ON THE APPLICATION FOR ROAD STRUCTURE IN DYNAMIC ANALYSIS OF 
HUMAN MOTION USING HVT SYSTEM 
T. Odake, H. Chikatsu 
Tokyo Denki University, Department of Civil Engineering, 
Hatoyama, Saitama, 350-0394, Japan 
(01smg03, chikatsu)@g.dendai.ac.jp 
Commission V, WG V/3 
KEY WORDS: Three-dimensional, Dynamic, Analysis, Automatic, Tracking, Sequences, Simulation 
ABSTRACT: 
In order to evaluate road structures from the view point of universal design, it is necessary to recognize the relationship between 
road structures and gait. In particular, difference in level at a crossing is considered. 
With this motive, gait analysis regarding displacement, velocity, acceleration and torque for the feature points in the lower half of 
the body was performed with Hybrid Video Theodolite (HVT) which was developed by the authors. 
This paper reports the effectiveness of the HVT for gait analysis and shows some results of gait analysis. 
1. INTRODUCTION 
Recently, universal design in walker’s space has been 
progressing quickly under the law of traffic barrier free which 
was enforced by the Ministry of Land, Infrastructure and 
Transport in the 1999. The purpose of this law is promotion of 
the improvement regarding safety, movement and reduction of 
stress for the traffic weak’s such as the aged, children and 
physical disabled person in public facilities, road, and etc.. The 
followings are the actual examples. 
+ Elimination of difference in level. 
+ Installation of elevators, escalators, etc.. 
+ Installation of signals for the visual handicapped. 
This law of traffic barrier-free have several regulations, for 
example, there are detail regulations about the difference in 
level at a crossing. However, these regulations were based on 
subjective investigation of a questionnaire etc. In order to 
evaluate practical regulations, gait analysis is needed so that 
objectivity investigation can be performed. 
With this motive, gait analysis was performed using HVT 
System, artificial sidewalk and the aged experience kit in this 
paper. 
2. HYBRID VIDEO THEODOLITE (HVT) SYSTEM 
The HVT system was developed by the authors as a multi- 
system (Chikatsu, 2000), and one of the applications of the 
HVT to human motion was reported (Anai, 2000). The HVT 
System consists of 6 parts: sensor, pan head and tilt body, 
imaging, recording, control and monitors. 
Figure 1 shows the appearance of the HVT System, and the 
remarkable points are as follows. 
e Sensor part 
+ Stereo image sequences are taken by the CCD 1 and 
2 camera (Sony XC-711, 768Hx493V). 
+ . Tracking is performed by the CCD 3 camera (Sony 
XC-75, 768Hx493V). 
—270— 
Pan head and tilt body part 
+ Pan and tilt rotation angles are controlled with 10 
seconds. 
+ Maximum rotation speed of pan and tilt are 45°per 
seconds. 
+ Rotation of the camera is synchronous to the 
rotation for the pan head and tilt body. 
Imaging part 
+ Synchronization for stereo image is performed. 
- Time for each image is generated at interval of 
1/100 second. 
Recording part 
* Synchronized stereo image sequences and times are 
continuously superimposed on image frames and 
thus recorded on video record. 
Control part 
B 
c 
+ 
Pan and tilt rotation angles are controlled. 
Time, Pan and tilt rotation angles are connected, 
and thus recorded on PC 
Tracking is controlled. 
  
Figure 1. HVT system 
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