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Real-Time Tracking of Multiple Articulated Structures in Multiple Views

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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

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© 2000 Springer-Verlag Berlin Heidelberg

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Drummond, T., Cipolla, R. (2000). Real-Time Tracking of Multiple Articulated Structures in Multiple Views. In: Vernon, D. (eds) Computer Vision — ECCV 2000. ECCV 2000. Lecture Notes in Computer Science, vol 1843. Springer, Berlin, Heidelberg.

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-67686-7

  • Online ISBN: 978-3-540-45053-5

  • eBook Packages: Springer Book Archive

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