Nonparametric Density Estimation for Human Pose Tracking

  • Thomas Brox
  • Bodo Rosenhahn
  • Uwe G. Kersting
  • Daniel Cremers
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4174)


The present paper considers the supplement of prior knowledge about joint angle configurations in the scope of 3-D human pose tracking. Training samples obtained from an industrial marker based tracking system are used for a nonparametric Parzen density estimation in the 12-dimensional joint configuration space. These learned probability densities constrain the image-driven joint angle estimates by drawing solutions towards familiar configurations. This prevents the method from producing unrealistic pose estimates due to unreliable image cues. Experiments on sequences with a human leg model reveal a considerably increased robustness, particularly in the presence of disturbed images and occlusions.


Training Sample Joint Angle Rigid Body Motion Kinematic Chain Point Correspondence 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Thomas Brox
    • 1
  • Bodo Rosenhahn
    • 2
  • Uwe G. Kersting
    • 3
  • Daniel Cremers
    • 1
  1. 1.CVPR GroupUniversity of BonnBonnGermany
  2. 2.MPI for Computer ScienceSaarbrückenGermany
  3. 3.Department of Sport and Exercise ScienceThe University of AucklandNew Zealand

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