Tracking with the Kinematics of Extremal Contours

  • David Knossow
  • Rémi Ronfard
  • Radu Horaud
  • Frédéric Devernay
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3851)


This paper addresses the problem of articulated motion tracking from image sequences. We describe a method that relies on an explicit parameterization of the extremal contours in terms of the joint parameters of an associated kinematic model. The latter allows us to predict the extremal contours from the body-part primitives of an articulated model and to compare them with observed image contours. The error function that measures the discrepancy between observed contours and predicted contours is minimized using an analytical expression of the Jacobian that maps joint velocities onto contour velocities. In practice we model people both by their geometry (truncated elliptical cones) and with their articulated structure – a kinematic model with 40 rotational degrees of freedom. We observe image data gathered with several synchronized cameras. The tracker has been successfully applied to image sequences gathered at 30 frames/second.


Error Function Joint Velocity Image Contour Joint Parameter Image Silhouette 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Gavrila, D.M.: The visual analysis of human movement: A survey. Computer Vision and Image Understanding 73, 82–98 (1999)zbMATHCrossRefGoogle Scholar
  2. 2.
    Bregler, C., Malik, J., Pullen, K.: Twist based acquisition and tracking of animal and human kinematics. International Journal of Computer Vision 56, 179–194 (2004)CrossRefGoogle Scholar
  3. 3.
    Deutscher, J., Blake, A., Reid, I.: Articulated body motion capture by annealed particle filtering. Computer Vision and Pattern Recognition, 2126–2133 (2000)Google Scholar
  4. 4.
    Hilton, A.: Towards model-based capture of a persons shape, appearance and motion. In: Proceedings of the IEEE International Workshop on Modelling People (1999)Google Scholar
  5. 5.
    Yan, J., Pollefeys, M.: A factorization approach to articulated motion recovery. In: Conference on Computer Vision and Pattern Recognition, vol. 2, pp. 815–821 (2005)Google Scholar
  6. 6.
    Drummond, T., Cipolla, R.: Real-time tracking of highly articulated structures in the presence of noisy measurements. In: ICCV, pp. 315–320 (2001)Google Scholar
  7. 7.
    Sminchisescu, C., Telea, A.: Human pose estimation from silhouettes. a consistent approach using distance level sets. In: WSCG International Conference on Computer Graphics, Visualization and Computer Vision (2002)Google Scholar
  8. 8.
    Delamarre, Q., Faugeras, O.: 3d articulated models and multi-view tracking with physical forces. Computer Vision and Image Understanding 81, 328–357 (2001)zbMATHCrossRefGoogle Scholar
  9. 9.
    Niskanen, M., Boyer, E., Horaud, R.: Articulated motion capture from 3-d points and normals. In: Clocksin, F.T. (ed.) British Machine Vision Conference, vol. 1, pp. 439–448. British Machine Vision Association (BMVA), Oxford (2005)Google Scholar
  10. 10.
    Blake, A., Isard, M.: Active Contours. Springer, Heidelberg (1998)Google Scholar
  11. 11.
    Agarwal, A., Triggs, B.: Learning to track 3d human motion from silhouettes. In: International Conference on Machine Learning, Banff, pp. 9–16 (2004)Google Scholar
  12. 12.
    Drummond, T., Cipolla, R.: Real-time visual tracking of complex structures. IEEE Trans. Pattern Analalysis Machine Intelligence 24, 932–946 (2002)CrossRefGoogle Scholar
  13. 13.
    Martin, F., Horaud, R.: Multiple camera tracking of rigid objects. International Journal of Robotics Research 21, 97–113 (2002)CrossRefGoogle Scholar
  14. 14.
    Rosten, E., Drummond, T.: Rapid rendering of apparent contours of implicit surfaces for real-time tracking. In: British Machine Vision Conference, vol. 2, pp. 719–728 (2003)Google Scholar
  15. 15.
    McCarthy, J.M.: Introduction to Theoretical Kinematics. MIT Press, Cambridge (1990)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • David Knossow
    • 1
  • Rémi Ronfard
    • 1
  • Radu Horaud
    • 1
  • Frédéric Devernay
    • 1
  1. 1.INRIA Rhone-AlpesMontbonnotFrance

Personalised recommendations