions using a dual-Kinect system It establishes the accuracy of Kinect tracking by comparing tracked marker trajectories with end effector trajectories of a robot arm. Experiments evaluate the dual-Kinect’s joint tracking abilities for human upper-body motions by closely studying the wrist trajectories [12]. Maximum absolute errors in the tracked position were smaller than 27mm for all trials

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