Complex Articulated Object Tracking
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.
Unable to display preview. Download preview PDF.
- 4.Marchand, E., Bouthemy, P., Chaumette, F., Moreau, V.: Robust real-time visual tracking using a 2d-3d model-based approach. In: IEEE Int. Conf. on Computer Vision, ICCV 1999, Kerkira, Greece, vol. 1, pp. 262–268 (1999)Google Scholar
- 5.Comport, A.I., Marchand, E., Chaumette, F.: A real-time tracker for markerless augmented reality. In: ACM/IEEE Int. Symp. on Mixed and Augmented Reality, ISMAR 2003, Tokyo, Japan, pp. 36–45 (2003)Google Scholar
- 10.Nunomaki, T., Yonemoto, S., Arita, D., Taniguchi, R.: Multipart non-rigid object tracking based on time model-space gradients. In: Articulated Motion and Deformable Objects First International Workshop, pp. 78–82 (2000)Google Scholar
- 11.Ruf, A., Horaud, R.: Rigid and articulated motion seen with an uncalibrated stereo rig. In: IEEE Int. Conf. on Computer Vision, Corfu, Greece, pp. 789–796 (1999)Google Scholar
- 12.Marchand, E., Chaumette, F.: Virtual visual servoing: a framework for realtime augmented reality. In: EUROGRAPHICS 2002 Conference Proceeding, Saarebrücken, Germany. Computer Graphics Forum, vol. 21(3), pp. 289–298 (2002)Google Scholar
- 16.Comport, A.I., Marchand, E., Chaumette, F.: Object-based visual 3d tracking of articulated objects via kinematic sets. In: IEEE Workshop on Articulated and Non-Rigid Motion, Washington, DC (2004)Google Scholar