Complex articulated object tracking
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 deg...
| Autores: | , , |
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| Tipo de recurso: | artículo |
| Fecha de publicación: | 2005 |
| País: | España |
| Institución: | Universitat Autònoma de Barcelona |
| Repositorio: | Dipòsit Digital de Documents de la UAB |
| Idioma: | inglés |
| OAI Identifier: | oai:ddd.uab.cat:24395 |
| Acceso en línea: | https://ddd.uab.cat/record/24395 https://dx.doi.org/urn:doi:10.5565/rev/elcvia.103 |
| Access Level: | acceso abierto |
| Palabra clave: | Computer Vision Image Registration Non-rigid Motion Multi-body Systems 3D Tracking Articulated Objects Kinematic Sets Visual Servoing Model-Based Real-time Visió per computadora Registre d'imatge Moviment no rígid Pista en 3D Objectes articulats A temps real Visión por computadora Registro de imagen Movimiento no rígido Objetos articulados A tiempo real |
| Sumario: | 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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