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題名 穿戴六軸感測裝置之展演者的即時步伐方向追蹤定位
Real Time Performer Positioning with Step and Direction Tracking using Wearable IMU Devices
作者 曾珧彰
Tseng, Yao-Chang
貢獻者 蔡子傑
Tsai, Tzu-Chieh
曾珧彰
Tseng, Yao-Chang
關鍵詞 虛擬實境
穿戴式裝置
互動科技
互動展演
定位技術
慣性感測單元
即時追蹤
VR
Wearable Device
Interactive technology
Interactive performing
Positioning Technique
IMU
Real-time tracking
日期 2019
上傳時間 5-Sep-2019 16:14:26 (UTC+8)
摘要 近年來，利用穿戴式裝置結合虛擬實境或互動科技，來進行即興創作表演，是種新型態的數位藝術展演方式。之前的研究成果已有整合的平台，可以將表演展的姿態利用穿戴式裝置擷取，呈現在表演的虛擬物件，進行互動展演。但還欠缺表演展的位置的即時追蹤，才能更完整地讓展演順暢自然。
之前相關的定位技術研究，大多只探討誤差範圍，無法即時準確地追蹤，在表演的應用上無法直接運用。本研究希望是利用穿戴式裝置上的IMU六軸感測器資料，就能達成此目標。我們參考過往方法，經過不斷實驗驗證，提出以步伐和方向的判斷演算法，整合出解決表演中即時追蹤的問題。實驗結果確認了我們的方法可以有很好的成效，希望這一套平台，可以讓固有的展演型態創造新的樣態，展現台灣軟硬結合的文化創意實力。
Recently, improvisational performance using wearable devices combined with virtual reality (VR) or interactive technology has become a new type of digital art performing. Our previous research results have developed a platform that can “capture” the body gesture using wearable devices to render appearance of virtual objects for art performance. However, it still need the real-time position tracking of the performer to make the performance smoothly and naturally.
Previous related works regarding the positioning techniques mostly focused on the error distances. They cannot be directly adopted in the practical performing art due to unsatisfactory real-time position tracking. The goal of the research is to achieve acceptable tracking performance using only IMU wearable sensors. We inspired from many methods by lots of experiments, a real-time positioning with “foot-step” and “direction-judge” tracking algorithm is proposed to solve this problem. The experiment results are satisfactory with very good feasibility. We hope the platform can enrich the performing patterns in digital arts, and empower the cultural innovation and integration capability of software and hardware industry in Taiwan.
參考文獻 [1] Wiki, "IOT技術," Wiki, [Online]. Available:https://zh.wikipedia.org/wiki/%E7%89%A9%E8%81%94%E7%BD%91.
[2] Chun-Han Lin ,Lyu-Han Chen Chun-Han Lin , Lyu-Han Chen , Cheng-Fu Chou , Jose Luis Garcia Gomez, "An Indoor Positioning Algorithm Based on Fingerprint and Mobility Prediction in RSS Fluctuation-Prone WLANs," IEEE, 2019.
[3] "全球定位系統," wiki, [Online]. Available: https://zh.wikipedia.org/wiki/%E5%85%A8%E7%90%83%E5%AE%9A%E4%BD%8D%E7%B3%BB%E7%BB%9F.
[4] "Wi-Fi," wiki, [Online]. Available: https://zh.wikipedia.org/wiki/Wi-Fi.
[5] "智慧博物館," [Online]. Available:http://moeimo2016.blogspot.com/2017/07/blog-post_40.html.
[6] "RSSI," wiki, [Online]. Available: https://en.wikipedia.org/wiki/Received_signal_strength_indication.
[7] Chen-Yi Lee , Tzu-Chieh Tsai ,, ""A Real-time Interactive Wearable Platform for Skeleton Detection of Multi-Regional Users and Immersive Experiences."," NCCU CS, 10 2016.
[8] "Mqtt," wiki, [Online]. Available: https://zh.wikipedia.org/wiki/MQTT.
