%0 Conference Proceedings
%F Comport04d
%A Comport, A.I.
%A Marchand, E.
%A Chaumette, F.
%T Complex articulated object tracking
%B Int. Workshop on Articulated Motion and Deformable Objects, AMDO'04
%E Perales, J.F.
%E Draper, B.A.
%V 	 3179
%P 189-201
%S Lecture Notes in Computer Science
%C Palma de Mallorca, Spain
%X 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
%U http://rainbow-doc.irisa.fr/pdf/2004_wkamdo_comport.pdf
%U http://dx.doi.org/10.1007/978-3-540-30074-8_19
%8 September
%D 2004