Total Capture: A 3D Deformation Model for Tracking Faces, Hands, and Bodies翻译 上](https://www.jianshu.com/p/002ca9fd4287)
4. Motion Capture with Frankenstein Model
4.用弗兰肯斯坦模型进行运动捕捉
We fit the Frankenstein model to data to capture the total body motion, including the major limbs, the face, and fingers. Our motion capture method relies heavily on fitting mesh correspondences to 3D keypoints, which are obtained by triangulation of 2D keypoint detections across multiple camera views. To capture shape information we also use point clouds generated by multiview stereo reconstructions. Model fitting is performed by an optimization framework to minimize distances between corresponded model joints and surface points and 3D keypoint detections, and iterative closest point (ICP) to the 3D point cloud.
我们用弗兰肯斯坦模型对数据进行拟合，以捕捉全身运动，包括主要肢体，面部和手指。我们的动作捕捉方法在很大程度上依赖于将网格对应关系配合到3D关键点，这些关键点是通过多个相机视图中的2D关键点检测的三角测量获得的。为了捕捉形状信息，我们还使用多视点立体重建生成的点云。模型拟合由优化框架执行，以最小化相应模型关节和表面点与3D关键点检测之间的距离，以及3D点云的迭代最近点（ICP）。
4.1. 3D Measurements
4.1。三维测量
We incorporate two types of measurements in our framework as shown in Fig. 3: (1) corresponded 3D keypoints, which map to known joints or surface points on the mesh models (see Fig. 2), and (2) uncorresponded 3D points from multiview stereo reconstruction, which we match using ICP. 3D Body, Face, and Hand Keypoints: We use the OpenPose detector [25] in each available view, which produces 2D keypoints on the body with the method of [14], and hand and face keypoints using the method of [41]. 3D body skeletons are obtained from the 2D detections using the method of [28], which uses known camera calibration parameters for reconstruction. The 3D hand keypoints are obtained by triangulating 2D hand pose detections, following the method of [41], and similarly for the facial keypoints. Note that subsets of 3D keypoints can be entirely missing if there aren’t enough 2D detections for triangulation, which can happen in challenging scenes with interocclusions or motion blur.
如图3所示，我们在我们的框架中引入了两种测量类型：（1）相应的3D关键点，它们映射到网格模型上的已知关节或表面点（参见图2）;以及（2）不相应的3D点多视图立体重建，我们使用ICP匹配。 3D身体，脸部和手关键点：我们在每个可用的视图中使用OpenPose检测器[25]，它使用[14]的方法在身体上生成2D关键点，并使用[41]的方法生成手部和脸部关键点。使用[28]的方法从二维检测获得三维人体骨骼，该方法使用已知的相机校准参数进行重建。根据[41]的方法，通过对2D手部姿态检测进行三角测量来获得3D手部关键点，并且类似地针对面部关键点。请注意，如果没有足够的二维检测用于三角测量，那么3D关键点的子集可能完全丢失，这可能发生在具有互斥或运动模糊的具有挑战性的场景中。
Figure 3: 3D measurements and Frankenstein fitting result.
图3：三维测量和Frankenstein拟合结果。
3D Feet Keypoints: An important cue missing from the OpenPose detector are landmarks on the feet. For motion capture, this is an essential feature to prevent footskate, as well as to accurately determine the orientation of the feet. We therefore train a keypoint detector for the tip of the big toe, the tip of the little toe, and the ball of the foot. We annotate these 3 keypoints per foot in each of around 5000 person instances of the COCO dataset, and use the neural network architecture presented by [54] with a bounding box around the feet determined by the 3D body detections1.