[9] "TCP/IP," [Online]. Available: https://zh.wikipedia.org/wiki/TCP/IP%E5%8D%8F%E8%AE%AE%E6%97%8F.
[10] "慣性導航系統," wiki, [Online]. Available: https://zh.wikipedia.org/wiki/%E6%83%AF%E6%80%A7%E5%AF%BC%E8%88%AA%E7%B3%BB%E7%BB%9F.
[11] Lyu-Han Chen ; Gen-Huey Chen ; Ming-Hui Jin ; Eric Hsiao-Kuang , "A Novel RSS-Based Indoor Positioning Algorithm Using Mobility Predictionv," IEEE, 2010.
[12] S. e. a. Bertuletti, ""Indoor distance estimated from Bluetooth Low Energy signal strength: comparison of regression models."," 2016 IEEE Sensors Applications Symposium (SAS)., 2016.
[13] Xingli Gan ,BaoGuo Yu , Yaning Li, "Deep Learning for Weights Training and Indoor Position Using Multi-sensor Fingerpint," IPIN-2017, 2017.
[14] Md. Shareef Ifthekhar , Nirzhar Saha , Yeong Min Jang, "Neural network based indoor positioning technique in optical camera communication system," IEEE, 2014.
[15] chadeltu, "RSSI 距離," CSDN, [Online]. Available: https://blog.csdn.net/chadeltu/article/details/44059431.
[16] "快速傅立葉變換," wiki, [Online]. Available: https://zh.wikipedia.org/zh-tw/%E5%BF%AB%E9%80%9F%E5%82%85%E9%87%8C%E5%8F%B6%E5%8F%98%E6%8D%A2.
[17] "移動平均法," MBA智庫百科, [Online]. Available: https://wiki.mbalib.com/zh-tw/%E7%A7%BB%E5%8A%A8%E5%B9%B3%E5%9D%87%E6%B3%95.
[18] "互補濾波器," Rapot, [Online]. Available: http://rapot2014.blogspot.com/2014/08/inverted-pendulum3.html.
[19] David M. Bourg , Bryan Bywalec, Physics for Game Developers , Second Edition, gotop, 2015.
[20] Yu-Chuan Tsai,Tzu-Chieh Tsai, "Real-time Relative Directional Positioning Using Wearable Devices)," 11 2016.
[21] N. Zhao, ""Full-futured Pedometer Design Realized with 3-Axis Digital Accelerometer."," Analog Dialogue, 6 2010.
[22] Sang Kyeong Park and Young Soo Suh ., ""A Zero Velocity Detection Algorithm Using Inertial Sensors for Pedestrian Navigation Systems."," Sensors 2010, 10, 9163-9178, 2010.
[23] 于飞,白红美, 高伟,赵博,叶攀., ""步幅和建筑方向辅助的行人导航算法."," Journal of Harbin Engineering University , 3 2016.
[24] Greg Welch , Gary Bishop ,, ""An Introduction to the Kalman Filter."," "University of North Carolina at Chapel Hill.", 24 7 2006.
[25] "Rapot Arduino," 2014. [Online]. Available: http://rapot2014.blogspot.com/2014/08/inverted-pendulum3.html.
[26] G. A. Developer, "https://developer.android.com/reference/android/hardware/SensorEvent.html#values," [Online]. Available: https://developer.android.com/reference/android/hardware/SensorEvent.html#values.
[27] "IMU," wiki, [Online]. Available: https://zh.wikipedia.org/wiki/%E6%83%AF%E6%80%A7%E6%B5%8B%E9%87%8F%E5%8D%95%E5%85%83.
[28] "Raspberry Pi," wiki, [Online]. Available: https://zh.wikipedia.org/wiki/%E6%A0%91%E8%8E%93%E6%B4%BE.
[29] J. C. Aguilar Herrera , P. G. Plöger , A. Hinkenjann , J. Maiero , M. Flores , A. Ramos, "Pedestrian indoor positioning using smartphone multi-sensing, radio beacons, user positions probability map and IndoorOSM floor plan representation," IEEE, 2014.
