Tactile sensor and camera-based apparatus and method for body center of pressure trajectory estimation using an artificial neural network

Abstract

An apparatus for estimating a trajectory of a body center of pressure using an artificial neural network, including: a pressure data acquisition unit configured to acquire, over time, pressure image data of a sole based on point-by-point pressure data of a plate-type tactile sensor; a posture data acquisition unit configured to acquire, over time, three-dimensional (3D) body keypoint data based on two-dimensional (2D) skeleton data extracted from images of a plurality of RGB cameras; and an estimation unit configured to estimate, at each sequence length, two-dimensional (2D) coordinates of the body center of pressure by sequentially inputting, to a pre-trained deep learning model, pressure image data and 3D body keypoint data in units of a preset (predetermined) sequence length.

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