3D脚关键点：OpenPose探测器中缺少的重要提示是脚上的地标。对于动作捕捉而言，这是防止脚踏板以及准确确定脚的方向的基本特征。因此，我们为大脚趾尖，小脚趾尖和脚掌训练一个关键点探测器。我们在每个约5000人的COCO数据集实例的每个脚注释这3个关键点，并使用由[54]提出的神经网络结构以及围绕由3D身体检测确定的脚的边界框1。
3D Point Clouds: We use the commercial software Capturing Reality to obtain 3D point clouds from the multiview images, with associated point normals.
3D点云：我们使用商业软件Capturing Reality从多视图图像中获取3D点云，并使用相关的点法线。
4.2. Objective Function
4.2。目标函数
We initially fit every frame in the sequence independently. For clarity, we drop the time index from the notation and describe the process for a single frame, which optimizes the following cost function:
我们最初独立地处理序列中的每一帧。为了清楚起见，我们从符号中删除了时间索引，并描述了单个帧的过程，该过程优化了以下成本函数：
E(θU , ϕφU , tU ) = Ekeypoints
1More details provided in the supplementary material.
1个补充材料中提供的细节。
ICP Cost: The 3D point cloud measurements are not a priori in correspondence with the model meshes. We therefore establish their correspondence to the mesh using Iterative Closest Point (ICP) during each solver iteration. We find the closest 3D point in the point cloud to each of the mesh vertices,
ICP成本：三维点云测量与模型网格不一致。因此，我们在每次求解器迭代期间使用迭代最近点（ICP）建立它们与网格的对应关系。我们找到点云中最接近每个网格顶点的3D点，
Finally, for each vertex j we compute the point-to-plane residual, i.e., the distance along the normal direction,
最后，对于每个顶点j，我们计算点到面残差，即沿着法线方向的距离，
represents the point’s normal, and λicp is a relative weight for this term.
表示点的法线，λicp是该术语的相对权重。
Seam Constraints: The part models composing the Frankenstein model are rigidly linked by the skeletal hierarchy. However, the independent surface parameterizations of each of the part models may introduce discontinuities at the boundary between parts (e.g., a fat arm with a thin wrist). To avoid this artifact, we encourage the vertices around the seam parts to be close by penalizing differences between the last two rings of vertices around the seam of each part, and the corresponding closest point in the body model in the rest pose expressed as barycentric coordinates (see the supplementary materials for details).
缝限制：构成弗兰肯斯坦模型的部件模型由骨架层次严格链接。然而，每个部件模型的独立表面参数化可能在部件之间的边界处引入不连续性（例如，具有薄手腕的胖臂）。为了避免这种伪影，我们通过惩罚每个部分的接缝周围最后两圈顶点之间的差异来鼓励接缝部分周围的顶点靠近，并且休息姿态中的身体模型中对应的最近点表示为重心坐标（详情请参阅补充材料）。
Prior Cost: Depending on the number of measurements available in a particular frame, the set of parameters of
prior. The prior for each part is defined by corresponding shape and pose priors, for which we use 0-mean standard normal priors for each parameter except for scaling factors, which are encouraged to be close to 1. Details and relative weights can be found in supplementary materials.
先前成本：根据特定帧中可用的测量次数，
2We do not consider some parts (around hands and face), as depth sensor resolution is too low to improve the estimate. These parts are defined as a mask.
2我们不考虑某些部分（手和脸部），因为深度传感器分辨率太低而无法改善估计。这些部件被定义为一个面罩。
Figure 4: Regressing detection target positions. (Left) The template model is aligned with target object. (Mid.) The torso joints of the template model (magenta) have discrepancy from the joint definitions of 3D keypoint detection (cyan). (Right) The newly regressed target locations (green) are more consistent with 3D keypoint detections.
图4：回归检测目标位置。 （左）模板模型与目标对象对齐。 （中）模板模型（洋红色）的躯干关节与3D关键点检测（青色）的关节定义不一致。 （右）新回归的目标位置（绿色）与3D关键点检测更加一致。
4.3. Optimization Procedure
4.3。优化程序
The complete model is highly nonlinear, and due to the limited degrees of freedom of the skeletal joints, the optimization can get stuck in bad local minima. Therefore, instead of optimizing the complete model initially, we fit the model in phases, starting with a subset of measurements and strong priors that are relaxed as optimization progresses.
