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Object-based visual 3D tracking of articulated objects via kinematic sets

Andrew Comport 1 E. Marchand 1 François Chaumette 1
1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : A theoretical framework based on robotics techniques is introduced for visual tracking of parametric non-rigid multi-body objects. It is based on an a-priori model of the object including a general mechanical link description. The objective equation is defined in the object-based coordinate system and non-linear minimization relates to the movement of the object and not the camera. This results in simultaneously estimating all degrees of freedom between the object s last known position relative to its previous position as well as internal articulated parameters. 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 kinematicchain 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 derived for defining any type of mechanical link and experimental results show prismatic, rotational and helicoidal 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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https://hal.inria.fr/inria-00352023
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Andrew Comport, E. Marchand, François Chaumette. Object-based visual 3D tracking of articulated objects via kinematic sets. IEEE Workshop on Articulated and Non-Rigid Motion, 2004, Washington DC, France. ⟨inria-00352023⟩

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