Model based pose estimation of articulated and constrained objects

  • Yaacov Hel-Or
  • Michael Werman
Recognition I
Part of the Lecture Notes in Computer Science book series (LNCS, volume 800)


This paper presents a method for localization of modeled objects that is general enough to cover articulated and other types of constrained models. The flexibility between components of the model are expressed as spatial constraints which are fused into the pose estimation process. The constraint fusion assists in obtaining a precise and stable pose of each object's component and in finding the correct interpretation. The proposed method can handle any constraint (including inequalities) between any number of different components of the model. The framework is based on Kalman filtering.


Inequality Constraint Model Point Revolute Joint Model Constraint Prismatic Joint 
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 1994

Authors and Affiliations

  • Yaacov Hel-Or
    • 1
  • Michael Werman
    • 2
  1. 1.Department of Computer ScienceThe Weizmann Institute of ScienceRehovotIsrael
  2. 2.Department of Computer ScienceThe Hebrew University of JerusalemJerusalemIsrael

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