完整的模型是高度非线性的，并且由于骨架关节的自由度有限，优化可能会陷入局部极小的不良状态。因此，我们不是首先对整个模型进行优化，而是分阶段地对模型进行分类，首先是测量的一个子集，随着优化的进行放松，这些优先级会很宽松。
Model fitting is performed on each frame independently. To initialize the overall translation and rotation, we use four keypoints on the torso (left and right shoulders and hips) without using the ICP term, and with strong weight on the priors. Once the torso parts are approximately aligned, we use all available keypoints of all body parts, with small weight for the priors. The results at this stage already provide reasonable motion capture but do not accurately capture the shape (i.e., silhouette) of the subject. Finally, the entire optimization is performed including the ICP term to find correspondences with the 3D point cloud. We run the final optimization two times, finding new correspondences each time. For the optimization we use LevenbergMarquardt with the Ceres Solver library [1].
模型拟合是在每个框架上独立执行的。为了初始化整体平移和旋转，我们在躯干（左肩和臀部）上使用了四个关键点，而不使用ICP术语，并且在前身上具有较强的重量。一旦躯干部分大致对齐，我们使用所有身体部位的所有可用关键点，对于先验者来说重量轻。此阶段的结果已经提供了合理的动作捕捉，但不能精确地捕捉主体的形状（即轮廓）。最后，执行整个优化，包括ICP术语以查找与3D点云的对应关系。我们两次运行最终优化，每次都找到新的对应关系。为了优化，我们使用LevenbergMarquardt和Ceres Solver库[1]。
5. Creating Adam
5.创建亚当
We derive a new model, which we call Adam, enabling total body motion capture with a simpler parameterization than the part-based Frankenstein model. In particular, this new model has a single joint hierarchy and a common parameterization for all shape degrees of freedom, tying together the face, hand, and body shapes and avoiding the need for seam constraints. To build the model, it is necessary to reconstruct the shape and the motion of all body parts (face, body, and hands) from diverse subjects where model can learn the variations. To do this, we leverage our Frankenstein model and apply it on a dataset of 70 subjects where each of them performs a short range of motion in a multiview camera system. We selected 5 frames for each person in different poses and use the the reconstruction results to build Adam. From the data, both joint location information and linear shape blendshapes are learnt. Because we derive the model from clothed people, the blendshapes explain some variations of them.
我们推出了一种新的模型，我们称之为亚当，使用比基于零件的弗兰肯斯坦模型更简单的参数化来实现全身运动捕捉。特别是，这个新模型有一个单一的联合层次结构和一个通用的参数化，用于所有形状的自由度，将面部，手部和身体的形状拼接在一起，避免了对接缝约束的需求。要建立模型，有必要重建模型可以学习变化的不同主题的所有身体部位（面部，身体和手部）的形状和运动。为此，我们利用我们的Frankenstein模型并将其应用于70个主题的数据集，其中每个主题都在多视点相机系统中执行短距离运动。我们为不同姿势的每个人选择了5帧，并使用重建结果来建立亚当。从数据中，联合位置信息和线性形状混合形状都被学习到。因为我们从穿衣人身上得出模型，混合形状解释了它们的一些变化。
5.1. Regressing Detection Targets
5.1。回归检测目标
There exists a discrepancy between the joint locations of the body model (e.g., SMPL model in our case) and the location of the keypoint detections (i.e., a model joint vs. a detection joint), as shown in Fig. 4. This affects mainly the shoulder and hip joints, which are hard to precisely annotate. This difference has the effect of pulling the Frankenstein model towards a bad fit even while achieving a low keypoint cost, Ekeypoints. We alleviate this problem by computing the relative location of the 3D detections with respect to the fitted mesh vertices by leveraging the the reconstructed 70 people data. This allows us to define new targets for the keypoint detection cost that, on average, are a better match for the location of the 3D detections with respect to the mesh model, as shown in Fig. 4. In particular, given the fitting results of 70 identities, we approximate the target 3D keypoint locations as a function of the final fitted mesh vertices following the procedure of [33] to find a sparse, linear combination of vertices that approximates the position of the target 3D keypoint. Note that we do not change the joint location used in the skeleton hierarchy during LBS deformation, only the regression matrices
in Eq. (12).
