A High Performance Motion Capture System to Support Versatile Research Programs

支持多种研究项目的高性能动作捕捉系统

• 批准号: RTI-2020-00639
• 负责人: JanabiSharifi, Farrokh
• 金额: $ 3.82万
• 依托单位: Ryerson University
• 依托单位国家: 加拿大
• 项目类别: Research Tools and Instruments
• 财政年份: 2019
• 资助国家: 加拿大
• 起止时间: 2019-01-01 至 2020-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=690383
• 关键词: Performance; Motion; Capture; System; Support

Accurate tracking of objects and measurement of their 3D pose (position-orientation) in real-time have numerous applications in industry and academia, e.g., for instruments calibration, and motion analysis. Motion capture or mocap systems have been designed to fulfill such a need. Since their introduction, mocap systems have been effectively used in a variety of applications in military, entertainment, sports, medicine, engineering, and, particularly, research for verification of concepts and methods. Several reports have shown that mocap systems have had a major role in speeding up the development cycle of complex systems. For instance, in robotics, mocap systems are commonly used for accurate tracking and pose measurement of mobile robots to evaluate and verify pose estimation, SLAM (simultaneous localization and mapping), and control methods. Moreover, the data from mocap systems are often used as ground-truth representing ideal perception modules. Recent market report indicates that global 3D motion capture market will grow from USD 129.8 million in 2018 to USD 252.88 million by 2024 (PR Newswire, Sep 11, 2019). Among mocap systems, optical systems have become popular due to their advantages, e.g., over inertial systems (that introduce drift and have lower positional accuracy), mechanical systems (which need wearing expensive mechanical suits), and magnetic systems (that are susceptible to electromagnetic interference from metal objects in the environment). ******In this proposal, an optical mocap system, namely Vicon Vero is requested to meet the needs of versatile research programs. The equipment will be installed in a zone accessible to other researchers across the campus to maximize its use. The research programs of the applicants that will immediately benefit from the requested equipment include projects related to: (1) modeling and control of image-guided continuum robots, with the focus on cardiac interventions; (2) development of a visual learning system for robot programming by demonstration; (3) AI-based methods for object detection, control, and farm-field coverage path planning of an autonomous seeding robot; (4) modeling and control of aerial manipulation systems; (5) design of telerobotic platforms for robotic surgery; and (6) simultaneous localization and mapping techniques for robotic vehicles.******Besides the applicants and collaborators, their postdoctoral fellows, graduate and undergraduate students will be trained to operate state-of-the-art mocap system, and learn advanced measurement, data integration and analysis methods. These skills will be important to their studies and in high-demand by key Canadian industries such as entertainment, manufacturing, and healthcare. In addition to Ryerson University, this new equipment will expand research capacity of industrial partners, iBest (Institute for Biomedical Engineering, Science, and Technology) and partner hospitals. ********

对物体的准确跟踪和实时的3D姿势（位置定位）的测量在行业和学术界中有许多应用，例如，用于仪器校准和运动分析。运动捕获或MOCAP系统已设计为满足这种需求。自引入以来，MOCAP系统已被有效地用于军事，娱乐，体育，医学，工程，尤其是研究概念和方法的研究中。几份报告表明，MOCAP系统在加速复杂系统的开发周期中起着重要作用。例如，在机器人技术中，MOCAP系统通常用于对移动机器人的准确跟踪和姿势测量，以评估和验证姿势估计，SLAM（同时定位和映射）以及控制方法。此外，MOCAP系统的数据通常用作代表理想感知模块的基础真相。最近的市场报告表明，全球3D运动捕获市场将从2018年的1.298亿美元增长到2024年的2.5288亿美元（PR Newswire，2019年9月11日）。在MOCAP系统中，光学系统由于其优势而变得流行，例如惯性系统（引入漂移且具有较低的位置精度），机械系统（需要佩戴昂贵的机械西服）和磁系统（这些系统（对环境中金属物体中的电磁干扰易受））。 ******在此提案中，光学MOCAP系统，即Vicon Vero被要求满足多功能研究计划的需求。该设备将安装在整个校园的其他研究人员可以使用的区域中，以最大程度地利用其使用。将立即从请求的设备中受益的申请人的研究计划包括与以下设备相关的项目：（1）对图像引导的连续体机器人进行建模和控制，重点是心脏干预； （2）通过演示开发用于机器人编程的视觉学习系统； （3）基于AI的方法，用于对象检测，控制和农场覆盖路径计划的自动播种机器人的计划； （4）对空中操纵系统的建模和控制； （5）用于机器人手术的远程动物平台的设计； （6）机器人车辆的同时本地化和映射技术。******除了申请人和合作者之外，他们的博士后研究员，研究生和本科生还将接受培训，以运行最先进的MOCAP系统，并学习高级测量，数据集成和分析方法。这些技能对他们的研究以及娱乐，制造业和医疗保健等关键行业的高需求至关重要。除了瑞尔森大学外，这种新设备还将扩大工业伙伴，ibest（生物医学工程，科学和技术研究所）和合作伙伴医院的研究能力。 ********