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Conference papers

Complex articulated object tracking

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 : 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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https://hal.inria.fr/inria-00352024
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Andrew Comport, E. Marchand, François Chaumette. Complex articulated object tracking. Int. Workshop on Articulated Motion and Deformable Objects, AMDO'04, 2004, Palma de Mallorca, Spain, Spain. pp.189-201. ⟨inria-00352024⟩

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