如图4所示，在人体模型（例如我们的情况下的SMPL模型）的关节位置与关键点检测的位置（即，模型关节与检测关节）之间存在差异。这主要影响肩关节和髋关节，这些关节很难精确地注释。即使在实现低关键点成本Ekeypoints的情况下，这种差异也会导致Frankenstein模型向不适合的方向发展。我们通过利用重建的70人数据计算3D检测相对于拟合网格顶点的相对位置来缓解这个问题。这使我们能够为关键点检测成本定义新的目标，平均而言，它们与3D检测相对于网格模型的位置更匹配，如图4所示。特别是，考虑到70个身份的拟合结果，我们将目标3D关键点位置近似为最终拟合网格顶点的函数，遵循[33]的过程以找到近似于目标位置的稀疏线性顶点组合3D关键点。请注意，我们不会在LBS变形期间更改骨架层次结构中使用的联合位置，而只会修改EBS中的回归矩阵
。 （12）。
5.2. Fitting Clothes and Hair
5.2。适合的衣服和头发
The SMPL model captures the shape variability of human bodies, but does not account for clothing or hair. Similarly, the FaceWarehouse template mesh was not design to model hair. However, for the natural interactions that we are most interested in capturing, people wear everyday clothing and sport typical hairstyles. To learn a new set of linear blendshapes that better capture the rough geometry of clothed people and jointly model face, it is required to reconstruct the accurate geometry of the source data. For this purpose, we reconstruct the out-of-shape spaces in the reconstructed 70 people results by Frankenstein model fitting.
SMPL模型捕捉人体的形状变化，但不考虑衣服或头发。同样，FaceWarehouse模板网格不是用来模拟头发的。然而，对于我们最感兴趣的自然交互，人们穿着日常的衣服和运动典型的发型。为了学习一组更好地捕捉穿衣人员的粗糙几何并联合建模人脸的线性混合图形，需要重建源数据的精确几何图形。为此，我们通过Frankenstein模型拟合重构了70人的结果，重建了形状空间。
For each vertex in the Frankenstein model, we write
对于弗兰肯斯坦模型中的每个顶点，我们写
is a scalar displacement meant to compensate for the discrepancy between the Frankenstein model vertices and the 3D point cloud, along the normal direction at each vertex. We pose the problem as a linear system,
是一个标量位移，旨在补偿Frankenstein模型顶点和3D点云之间沿每个顶点的法线方向的差异。我们提出这个问题是一个线性系统，
contains the mesh vertex normals, and L ∈ RN U ×N U is the Laplace-Beltrami operator to regularize the deformation. We also use a weight matrix W to avoid large deformations where the 3D point cloud has lower resolution than the original mesh, like details in the face and hands.
其中ΔΔ∈RU包含堆叠的每顶点位移，
5.3. Building the Shape Deformation Space
5.3。构建形状变形空间
After
fitting, we warp each frame’s surface to the rest pose, applying the inverse of the LBS transform. With the fitted surfaces warped to this canonical pose, we do PCA analysis to build a joint linear shape space that captures shape variations across the entire body. As in Section 3.3, we separate the expression basis for the face and retain the expression basis from the FaceWarehouse model, as our MVS point clouds are of too low resolution to fit facial expressions.
