Motion-capture-based walking simulation of digital human adapted to laser-scanned 3D as-is environments for accessibility evaluation
Motion-capture-based walking simulation of digital human adapted to laser-scanned 3D as-is environments for accessibility evaluation
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DOI：
10.1016/j.jcde.2016.03.001
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发表时间：
2016-07
期刊：
影响因子：
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通讯作者：
Tsubasa Maruyama;S. Kanai;H. Date;M. Tada
中科院分区：
文献类型：
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作者：
Tsubasa Maruyama;S. Kanai;H. Date;M. Tada
由于我们的快速老龄化社会，无障碍评估，以提高老年人和残疾人进入室内和室外环境的便利性和安全性越来越重要。对无障碍的评估不仅要从一般标准方面，而且要从对不同年龄、性别和能力的用户的身体和认知友好程度方面进行。与此同时，人类行为模拟在人群行为分析和应急疏散规划等领域也取得了一定的进展。然而，在人类行为模拟中，环境模型仅表示“按计划”的情况。此外，行人模型无法在模拟中生成不同年龄和性别的各种人的详细关节运动。因此，本研究的最终目标是开发一个虚拟的可访问性评估相结合的现实人类行为模拟使用数字人模型（DHM）与“原样”的环境模型。为了实现这一目标，我们开发了一种算法，用于生成类似人类的DHM行走运动，使其步幅，转弯角度和足迹适应激光扫描的3D原样环境，包括斜坡和楼梯。DHM运动仅基于平地行走的运动捕获（MoCap）数据生成。我们的实现构建了三维环境模型，从激光扫描的点云的真实的环境，并使DHM自主行走在各种环境模型。评价了DHM和MoCap数据之间的关节角度差异。演示我们的环境建模和步行模拟在室内和室外环境，包括走廊，斜坡，重点研究了数字人自适应步行仿真算法，利用激光扫描点云数据自动生成环境模型，数字人可以在不同的环境中自主行走，仿真结果表明，该算法具有较好的实时性和鲁棒性。建立了环境模型，模拟的数字人行走运动与真实的人相似，建模和仿真所需时间短，适合实际应用。
Owing to our rapidly aging society, accessibility evaluation to enhance the ease and safety of access to indoor and outdoor environments for the elderly and disabled is increasing in importance. Accessibility must be assessed not only from the general standard aspect but also in terms of physical and cognitive friendliness for users of different ages, genders, and abilities. Meanwhile, human behavior simulation has been progressing in the areas of crowd behavior analysis and emergency evacuation planning. However, in human behavior simulation, environment models represent only “as-planned” situations. In addition, a pedestrian model cannot generate the detailed articulated movements of various people of different ages and genders in the simulation. Therefore, the final goal of this research was to develop a virtual accessibility evaluation by combining realistic human behavior simulation using a digital human model (DHM) with “as-is” environment models. To achieve this goal, we developed an algorithm for generating human-like DHM walking motions, adapting its strides, turning angles, and footprints to laser-scanned 3D as-is environments including slopes and stairs. The DHM motion was generated based only on a motion-capture (MoCap) data for flat walking. Our implementation constructed as-is 3D environment models from laser-scanned point clouds of real environments and enabled a DHM to walk autonomously in various environment models. The difference in joint angles between the DHM and MoCap data was evaluated. Demonstrations of our environment modeling and walking simulation in indoor and outdoor environments including corridors, slopes, and stairs are illustrated in this study.HighlightsAn adaptive walking simulation algorithm of the digital human was developed.The environment models are automatically generated from laser-scanned point clouds.A digital human can walk autonomously in various as-built environment models.Simulated walking motion of the digital human is similar to one of real human.Elapsed time of modeling and simulation is short enough for practical application.