描述 碩士
國立政治大學
資訊科學系
105753020
資料來源 http://thesis.lib.nccu.edu.tw/record/#G0105753020
資料類型 thesis
dc.contributor.advisor 蔡子傑zh_TW
dc.contributor.advisor Tsai, Tzu-Chiehen_US
dc.contributor.author (Authors) 曾珧彰zh_TW
dc.contributor.author (Authors) Tseng, Yao-Changen_US
dc.creator (作者) 曾珧彰zh_TW
dc.creator (作者) Tseng, Yao-Changen_US
dc.date (日期) 2019en_US
dc.date.accessioned 5-Sep-2019 16:14:26 (UTC+8)-
dc.date.available 5-Sep-2019 16:14:26 (UTC+8)-
dc.date.issued (上傳時間) 5-Sep-2019 16:14:26 (UTC+8)-
dc.identifier (Other Identifiers) G0105753020en_US
dc.identifier.uri (URI) http://nccur.lib.nccu.edu.tw/handle/140.119/125640-
dc.description (描述) 碩士zh_TW
dc.description (描述) 國立政治大學zh_TW
dc.description (描述) 資訊科學系zh_TW
dc.description (描述) 105753020zh_TW
dc.description.abstract (摘要) 近年來，利用穿戴式裝置結合虛擬實境或互動科技，來進行即興創作表演，是種新型態的數位藝術展演方式。之前的研究成果已有整合的平台，可以將表演展的姿態利用穿戴式裝置擷取，呈現在表演的虛擬物件，進行互動展演。但還欠缺表演展的位置的即時追蹤，才能更完整地讓展演順暢自然。
之前相關的定位技術研究，大多只探討誤差範圍，無法即時準確地追蹤，在表演的應用上無法直接運用。本研究希望是利用穿戴式裝置上的IMU六軸感測器資料，就能達成此目標。我們參考過往方法，經過不斷實驗驗證，提出以步伐和方向的判斷演算法，整合出解決表演中即時追蹤的問題。實驗結果確認了我們的方法可以有很好的成效，希望這一套平台，可以讓固有的展演型態創造新的樣態，展現台灣軟硬結合的文化創意實力。		zh_TW
dc.description.abstract (摘要) Recently, improvisational performance using wearable devices combined with virtual reality (VR) or interactive technology has become a new type of digital art performing. Our previous research results have developed a platform that can “capture” the body gesture using wearable devices to render appearance of virtual objects for art performance. However, it still need the real-time position tracking of the performer to make the performance smoothly and naturally.
Previous related works regarding the positioning techniques mostly focused on the error distances. They cannot be directly adopted in the practical performing art due to unsatisfactory real-time position tracking. The goal of the research is to achieve acceptable tracking performance using only IMU wearable sensors. We inspired from many methods by lots of experiments, a real-time positioning with “foot-step” and “direction-judge” tracking algorithm is proposed to solve this problem. The experiment results are satisfactory with very good feasibility. We hope the platform can enrich the performing patterns in digital arts, and empower the cultural innovation and integration capability of software and hardware industry in Taiwan.		en_US
dc.description.tableofcontents Chapter 1 Introduction 1
1.1 Foreword 1
1.2 Motivation 1
1.3 Research Target 3
Chapter 2 Hardware System and Platform 5
2.1 Hardware Device 5
2.1.1 Raspberry Pi 5
2.1.2 NCCU CS Sensor 7
2.2 The Communication Protocol 8
2.2.1 MQTT Protocol 8
2.3 Related Performance 9
2.3.1 National Shanghai Music Festival 9
2.3.2 Tamsui Music Festival 12
2.3.3 High School Promotion 14
Chapter 3 Background 16
