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WO2014087166A1 - Système de capture de mouvement de topographie de terrain, appareil et procédé associés - Google Patents

Système de capture de mouvement de topographie de terrain, appareil et procédé associés Download PDF

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Publication number
WO2014087166A1
WO2014087166A1 PCT/GB2013/053218 GB2013053218W WO2014087166A1 WO 2014087166 A1 WO2014087166 A1 WO 2014087166A1 GB 2013053218 W GB2013053218 W GB 2013053218W WO 2014087166 A1 WO2014087166 A1 WO 2014087166A1
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WO
WIPO (PCT)
Prior art keywords
terrain
data
topography
user
motion capture
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Ceased
Application number
PCT/GB2013/053218
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English (en)
Inventor
Simon Quiller FOWLER
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VERT SYSTEMS Ltd
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VERT SYSTEMS Ltd
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Filing date
Publication date
Application filed by VERT SYSTEMS Ltd filed Critical VERT SYSTEMS Ltd
Publication of WO2014087166A1 publication Critical patent/WO2014087166A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C7/00—Tracing profiles
    • G01C7/02—Tracing profiles of land surfaces
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G06T17/05—Geographic models

Definitions

  • the present invention relates to a terrain-topography motion capture system which is able to capture user motion data along a terrain and generate a three-dimensional terrain model therefrom, preferably but not necessarily exclusively including a three- dimensional animated user model.
  • the invention also includes apparatus which is preferably wearable by the user and/or mountable on the user's equipment to capture the motion, and also a method of generating a terrain model using such a terrain-topography motion capture system.
  • Optical image recording devices for sportspeople, professional, amateur and/or recreational are now well known and affordable. Such devices are available from a range of companies, such as GoPro RTM and GoBandit RTM. These companies provide video recording devices which are rugged and mountable to a user and/or their equipment. The video of the user performing his or her discipline, for example, mountain biking, skiing, snowboarding, surfing or windsurfing can thus be captured. Some devices are able to geo-tag the imagery via an integrated GPS unit, thus allowing the user after the event to view the captured video along with seeing a birds-eye view of the route that they had travelled, for example, via importing into Google Earth RTM or similar.
  • optical image recording devices do not permit the terrain to be modelled from data collected as the athlete travels across the terrain.
  • Video recorders mounted to the user and/or their equipment do not typically allow the interaction between the user and/or their equipment with the terrain to be monitored and analysed. This makes it difficult therefore to compare event performances of a particular user and/or between different athletes.
  • Known motion capture systems as mentioned above are problematic in that they are usually not portable or mobile, thereby preventing or limiting a user wearing the system outside. If a user mountable sensor array is utilised, this is usually large in order to provide for mounting on all major joints of limbs, torso, head and distal portions of appendages. Such a number of sensors is cumbersome and prone to damage, and furthermore will only monitor the athlete and not the interaction with the terrain being travelled.
  • the present invention therefore seeks to provide a solution to these problems, by in the first instance providing a system which is capable of modelling travelled terrain via motion capture of the user and/or the user' s equipment.
  • a terrain-topography motion capture system comprising an inertial measurement element which is mountable on a user or user's equipment at a location having a determinable distance relative to a user/terrain contact point and which is able to determine a position, motion and attitude of the user and/or equipment; a stabilisation element for preventing or limiting integration drift of inertial measurement data of the inertial measurement element; a data storage element for storing the inertial measurement data; a data processing unit including a data inverter for inverting stabilised inertial measurement data to determine terrain-topography point data, and a terrain-model generator for generating a three- dimensional terrain model of a travelled path based on consecutive said terrain- topography point data; and a display for outputting the generated three-dimensional terrain model.
  • terrain-topography motion capture apparatus for use with a terrain-topography motion capture system according to the first aspect of the invention, the apparatus comprising a housing which is removably mountable to a user and/or a user's equipment, and the inertial measurement element and stabilisation element within the housing.
  • the terrain-topography motion capture apparatus further comprises the data storage element, the data processing unit, the terrain-model generator, and/or the display on or in the housing.
