当俯仰/仰角旋转时，Kinect失去对身体的追踪 [英] Kinect loses track of bodies when rotated in pitch/elevation

问题描述

我有一个应用程序，我使用Kinect v2跟踪人。 Kinect安装在万向节上，然后移动到指向Kinect跟踪的身体关节。当Kinect在偏航/方位角上移动时（在y轴上旋转约
），这似乎工作得很好，但是当它在俯仰/高度上移动时，Kinect似乎有问题（围绕其x轴旋转） ）。身体追踪失去了所有身体的轨迹，导致万向节停止，一两秒后它将重新获得视线中的人。随着
较小的动作或非常缓慢的动作，Kinect不太可能失去轨道，但它仍然非常敏感。轨道损失似乎与Kinect视为楼层平面的变化相关（无论Kinect
是否可以看到楼层，都可能发生这种变化）。

这是Kinect身体追踪的基本限制吗？有什么方法可以让身体跟踪对音高变化或平面变化不那么敏感吗？我明白让Kinect本身移动并不是一个正常的
用例。

解决方案

仅当传感器与地面/地板平面水平定向时，才支持身体跟踪。我们不支持任何其他传感器方向设计。最佳传感器配置距离地面6英尺，传感器向下倾斜，并且可以通过
无阻碍地观察地板（由于物体边缘没有IR阴影投射）。传感器必须看到用户头部和两个肩膀才能获得硬锁定。

如果您需要其他跟踪功能，您可能需要恢复自己跟踪系统的blob检测。 / p>

I have an application where I am using a Kinect v2 to track people. The Kinect is mounted to a gimbal that is then moved to point at the body joint the Kinect is tracking. This seems to work just fine when the Kinect is moved in yaw/azimuth (rotated about its y-axis), however the Kinect seems to have issues when it is moved in pitch/elevation (rotated about its x-axis). The body tracking loses track of all bodies, causing the gimbal to stop, and after a second or two it will reacquire the people in view. With smaller motions or very slow motions, the Kinect is less likely to lose track, but it is still very sensitive. The track loss seems to be correlated with a change in what the Kinect views as the floor plane (it can happen regardless of whether or not the Kinect can see the floor).

Is this a fundamental limitation of the Kinect body tracking? Is there anything that can be done to make the body tracking less sensitive to pitch changes or floor plane changes? I understand that having the Kinect itself move is not exactly a normal use-case for it.

解决方案

Body tracking is only supported when the sensor is orientated horizontally with the ground/floor plane. We do not support any other sensor orientation by design. Optimal sensor configuration is 6 feet from the floor with the sensor tilted down with unobstructed view of the floor(no IR shadow casting because of object edges). The sensor must see the users head and both shoulders to acquire a hard lock-on.

If you need other tracking abilities you may need to revert to blob detections of your own tracking system.

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