经过
拼接后，我们将每个框架的表面扭曲到休息姿势，应用LBS变换的逆。通过将拟合的曲面扭曲到这个规范的姿态，我们进行PCA分析以建立一个联合线性形状空间，捕捉整个身体的形状变化。如第3.3节所述，我们将Face的表情基础分开，并保留Facewarehouse模型的表达基础，因为我们的MVS点云的分辨率太低而无法表达面部表情。
This model now can have shape variation for all parts, including body, hand, and face. The model also includes deformation of hair and clothing. That is this model can substitute parameters of
5.4. Tracking with Adam
5.4。跟踪亚当
The cost function to capture total body motion using Adam model is similar to Eqn. 11 without the seam term:
使用亚当模型捕获全身运动的成本函数与公式11没有接缝术语：
E(θT , ϕφT , tT ) = Ekeypoints
Figure 5: (Top) Visualization of silhouette from different methods with Ground-truth. The ground truth is drawn on red channel and the rendered silhouette masks from each model is drawn on green channel. Thus, the correctly overlapped region is shown as yellow color.; (Bottom) Silhouette accuracy compared to the ground truth silhouette.
图5 :(顶部）使用Ground-truth从不同方法的轮廓可视化。地面实况绘制在红色通道上，每个模型的渲染轮廓蒙版绘制在绿色通道上。因此，正确重叠的区域显示为黄色。 （下图）与地面真实轮廓相比的轮廓精度。
Table 1: Accuracy of Silhouettes from different models
表1：来自不同模型的轮廓的准确性
6. Results
6.结果
We perform total motion capture using our two models, Frankenstein and Adam, on various challenging sequences.
我们使用我们的两个模型Frankenstein和Adam在各种具有挑战性的序列上执行全动作捕捉。
Figure 6: Total body reconstruction results on various human body motions. For each example scene, the fitting results from three different models are shown by different colors (pink for SMPL [33], silver for Frankenstein, and gold for Adam).
图6：各种人体运动的全身重建结果。对于每个示例场景，来自三个不同模型的配色结果以不同的颜色显示（SMPL为粉红色[33]，Frankenstein为银色，Adam为黄金）。
For experiments, we use the dataset captured in the CMU Panoptic Studio [26]. We use 140 VGA cameras to reconstruct 3D body keypoints, 480 VGA cameras for feet, and 31 HD cameras for faces and hands keypoints, and 3D point clouds. We compare the fits produced by our models with the body-only SMPL model [33].
对于实验，我们使用CMU Panoptic Studio [26]中捕获的数据集。我们使用140个VGA摄像头重建3D身体关键点，480个VGA摄像头用于脚，31个HD摄像头用于脸部和手部关键点以及3D点云。我们将我们的模型产生的吻合与仅有身体的SMPL模型进行比较[33]。
6.1. Quantitative Evaluation
6.1。定量评估
We evaluate how well each model can match a moving person by measuring overlap with the ground truth silhouette across 5 different viewpoints for a 10 second range of motion sequence. To obtain the ground truth silhouette, we run a background subtraction algorithm using a Gaussian model for the background of each pixel with a postprocessing to remove noise by morphological transforms. As an evaluation metric, we compute the percentage of overlapping region compared to the union between the GT silhouettes and the rendered forground masks after fitting each model. Here, we compare the fitting results of 3 different models: SMPL, our Frankenstein, and our Adam models. An example result is shown in Figure 5, and the results are shown in Fig 5 and Table 1. We first compare accuracy between SMPL and Frankenstein model by using only 3D keypoints as measurement cues. The major source of im provement of Frankenstein over SMPL is in the articulated hand model (by construction, the body is almost identical), as seen in Fig. 5 (a). Including ICP term as cues provides better accuracy. Finally in the comparison between our two models, they show almost similar performance. Ideally we expect the Adam outperforms Frankenstein because it has more expressive power for hair and clothing, and it shows it shows better performance in a certain body shape (frame 50-75 in Fig 5). However, Adam sometimes produces artifacts showing lower accuracy; it tends to generate thinner legs, mainly due to poor 3D point cloud reconstructions on the source data on which Adam is trained. However, Adam is simpler for total body motion capture purpose and has potential to be improved once a large scale dataset is available with more optimized capture setup.
