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Conference papers
Complex articulated object tracking
Abstract : 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.
Cited literature [17 references]
https://hal.inria.fr/inria-00352024
Contributor : Eric Marchand <>
Submitted on : Monday, January 12, 2009 - 1:53:00 PM
Last modification on : Friday, July 10, 2020 - 4:09:14 PM
Long-term archiving on: : Tuesday, June 8, 2010 - 7:31:04 PM
Contributor : Eric Marchand <>
Submitted on : Monday, January 12, 2009 - 1:53:00 PM
Last modification on : Friday, July 10, 2020 - 4:09:14 PM
Long-term archiving on: : Tuesday, June 8, 2010 - 7:31:04 PM
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2004_wkamdo_comport.pdf
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