  • a method of generating a three-dimensional terrain model using a terrain-topography motion capture system comprising the steps of: a] determining position, motion and attitude of a user and/or a user's equipment from stabilised inertial measurement data derived from a user moving along terrain; b] inverting the stabilised inertial measurement data; and c] generating and displaying a three-dimensional terrain model derived from the inverted stabilised inertial measurement data.
  • Figure 1 is a block diagram of one embodiment of a terrain-topography motion capture system, in accordance with the first aspect of the invention
  • Figure 2 is a plan view of a PCB and associated circuitry forming a first example of a data capture unit of the terrain-topography motion capture system of Figure 1;
  • Figure 3 is a side elevational view of a user and his equipment moving across terrain to be modelled, and showing possible mounting points for the data capture unit;
  • Figure 4 is a view similar to Figure 3, but this time showing a relationship between the data capture unit and the terrain, as the angle of the terrain alters;
  • Figure 5 is a flowchart providing indicative processing steps once position, motion and attitude data have been acquired by the data capture unit
  • Figure 6 is an example of a pre-rendered terrain model formed by a terrain- model generator of the system from position, motion and attitude data acquired by the data capture unit;
  • Figure 7 is a view of a post-rendered terrain model, and showing a three- dimensional terrain model and animated sportsperson.
  • a terrain-topography motion capture system 10 which comprises an inertial measurement element 12, a stabilisation element 14, a time-stamping circuit 16, a data storage element 18, a data processing unit 20, and a display 22.
  • the system 10 is divided into two separate units which are in data communication with each other, for example, wirelessly utilising Bluetooth RTM or another suitable wireless data transfer protocol. Hard-wired communication can also be considered.
  • the first unit is preferably a data capture unit 24 including the inertial measurement element 12, at least part of the stabilisation element 14 and the time-stamping circuit 16, and the second unit is preferably a data manipulation unit 26 which includes another part of the stabilisation element 14, if necessary, along with the data storage element 18, data processing unit 20, and the display 22.
  • a small-screen onboard display may be provided as part of the data manipulation unit 26, along with a data output which provides communication options with a remote display, such as a user's larger-screen television and/or computer monitor.
  • the data capture unit 24 includes a mountable housing 28 which is mountable on a user 30 or user's equipment 32 at a location which is at least a substantially constant distance relative to a user/terrain contact point 34.
  • a suitable mounting point preferably needs to have predictable dynamic behaviour and ideally not one which is subjected to frequent erratic large ranges of movement relative to the terrain surface being followed.
  • suitable locations would be by way of example: an athlete's head or helmet 36; torso, waist or clothing/accessories associated therewith, such as a rucksack or backpack 38, jacket or jersey pocket, or belt; and/or the athlete's equipment 32 which in this embodiment may be a mountain bike and as such affords mounting options on a seat post 40, handle bars 42 and/or front triangle 44 of a frame. Mounting could also take place on suspension components, since these components do have predictable dynamic behaviour which can be accounted for in the data processing algorithms, discussed herebelow.
  • a captured-data storage device 52 such as RAM, flash program storage device 54 and input/output circuitry 56 may also be provided, along with a wireless data transmitter 58.
  • the processing required in the data capture unit 24 is typically limited to accurate acquisition of the inertial navigation data and stabilisation data to prevent or limit integration drift, along with buffering for transmission to the data manipulation unit 26.
  • the PCB 46 may only require a length of approximately 50 mm, and a width and height of approximately 20 mm. As such, the mountable housing 28 can be produced with compact dimensions, facilitating simple, convenient and unobtrusive mounting.
  • the inertial measurement element 12 on the PCB 46 is preferably a single MEMS module incorporating together a three-axis accelerometer 60 and a three-axis gyroscope 62.
  • a device is an LSM330DLC from ST Microelectronics at www.st.com.
  • the first stabilisation device 48 on the PCB 46 and co-located in close proximity to the inertial measurement element 12 in this case is a three-axis magnetometer 64, such as a HMC5883L from Honeywell at www.honeywell.com, and also referred to as a three- axis digital compass.
