Motion tracking system and method

Abstract

A motion tracking system and a motion tracking method are provided. The motion tracking system includes three motion sensing apparatuses wearable on the human body portion of a user. In the method, first sensing data is obtained based on motion sensors disposed on the motion sensing apparatuses, and second sensing data is obtained based on wireless signals transmitted between the motion sensing apparatuses. Motion information of the user is determined by a determining factor. The determining factor includes the first sensing data and the second sensing data. Accordingly, the motion of the user can be tracked with improved accuracy.

What is claimed is: 
     
         1 . A motion tracking method, adapted for a motion tracking system, wherein the motion tracking system comprises first, second and third motion sensing apparatuses wearable on human body portions of a user, and the motion tracking method comprises:
 obtaining first sensing data based on motion sensors disposed on the first, second and third motion sensing apparatuses;   obtaining second sensing data based on wireless signals transmitted between the first, second and third motion sensing apparatuses; and   determining motion information of the user by a determining factor, wherein the determining factor comprises the first sensing data and the second sensing data.   
     
     
         2 . The motion tracking method according to  claim 1 , the step of determining the motion information of the user comprises:
 obtaining orientation information according to the first sensing data;   obtaining position information according to the second sensing data; and   determining the motion information of the user according to both the orientation information and the position information.   
     
     
         3 . The motion tracking method according to  claim 1 , the step of determining the motion information of the user comprises:
 obtaining first position information and orientation information according to the first sensing data;   obtaining second position information according to the second sensing data;   obtaining adjusted position information according to the first position information and the second position information; and   determining the motion information of the user according to both the orientation information and the adjusted position information.   
     
     
         4 . The motion tracking method according to  claim 1 , further comprising:
 obtaining third sensing data based on images captured from an image sensor,   wherein the human body portions of the user exist in the third sensing data, and the determining factor further comprises the third sensing data.   
     
     
         5 . The motion tracking method according to  claim 4 , the step of determining the motion information of the user comprises:
 obtaining orientation information according to the first sensing data;   obtaining a first part of position information according to the second sensing data in a first duration;   obtaining a second part of position information according to the third sensing data in a second duration;   combining the first and second part of position information as combined position information; and   determining the motion information of the user according to both the orientation information and the combined position information.   
     
     
         6 . The motion tracking method according to  claim 4 , the step of determining the motion information of the user comprises:
 obtaining orientation information and first position information according to the first sensing data;   obtaining second position information according to the second sensing data;   obtaining third position information according to the third sensing data;   obtaining adjusted position information according to the first position information, the second position information and the third position information; and   determining the motion information of the user according to both the orientation information and the adjusted position information.   
     
     
         7 . The motion tracking method according to  claim 6 , wherein the step of obtaining the adjusted position information according to the first position information, the second position information and the third position information comprises:
 determining a first weight and a second weight according to the third position information;   obtaining a first parameter by multiplying the first weight and the first position information;   obtaining a second parameter by multiplying the second weight and the second position information; and   obtaining the adjusted position information by adding the first parameter to the second parameter.   
     
     
         8 . The motion tracking method according to  claim 7 , wherein the first weight and the second weight are varied time after time. 
     
     
         9 . The motion tracking method according to  claim 7 , wherein the first weight and the second weight are fixed in response to the human body portions of the user not existing in the third sensing data. 
     
     
         10 . The motion tracking method according to  claim 5 , wherein the human body portions of the user do not exist in the third sensing data at the first duration, and the human body portions of the user exist in the third sensing data at the second duration. 
     
     
         11 . A motion tracking system, comprising:
 three motion sensing apparatuses, wearable on human body portions of a user, wherein each of the motion sensing apparatuses comprising:
 a wireless transceiver, transmitting or receiving wireless signals; and 
 a motion sensor, sensing motion of one of the human body portions of the user; and 
   a processor, configured to perform:
 obtaining first sensing data based on the motion sensors of the three motion sensing apparatuses; 
 obtaining second sensing data based on the wireless signals transmitted between the three motion sensing apparatuses; and 
 determining motion information of the user by a determining factor, wherein the determining factor comprises the first sensing data and the second sensing data. 
   
     
     
         12 . The motion tracking system according to  claim 11 , wherein the processor is configured to perform:
 obtaining orientation information according to the first sensing data;   obtaining position information according to the second sensing data; and   determining the motion information of the user according to both the orientation information and the position information.   
     
     
         13 . The motion tracking system according to  claim 11 , wherein the processor is configured to perform:
 obtaining first position information and orientation information according to the first sensing data;   obtaining second position information according to the second sensing data;   obtaining adjusted position information according to the first position information and the second position information; and   determining the motion information of the user according to both the orientation information and the adjusted position information.   
     
     
         14 . The motion tracking system according to  claim 11 , further comprising:
 an image sensor, obtaining images; wherein the processor is configured to perform:
 obtaining third sensing data based on the images,
 wherein the human body portions of the user exist in the third sensing data, and the determining factor further comprises the third sensing data. 
 
   
     
     
         15 . The motion tracking system according to  claim 14 , wherein the processor is configured to perform:
 obtaining orientation information according to the first sensing data;   obtaining a first part of position information according to the second sensing data in a first duration;   obtaining a second part of position information according to the third sensing data in a second duration;   combining the first and second part of position information as combined position information; and   determining the motion information of the user according to both the orientation information and the combined position information.   
     
     
         16 . The motion tracking system according to  claim 14 , wherein the processor is configured to perform:
 obtaining orientation information and first position information according to the first sensing data;   obtaining second position information according to the second sensing data;   obtaining third position information according to the third sensing data;   obtaining adjusted position information according to the first position information, the second position information and the third position information; and   determining the motion information of the user according to both the orientation information and the adjusted position information.   
     
     
         17 . The motion tracking system according to  claim 16 , wherein the processor is configured to perform:
 determining a first weight and a second weight according to the third position information;   obtaining a first parameter by multiplying the first weight and the first position information;   obtaining a second parameter by multiplying the second weight and the second position information; and   obtaining the adjusted position information by adding the first parameter to the second parameter.   
     
     
         18 . The motion tracking system according to  claim 17 , wherein the first weight and the second weight are varied time after time. 
     
     
         19 . The motion tracking system according to  claim 17 , wherein the first weight and the second weight are fixed in response to the human body portions of the user not existing in the third sensing data. 
     
     
         20 . The motion tracking system according to  claim 15 , wherein the human body portions of the user do not exist in the third sensing data at the first duration, and the human body portions of the user exist in the third sensing data at the second duration.