Real-Time Tracking of Multiple Articulated Structures in Multiple Views

  • Tom Drummond
  • Roberto Cipolla
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 1843)


This paper describes a highly flexible approach to real-time frame-rate tracking in complex camera and structures configurations, including the use of multiple cameras and the tracking of multiple or articulated targets. A powerful and general method is presented for expressing and solving the constraints which exist in these configurations in a principled manner. This method exploits the geometric structure present in the Lie group and Lie algebra formalism to express the constraints that derive from structures such as hinges or a common ground plane. This method makes use of the adjoint representation to simplify the constraints which are then applied by means of Lagrange multipliers.


Visual Servoing Multiple Camera Rigid Component Euclidean Transformation Video Feed 
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.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2000

Authors and Affiliations

  • Tom Drummond
    • 1
  • Roberto Cipolla
    • 1
  1. 1.Department of EngineeringUniversity of CambridgeCambridgeUK

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