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Archivio digitale delle tesi discusse presso l’Università di Pisa

Tesi etd-05022022-103902


Tipo di tesi
Tesi di laurea magistrale
Autore
MINERBA, ALESSANDRO
URN
etd-05022022-103902
Titolo
Sviluppo di un sistema di Motion Capture attraverso l'uso di Camera 3D e IMU
Dipartimento
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Relatori
relatore Prof. Bicchi, Antonio
tutor Ing. Luberto, Emanuele
Parole chiave
  • imu
  • kinect
  • motion capture
  • Rehubility
  • sensor fusion
  • teleriabilitazione
Data inizio appello
01/06/2022
Consultabilità
Non consultabile
Data di rilascio
01/06/2092
Riassunto
Thesis tele-rehabilitation field, with the development of the Rehubility system for the remote support of rehabilitation activities, mainly aimed at the elderly. It describes the hardware actively used, namely IMU, DCF and 3D Azure Kinect camera, characterizing the components and focusing in detail on the camera (its operations for the extraction of the patient's Skeleton from the Kinect's Point Cloud). Then, the analysis of the Rehubility software Workflow is presented for the execution of an exergame, the reception of data through the UDP protocol, their time synchronization, filtering and sending to the UI for viewing the movements carried out on an avatar. Subsequently, we focus on the Sensor Fusion techniques analyzed in the literature to allow the merging of IMU and Azure Kinect data and describe the Kalman Filter, used for this purpose, reporting the underlying theory and the specific implementation used in this project. Finally, the preliminary tests carried out on the entire Rehubility software are reported, demonstrating its operation for each available exercise. In conclusion, observations on the project and its future developments are reported.
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