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Comport04d

A.I. Comport, E. Marchand, F. Chaumette. Complex articulated object tracking. In Int. Workshop on Articulated Motion and Deformable Objects, AMDO'04, J.F. Perales, B.A. Draper (eds.), Lecture Notes in Computer Science, Volume 3179, Pages 189-201, Palma de Mallorca, Spain, September 2004.

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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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Eric Marchand
Francois Chaumette

BibTex Reference

@InProceedings{Comport04d,
   Author = {Comport, A.I. and Marchand, E. and Chaumette, F.},
   Title = {Complex articulated object tracking},
   BookTitle = {Int. Workshop on Articulated Motion and Deformable Objects, AMDO'04},
   editor = {Perales, J.F. and Draper, B.A.},
   Volume = {    3179},
   Pages = {189--201},
   Series = {Lecture Notes in Computer Science},
   Address = {Palma de Mallorca, Spain},
   Month = {September},
   Year = {2004}
}

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