3.1 The inertial positioning system [10] [11] 16
3.2 Navigation application in flying area 17
3.3 Foot step detection system 18
3.4 Position system by using machine learning [13] [14] 18
3.5 RSSI 19
3.6 Conclusion 19
Chapter 4 Related Research 21
4.1 Related filter algorithm or method 21
4.1.1 Fast Fourier Transform 21
4.1.2 Moving Filter 22
4.1.3 Complementary Filter 24
4.1.4 Gravity Remove 25
4.2 Related Research paper 26
4.2.1 Method 1 26
4.2.2 Method 2 27
4.3 Conclusion 29
Chapter 5 Paper Method 30
5.1 Method 1 30
5.2 Method 2 33
5.2 Method 2 Conclusion 36
5.3 Method 3 37
Chapter 6 Experiment 41
6.1 Foot step system’s experiment 41
6.2 Most active axis experiment 43
6.3 Fast Fourier Transform 44
6.4 Data experiment 47
6.5 Forward experiment 48
6.5 Method Compared 50
6.6 Conclusion 50
Chapter 7 Future Work and Result 51
7.1 Future Work 51
Reference 52		zh_TW
dc.format.extent 4034851 bytes-
dc.format.mimetype application/pdf-
dc.source.uri (資料來源) http://thesis.lib.nccu.edu.tw/record/#G0105753020en_US
dc.subject (關鍵詞) 虛擬實境zh_TW
dc.subject (關鍵詞) 穿戴式裝置zh_TW
dc.subject (關鍵詞) 互動科技zh_TW
dc.subject (關鍵詞) 互動展演zh_TW
dc.subject (關鍵詞) 定位技術zh_TW
dc.subject (關鍵詞) 慣性感測單元zh_TW
dc.subject (關鍵詞) 即時追蹤zh_TW
dc.subject (關鍵詞) VRen_US
dc.subject (關鍵詞) Wearable Deviceen_US
dc.subject (關鍵詞) Interactive technologyen_US
dc.subject (關鍵詞) Interactive performingen_US
dc.subject (關鍵詞) Positioning Techniqueen_US
dc.subject (關鍵詞) IMUen_US
dc.subject (關鍵詞) Real-time trackingen_US
dc.title (題名) 穿戴六軸感測裝置之展演者的即時步伐方向追蹤定位zh_TW
dc.title (題名) Real Time Performer Positioning with Step and Direction Tracking using Wearable IMU Devicesen_US
dc.type (資料類型) thesisen_US
dc.relation.reference (參考文獻) [1] Wiki, "IOT技術," Wiki, [Online]. Available:https://zh.wikipedia.org/wiki/%E7%89%A9%E8%81%94%E7%BD%91.
[2] Chun-Han Lin ,Lyu-Han Chen Chun-Han Lin , Lyu-Han Chen , Cheng-Fu Chou , Jose Luis Garcia Gomez, "An Indoor Positioning Algorithm Based on Fingerprint and Mobility Prediction in RSS Fluctuation-Prone WLANs," IEEE, 2019.
[3] "全球定位系統," wiki, [Online]. Available: https://zh.wikipedia.org/wiki/%E5%85%A8%E7%90%83%E5%AE%9A%E4%BD%8D%E7%B3%BB%E7%BB%9F.
[4] "Wi-Fi," wiki, [Online]. Available: https://zh.wikipedia.org/wiki/Wi-Fi.
[5] "智慧博物館," [Online]. Available:http://moeimo2016.blogspot.com/2017/07/blog-post_40.html.
[6] "RSSI," wiki, [Online]. Available: https://en.wikipedia.org/wiki/Received_signal_strength_indication.
[7] Chen-Yi Lee , Tzu-Chieh Tsai ,, ""A Real-time Interactive Wearable Platform for Skeleton Detection of Multi-Regional Users and Immersive Experiences."," NCCU CS, 10 2016.
[8] "Mqtt," wiki, [Online]. Available: https://zh.wikipedia.org/wiki/MQTT.
[9] "TCP/IP," [Online]. Available: https://zh.wikipedia.org/wiki/TCP/IP%E5%8D%8F%E8%AE%AE%E6%97%8F.