  • accelerometer gyroscope and/or magnetometer
  • the processing power of the separate data manipulation unit 26 is typically greater and used for a majority of the data processing and terrain modelling requirements. If the system 10 is provided as a single device, however, then a more powerful processor than that suggested above would be required in order to be able to complete the inertial navigation and the terrain generation algorithms, along with sufficient memory to buffer the inertial navigation data, stabilisation data and any other data required, should the processor not be able to perform the processing in real time.
  • the data manipulation unit 26 includes the data storage element 18, data processing unit 20, and an integrated display 22, as described above.
  • the data manipulation unit 26 may beneficially be a mobile computing device, such as a mobile telecommunications device 66, for example, a so-called 'smartphone' .
  • a mobile telecommunications device 66 for example, a so-called 'smartphone' .
  • an Apple iPhone RTM or Samsung Galaxy S3 RTM has sufficient data processing power to be useable as the data manipulation unit 26.
  • the data manipulation unit 26 in this case also preferably includes the other part of the stabilisation element 14.
  • a second stabilisation device 68 to provide supplementary or auxiliary stabilisation data is provided and forms the other part of the stabilisation element 14.
  • the second stabilisation device 68 is advantageous in providing improved accuracy to the inertial navigation data generated by the inertial measurement element 12, and in this embodiment is preferably a global positioning system [GPS] device which is typically incorporated as part of the mobile telecommunications device 66 during manufacture.
  • GPS global positioning system
  • the data manipulation unit 26 includes a wireless data receiver 70 which is communicable with the wireless data transmitter 58 of the data capture unit 24.
  • the data manipulation unit 26 can be carried by the user 30 about their person, for example, in a pocket or rucksack, and can receive inertial measurement data and first stabilisation data, either in real time or buffered, from the data capture unit 24.
  • the inertial measurement data and the first stabilisation data of the first stabilisation device 48 are preferably time stamped to enable data correlation during processing within the data manipulation unit 26.
  • the second stabilisation data outputted by the second stabilisation device 68 is also time stamped to enable correlation with the inertial measurement data and the first stabilisation data.
  • the time stamping is preferable, since it is expected that the various data streams may be sampled at different rates, thus requiring time stamping to aid accurate correlation.
  • the first and second stabilisation data are utilised to stabilise the inertial measurement data, which is typically inertial navigation data, thereby preventing or limiting undesirable integration drift. This occurs preferably within the data manipulation unit 26, but could occur within the data capture unit 24, whereby pre-stabilised inertial measurement data may be outputted to the data manipulation unit 26 for supplementary stabilisation and/or further processing.
  • the second stabilisation device 68 is preferred and will provide improved stabilised inertial measurement data, it is not necessarily essential and can therefore be dispensed with.
  • the stabilised inertial measurement data is then inputted to one or more inertial navigation algorithms 72 of the data processing unit 20, effectively forming a data inverter module 74 which produces an estimate of the position, motion and attitude of the inertial measurement element 12 which is then outputted to an inverse data model 76 of the athlete's and/or athlete's equipment body.
  • a profile of the terrain can be derived from a position of the inertial measurement element 12 and velocity for a specific application, in this case being mountain biking.
  • the velocity of the inertial measurement element 12 provides an angle of motion.
  • a relationship between a location of the inertial measurement element 12 and a contact point 34 where the back wheel 78 of the mountain bike 80 touches the ground is defined either using a static approximation or by using dynamics of the rider to estimate changes. This is shown as the triangle marked X, and this triangle X is then rotated according to a direction of the velocity vector V to provide an adjusted mapping from the inertial measurement element 12 to the terrain 82 being travelled at that time.
  • the data inverter module 74 generates an equivalent data set which is generally an inversion of the stabilised inertial measurement data and which thus equates to the point P where the athlete or the athlete's equipment 32 touches the supporting surface, typically but not necessarily exclusively at all times being the ground.
  • the acceleration analysis uses an output from the data inverter module 74 to translate raw acceleration inputs into acceleration in key directions, and then performs specific analysis on the key directions to determine terrain-topography point data T at a given time point.
  • the terrain-topography point data T relates to the texture or topography of the terrain and details regarding how the athlete and/or their equipment is moving across that terrain.
