Analysis device, analysis method, non-transient computer-readable recording medium stored with program, and calibration method

An analysis method, wherein a computer performs:

• estimating a posture of an estimation target including a process of converting an output of a plurality of inertial measurement sensors expressed in a sensor coordinate system based on respective positions of the inertial measurement sensors that are attached to a plurality of sites of the estimation target and detect angular velocity and acceleration into a segment coordinate system expressing postures of respective segments corresponding to the positions where the inertial measurement sensors are attached in the estimation target;
• obtaining an image captured by an image capturing part that captures an image of one or more first markers provided on the estimation target;
• and
• calibrating a conversion rule from the sensor coordinate system to the segment coordinate system based on the image,
• wherein the first marker has a form in which a posture relative to at least one of the inertial measurement sensors does not change, and the posture with respect to the image capturing part is recognizable by analyzing the captured image, and
• in the process of calibrating, the computer derives the posture of the first marker with respect to the image capturing part, derives a conversion matrix from the sensor coordinate system to a camera coordinate system based on the derived posture, and calibrates the conversion rule from the sensor coordinate system to the segment coordinate system by using the derived conversion matrix from the sensor coordinate system to the camera coordinate system.

A non-transient computer-readable recording medium, recording a program which makes a computer perform:

• estimating a posture of an estimation target including a process of converting an output of a plurality of inertial measurement sensors expressed in a sensor coordinate system based on respective positions of the inertial measurement sensors that are attached to a plurality of sites of the estimation target and detect angular velocity and acceleration into a segment coordinate system expressing postures of respective segments corresponding to the positions where the inertial measurement sensors are attached in the estimation target;
• obtaining an image captured by an image capturing part that captures an image of one or more first markers provided on the estimation target;
• and
• calibrating a conversion rule from the sensor coordinate system to the segment coordinate system based on the image,
• wherein the first marker has a form in which a posture relative to at least one of the inertial measurement sensors does not change, and the posture with respect to the image capturing part is recognizable by analyzing the captured image, and
• in the process of calibrating, the computer derives the posture of the first marker with respect to the image capturing part, derives a conversion matrix from the sensor coordinate system to a camera coordinate system based on the derived posture, and calibrates the conversion rule from the sensor coordinate system to the segment coordinate system by using the derived conversion matrix from the sensor coordinate system to the camera coordinate system.