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.
Type de document :
Communication dans un congrès
Perales, J.F. and Draper, B.A. Int. Workshop on Articulated Motion and Deformable Objects, AMDO'04, 2004, Palma de Mallorca, Spain, Spain. 3179, pp.189-201, 2004
https://hal.inria.fr/inria-00352024
Contributeur : Eric Marchand
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Soumis le : lundi 12 janvier 2009 - 13:53:00
Dernière modification le : mercredi 11 avril 2018 - 01:57:13
Document(s) archivé(s) le : mardi 8 juin 2010 - 19:31:04
Andrew Comport, E. Marchand, François Chaumette. Complex articulated object tracking. Perales, J.F. and Draper, B.A. Int. Workshop on Articulated Motion and Deformable Objects, AMDO'04, 2004, Palma de Mallorca, Spain, Spain. 3179, pp.189-201, 2004. 〈inria-00352024〉