[10] "慣性導航系統," wiki, [Online]. Available: https://zh.wikipedia.org/wiki/%E6%83%AF%E6%80%A7%E5%AF%BC%E8%88%AA%E7%B3%BB%E7%BB%9F.
[11] Lyu-Han Chen ; Gen-Huey Chen ; Ming-Hui Jin ; Eric Hsiao-Kuang , "A Novel RSS-Based Indoor Positioning Algorithm Using Mobility Predictionv," IEEE, 2010.
[12] S. e. a. Bertuletti, ""Indoor distance estimated from Bluetooth Low Energy signal strength: comparison of regression models."," 2016 IEEE Sensors Applications Symposium (SAS)., 2016.
[13] Xingli Gan ,BaoGuo Yu , Yaning Li, "Deep Learning for Weights Training and Indoor Position Using Multi-sensor Fingerpint," IPIN-2017, 2017.
[14] Md. Shareef Ifthekhar , Nirzhar Saha , Yeong Min Jang, "Neural network based indoor positioning technique in optical camera communication system," IEEE, 2014.
[15] chadeltu, "RSSI 距離," CSDN, [Online]. Available: https://blog.csdn.net/chadeltu/article/details/44059431.
[16] "快速傅立葉變換," wiki, [Online]. Available: https://zh.wikipedia.org/zh-tw/%E5%BF%AB%E9%80%9F%E5%82%85%E9%87%8C%E5%8F%B6%E5%8F%98%E6%8D%A2.
[17] "移動平均法," MBA智庫百科, [Online]. Available: https://wiki.mbalib.com/zh-tw/%E7%A7%BB%E5%8A%A8%E5%B9%B3%E5%9D%87%E6%B3%95.
[18] "互補濾波器," Rapot, [Online]. Available: http://rapot2014.blogspot.com/2014/08/inverted-pendulum3.html.
[19] David M. Bourg , Bryan Bywalec, Physics for Game Developers , Second Edition, gotop, 2015.
[20] Yu-Chuan Tsai,Tzu-Chieh Tsai, "Real-time Relative Directional Positioning Using Wearable Devices)," 11 2016.
[21] N. Zhao, ""Full-futured Pedometer Design Realized with 3-Axis Digital Accelerometer."," Analog Dialogue, 6 2010.
[22] Sang Kyeong Park and Young Soo Suh ., ""A Zero Velocity Detection Algorithm Using Inertial Sensors for Pedestrian Navigation Systems."," Sensors 2010, 10, 9163-9178, 2010.
[23] 于飞,白红美, 高伟,赵博,叶攀., ""步幅和建筑方向辅助的行人导航算法."," Journal of Harbin Engineering University , 3 2016.
[24] Greg Welch , Gary Bishop ,, ""An Introduction to the Kalman Filter."," "University of North Carolina at Chapel Hill.", 24 7 2006.
[25] "Rapot Arduino," 2014. [Online]. Available: http://rapot2014.blogspot.com/2014/08/inverted-pendulum3.html.
[26] G. A. Developer, "https://developer.android.com/reference/android/hardware/SensorEvent.html#values," [Online]. Available: https://developer.android.com/reference/android/hardware/SensorEvent.html#values.
[27] "IMU," wiki, [Online]. Available: https://zh.wikipedia.org/wiki/%E6%83%AF%E6%80%A7%E6%B5%8B%E9%87%8F%E5%8D%95%E5%85%83.
[28] "Raspberry Pi," wiki, [Online]. Available: https://zh.wikipedia.org/wiki/%E6%A0%91%E8%8E%93%E6%B4%BE.
[29] J. C. Aguilar Herrera , P. G. Plöger , A. Hinkenjann , J. Maiero , M. Flores , A. Ramos, "Pedestrian indoor positioning using smartphone multi-sensing, radio beacons, user positions probability map and IndoorOSM floor plan representation," IEEE, 2014.		zh_TW
dc.identifier.doi (DOI) 10.6814/NCCU201900679en_US