  • the terrain-topography point data T is then outputted to a terrain-model generator module 84 of the data processing unit 20. This may be in the form of a third-party data software application installable on the mobile telecommunications device 66, as required.
  • the terrain-model generator module 84 generates a three-dimensional terrain model 86 of a travelled path based on consecutive terrain-topography point data T at a plurality of time points.
  • the terrain-model generator module 84 preferably extrapolates the terrain-topography point data T laterally to determine terrain-topography path data W approximating to a width of a path travelled.
  • an initial wire-frame model 88 of the terrain may be formed with smaller triangles 90 being closer to the terrain-topography point data T and increasingly larger triangles 92 being used as extrapolation occurs away from the recorded user/ground contact point 34. See Figure 6.
  • the data processing unit 20 preferably further includes a user-model generator module 94 which generates a three-dimensional animated user model 96 to be included with the terrain model 86 generated by the terrain-model generator module 84. See Figure 7.
  • Animated user motion of the animated user model 96 is based on the inertial measurement data of the inertial measurement element 12, stabilisation data of the stabilisation element 14, and preferably the activity being undertaken. The time stamping of the inertial measurement data and the stabilisation data therefore enables the animated user model 96 to be located at specific points along the terrain model 86.
  • the data processing unit 20 also includes a key-event detector element 98 which is able to determine key-event points 100 based on position, motion and/or attitude derived from the inertial measurement data. See Figure 7.
  • one or more key events along the terrain travelled by the athlete can be determined and viewed via the display 22. Since these are likely to be of interest to the user 30, these determinable points 100 can be outputted as markers 102 to the modelled terrain, allowing a user 30 to skip to these positions on the recorded route.
  • key events may be very steep sections of terrain and/or jumps, such as a longest and/or highest jump, where the athlete and/or the athlete's equipment are airborne.
  • a terrain selector 104 an environment selector 106, and an activity selector 108 is provided. These may be independent of each other, or combined as required.
  • the terrain selector 104 preferably provides for the selection of a terrain type from amongst a plurality of different terrain types, with a predefined base terrain-data set relating to the selected terrain type then being outputted to the data processing unit 20 for use by the terrain-model generator module 84 in conjunction with the inverted stabilised inertial measurement data.
  • the user 30 during the setup in preparation for recording their activity may select the type of terrain as being flat or steep, which then provides the data manipulation unit 26 with a base reference allowing querying if data dramatically outside of the base reference is generated.
  • the environment selector 106 allows the selection of an environment type from amongst a plurality of different environment types. Once selected, a predefined base environment-data set relating to the selected environment type is outputted to the data processing unit 20 for use by the terrain- model generator module 84.
  • the user 30 during preparation for recording their activity may select the type of environment as being heavily wooded, lightly wooded, narrow singletrack, wide path, rocky, rooty, muddy, dry, powder snow, hard packed snow, on-pi ste, off-piste, manmade stadium athletic track, velodrome, canal path, and such like. Environment data representative of each of these activities can thus be predetermined and pre-stored ready for selection by the user 30. It is also feasible that multiple combinations of different representative environment data can be selected. If the captured stabilised inertial measurement data therefore departs significantly from the base reference data, this can be queried and either automatically and/or manually corrected if required.
  • the environment selector 106 makes use of environment data input which is at least in part remotely receivable from a third party data source.
  • the third party data source may advantageously provide geographic information system [GIS] mapping data.
  • GIS mapping data can be obtained from Google RTM via the internet.
  • the terrain-model generator module 84 may access this data using an internet connection based on the inertial measurement data, stabilisation data, and environment type selected by the user 30. Appropriate image data, either downloaded or pre-uploaded to the data manipulation unit 26, can thus be utilised by the terrain-model generator module 84 to complete the terrain model 86 and provide a more realistic environment.
  • the environment selector 106 may be automated via an optical image recorder 110, for example, forming part of the data manipulation unit 26. It is common to provide an image recorder 110 as part of a mobile telecommunications device 66. The environment type may thus be determined via the image recorder 110, and/or environment data captured by the image recorder 110 during performance of the activity may then be utilised by the terrain-model generator module 84 during generation of the terrain model 86. In this case, the image recorder 110 should be mountable on the user 30 and/or the user's equipment 32 at a suitable location for recording to take place.