我们通过测量5个不同视点之间的地面真实轮廓与10秒运动序列范围的重叠来评估每个模型与移动人物的匹配程度。为了获得地面真实轮廓，我们使用高斯模型为每个像素的背景运行背景减法算法，并进行后处理以通过形态学变换去除噪声。作为一个评估指标，我们计算重叠区域的百分比，并与配置每个模型后GT轮廓和渲染后的遮罩之间的联合进行比较。在这里，我们比较了三种不同模型的拟合结果：SMPL，我们的科学怪人和我们的亚当模型。图5显示了一个示例结果，结果如图5和表1所示。我们首先比较SMPL和Frankenstein模型之间的准确性，仅使用3D关键点作为测量线索。如图5（a）所示，科学怪人超过SMPL的主要来源是关节手模型（通过构造，身体几乎相同）。将ICP术语作为线索提供更好的准确性。最后，在我们两个模型之间的比较中，他们表现出几乎相似的表现。理想情况下，我们预计Adam会比Frankenstein更胜一筹，因为它对头发和衣服有更强的表现力，并且它表明它在某种身体形状（图5中的50-75帧）中表现出更好的表现力。但是，亚当有时会产生精度较低的伪影;它倾向于产生更细的腿，这主要是由于在Adam训练的源数据上重建较差的三维点云。然而，Adam对于全身运动捕捉的目的更简单，并且一旦大规模数据集可用于更优化的捕捉设置，就有可能改进。
6.2. Qualitative Results
6.2。定性结果
We run our method on sequences where face and hand motions are naturally emerging with body motions. The sequences include short range of motions for 70 people used to build Adam, social communications of multiple people, a furniture building sequence with dexterous hand motions, musical performances such as cello and guitars, and commonly observable daily motions such as keyboard typing.
我们在脸部和手部运动随着身体运动自然出现的序列上运行我们的方法。这些序列包括用于建造亚当的70人的短距离运动，多人的社交沟通，灵巧的手部运动的家具建造序列，大提琴和吉他等音乐表演以及通常可观察到的日常动作，如键盘打字。
Most of these sequences are rarely demonstrated in previous markerless motion capture methods since capturing subtle details are the key to achieve the goal. The example results are shown in Figure 6. Here, we also qualitatively compare our models (in silver color for Frankenstein, and gold for Adam) with the SMPL model (in pink) [33]. It should be noted that the total body motion capture results based on our models produce much better realism for the scene by capturing the subtle details from hands and faces. Our results are best shown in the accompanying videos.
由于捕捉细微的细节是实现目标的关键，因此大多数这些序列很少在先前的无标记运动捕捉方法中演示。这个例子的结果如图6所示。在这里，我们也用SMPL模型（粉红色）定性地比较了我们的模型（弗兰肯斯坦的银色和亚当的黄金）[33]。应该注意的是，基于我们的模型的总体动作捕捉结果通过捕捉来自手和脸部的微妙细节，为场景产生更好的真实感。我们的结果最好在随附的视频中展示。
7. Discussion
7.讨论
We present the first markerless method to capture total body motion including facial expression, coarse body motion from torso and limbs, and hand gestures at a distance. To achieve this, we present two types of models which can express motion in each of the parts. Our reconstruction results show compelling and realistic results, even when using only sparse 3D keypoint detections to drive the models.
我们提出了第一个无标记的方法来捕捉包括面部表情，躯干和四肢的粗体运动以及远处的手势在内的全身运动。为了达到这个目的，我们提出了两种可以在每个部分中表达运动的模型。即使仅使用稀疏的3D关键点检测来驱动模型，我们的重建结果也显示出引人注目的逼真效果。
References
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