Computer Engineering and Applications ›› 2019, Vol. 55 ›› Issue (16): 209-216.DOI: 10.3778/j.issn.1002-8331.1901-0201

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Convolutional Neural Network for Joint Angle Recognition and Posture Assessment

ZHAO Yuting, NIU Jianwei, ZHANG Renjie, LIU Haixiao, RAN Linghua   

  1. 1.School of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, China
    2.School of Mechanical Engineering, Beihang University, Beijing 100083, China
    3.China National Institute of Standardization, Beijing 100191, China
  • Online:2019-08-15 Published:2019-08-13



  1. 1.北京科技大学 机械工程学院,北京 100083
    2.北京航空航天大学 机械工程学院,北京 100083
    3.中国标准化研究院,北京 100191

Abstract: In order to better output various pose risk assessment methods quickly and accurately, this paper proposes to use Kinect v2 and convolutional neural network to identify the joint angles of the human body and output the pose risk assessment score. First, two cameras are calibrated by using the checkerboard calibration algorithm of sub-pixel corner extraction. Second, the improved bilateral filtering is used to denoise the depth image. At the same time, the convolutional neural network is used to identify the two-dimensional position of the human joint, and the depth information is used to obtain the actual three-dimensional coordinates. The joint angle is obtained, and finally the posture risk assessment score is outputted. The accuracy of Kinect recognition angle and posture evaluation scores is verified by two experiments, which indicates that the identification and evaluation accuracy of the proposed method is high and there is a certain degree of generalization.

Key words: Kinect, camera calibration, depth image, convolutional neural network, human-machine interaction

摘要: 为了快速准确地输出各种工作姿势风险评估结果,提出采用Kinect v2与卷积神经网络识别人体各关节角度,并输出标准姿势风险的评估得分。首先使用亚像素角点提取的棋盘标定算法标定Kinect两个摄像头,其次使用改进后的双边滤波对深度图像去噪,使用卷积神经网络识别人体关节二维位置,结合深度信息获取实际三维坐标并计算人体关节角度,最后输出姿势风险评估得分。通过两种实验分别验证了提出的Kinect角度识别与姿势评估的准确性,表明该方法关节角度识别与姿势风险评估的准确率均较高,是一种低成本、高可靠性的姿势评价方法,具有一定的科学意义和工程应用价值。

关键词: Kinect, 相机标定, 深度图像, 卷积神经网络, 人机交互