In this paper new results are presented for tracking complex multi-body objects. The theoretical framework is based on robotics techniques and uses an a-priori model of the object including a general mechanical link description. A new kinematic-set formulation takes into account that articulated degrees of freedom are directly observable from the camera and therefore their estimation does not need to pass via a kinematic-chain back to the root. By doing this the tracking techniques are efficient and precise leading to real-time performance and accurate measurements. The system is locally based upon an accurate modeling of a distance criteria. A general method is given for defining any type of mechanical link and experimental results show prismatic, rotational and helical type links. A statistical M-estimation technique is applied to improve robustness. A monocular camera system was used as a real-time sensor to verify the theory.


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    Title :

    Complex articulated object tracking


    Contributors:

    Publication date :

    2005-11-01


    Remarks:

    doi:10.5565/rev/elcvia.103
    ELCVIA Electronic Letters on Computer Vision and Image Analysis; Vol. 5 No. 3 (2005): Special issue on Articulated Motion & Deformable Objects - August 2005; 21 - 31 ; 1577-5097



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629




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