  • an optical image recorder 110a preferably having a wide-angle lens of approximately 135 degrees or more, as part of the data capture unit 24.
  • the activity selector 108 is preferably accessible from the display 22, which in this case may be a touch- or pressure-sensitive display enabling user input thereby.
  • the activity selector 108 enables pre-selection of an activity type from amongst a plurality of different activity types, which then provides a predefined base activity-data set for use by the data inverter module 74 during determination of the key directions and also subsequently the user- model generator 94 utilising the predefined base activity-data set when generating the animated user model 96.
  • the activity selector 108 may provide options for downhill mountain biking, cross-country mountain biking, road cycling, indoor pursuit cycling, freestyle skiing/snowboarding, on-piste skiing/snowboarding, off-piste skiing/snowboarding, surfing, windsurfing, jogging, stadium track events, and such like.
  • an equipment selector for example, as part of the activity selector 108, which enables a user 30 to select their specific or generic equipment being used. This then provides a predefined base equipment-data set for use by the user-model generator module 94. It is further possible that photo-realistic images of the athlete and/or the associated equipment and clothing may be taken and uploaded to the data manipulation unit 26 for incorporation by the user- model generator module 94.
  • the above-described elements are combinable to provide a three-dimensional model of the whole or part of the terrain travelled, a three-dimensional model of the sports motion along the terrain, and a set of highlights of the performance.
  • the viewpoint of the animation as seen via the display 22 can preferably be altered during or before playback to be third-person or first-person. Different third-person viewing angles may also be accommodated, either being set before playback or being dynamically alterable during playback.
  • the data processing unit 20 could be configured so as to accept data from multiple data storage elements 18. It is conceivable that one or more mobile communications devices 66, for instance, could upload data to a central server, acting as a centralised data processing unit. It is therefore possible that multiple users can upload inertial measurement data from a single geographical location or range, for instance, data taken during a race or over a predetermined specific track. A plurality of independent animated user models 96 can then be generated and integrated into a single animation and playback data file. This would advantageously allow a user 30 to visualise their performance relative to others, and/or see how their performance varies over time.
  • uploading multiple terrain-topography point data T to a central server or data processing unit allows the terrain-model generator module 84 to build up a consistent terrain model 86 of a specific area over time.
  • a central server or data processing unit which may include a repository
  • the terrain-model generator module 84 to build up a consistent terrain model 86 of a specific area over time.
  • self-consistency of the terrain model 86 can be achieved, thus allowing for better comparison of data from different users 30 and more accurate, and therefore ultimately more detailed, track data.
  • the power outputted by the athlete can be estimated from the magnitude of the acceleration in a particular direction. A minimum acceleration would correspond to the user slowing down due to resistance, and the acceleration above this level equating to the actual effort put in by the user.
  • time-stamping circuit to time stamp the inertial measurement data and the stabilisation data
  • improvements in accuracy and/or further integration of the inertial measurement element and the stabilisation element may dispense with the need for time stamping.
  • time stamping of data when intending to provide a three-dimensional animated user model moving on the generated terrain model. However, if the user model is omitted and only the terrain model is generated, then again the time-stamping circuit may not be necessary.
  • the data storage element and/or the data processing unit may be remote from the user.
  • the data capture unit may output its data to a remote data processing unit, such as a user' s computer after the performance of the event.
  • the data processing thus occurs on the user's computer, before being outputted to a display of choice.
  • the inverse model of the sportsperson's body and their equipment, to generate an estimate of the motion of the point where they touch the ground will translate the estimate of motion of the inertial sensors to the actual track along the ground, based at least on the height that the sensor is mounted above the ground and the angle at which the sportsperson is leaning at that point.
  • the model may also depend on the type of motion, for example, walking, running or cycling, and a different model used as appropriate.
  • the model may be further refined to include the dynamics of the movement, such as the shock absorption of the sportsperson' s legs or the suspension of the bike.
  • the detection of the points where the foot touches the ground will be used as the sample points on the terrain, with the acceleration data used to detect when the body is directly over the foot.
