Continuous Marker Association utilizing Potential Function for Motion Capture Systems
Tomoya Kikuchi, Koushi Tsuno, Kenichiro Nonaka, Kazuma Sekiguchi · 2019
Optical motion capture system can measure the position and the orientation of an object equipped with retroreflective markers. When some markers are not observed due to occlusion, the system often fails to localize the object. In our past study, moving horizon estimation (MHE) is applied to improve the estimation robustness, where states are determined so that the sum of error magnitude of dynamics and observation is minimized under constraints. In general, marker association is crucial for high accuracy estimation. In this paper, we propose a marker association method for MHE where the proposed association method exploits a potential function and optimization so that the association is robust against marker occlusion and fake images similar to the marker. In the simulation, for the environment where the previous method fails due to missing markers and misrecognition, we confirm that the proposed method can successfully realize the estimation.