  • Analysis of the acceleration data includes but not limited to frequency analysis of the acceleration along the track and in the vertical direction, enables translation according to the attitude estimate from the inertial measurement element. This provides acceleration along the track and acceleration on a vertical axis. Frequency domain analysis is then performed on these accelerations independently, to extract additional information. For the vertical axis accelerations, the frequency and magnitude of the signals relative to the speed along the track is used to estimate the texture of the terrain. Also, analysis of the raw vertical axis acceleration is used to determine when the sportsperson is airborne.
  • the peak signal within a target frequency range is used to determine the rate at which the sportsperson is moving, in other words a rate of running or cycling, for example, and the magnitude of this peak is used to identify the effort being used.
  • a model of the terrain that has been followed based on the track along the ground of the route taken by the user takes place as a set of points in a three- dimensional space, potentially connected together to form a triangulated irregular network.
  • a first stage involves generating a three-dimensional mesh for the actual route, based on the actual route data and using an estimate of the width of the path.
  • the terrain can then be expanded by progressively adding additional artefacts to the outside of the mesh for the path, using increasing sizes of each element as they get further from the actual path.
  • each newly generated three-dimensional point can either be derived purely from the path heights using extrapolation, or can be performed using a combination of path data and imported real-world height data if an absolute position reference is available, for example, where GPS is used as an input to stabilise the inertial measurement data. It is thus possible to generate a three-dimensional terrain model using a terrain- topography motion capture system. It is also possible to provide such a three- dimensional terrain model with a three-dimensional animated user model travelling therealong.
  • a terrain-topography motion capture system can also be provided which utilises inverted stabilised inertial measurement data to determine terrain-topography point data, thereby enabling the terrain model to be generated from data captured from the user's movement along the terrain.
  • the system can be utilised for modelling any terrain and any performance, including but not limited to cycling, moto-X, running, skateboarding, skiing, snowboarding, kayaking, surfing, kite-surfing and windsurfing.

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  • General Physics & Mathematics (AREA)
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Abstract

La présente invention porte sur un système (10) de capture de mouvement de topographie de terrain qui comprend un élément (12) de mesure inertielle qui est apte à être monté sur un utilisateur (30) ou un équipement (32) d'utilisateur au niveau d'une position ayant une distance apte à être déterminée par rapport à un point (34) de contact d'utilisateur/terrain et qui est apte à déterminer une position, un mouvement et une attitude de l'utilisateur (30) et/ou de l'équipement (32) ; un élément (14) de stabilisation destiné à empêcher ou limiter une dérive d'intégration de données de mesure inertielle de l'élément (12) de mesure inertielle ; un élément (18) de stockage de données destiné à stocker les données de mesure inertielle ; une unité (20) de traitement de données comprenant un inverseur (74) de données destinée à inverser des données de mesure inertielle stabilisées pour déterminer des données de point de topographie de terrain T, et un générateur (84) de modèle de terrain destiné à générer un modèle (86) de terrain tridimensionnel d'un trajet parcouru sur la base desdites données de point de topographie de terrain T consécutives ; et un dispositif d'affichage (22) destiné à délivrer en sortie le modèle (86) de terrain tridimensionnel généré. La présente invention porte également sur un appareil (24, 26) de capture de mouvement de topographie de terrain pour une utilisation avec un tel système (10), et un procédé de génération de modèle (86) de terrain tridimensionnel utilisant un tel système (10).
PCT/GB2013/053218 2012-12-05 2013-12-05 Système de capture de mouvement de topographie de terrain, appareil et procédé associés Ceased WO2014087166A1 (fr)

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GB201221863A GB2508617A (en) 2012-12-05 2012-12-05 Terrain-topography motion capture system, apparatus and method
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WO2018196227A1 (fr) * 2017-04-28 2018-11-01 王春宝 Procédé, dispositif et système d'évaluation de capacité motrice humaine
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CN106403988B (zh) * 2016-12-01 2023-06-13 东北农业大学 一种车载耕地地形自动测绘系统与测绘方法
CN113721802B (zh) * 2021-08-18 2024-09-27 广州南方卫星导航仪器有限公司 一种矢量捕捉方法

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