Skip to main content

Real-Time Tracking of Multiple Articulated Structures in Multiple Views

  • Conference paper
  • First Online:

Part of the Lecture Notes in Computer Science book series (LNCS,volume 1843)

Abstract

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.

Keywords

  • 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.

References

  1. T. Drummond and R. Cipolla. Real-time tracking of complex structures for visual servoing. In PreProceedings of Vision Algorithms: Theory and Practice, pages 91–98, Corfu, Greece, 21–22 September 1999. Also to appear in Springer Lecture Notes in Computer Science.

    Google Scholar 

  2. C. Harris. Geometry from visual motion. In A. Blake, editor, Active Vision, chapter 16, pages 263–284. MIT Press, 1992.

    Google Scholar 

  3. G. Hager, G. Grunwald, and K. Toyama. Feature-based visual servoing and its application to telerobotics. In V. Graefe, editor, Intelligent Robotic Systems. Elsevier, 1995.

    Google Scholar 

  4. D. Terzopoulos and R. Szeliski. Tracking with Kalman snakes. In A. Blake, editor, Active Vision, chapter 1, pages 3–20. MIT Press, 1992.

    Google Scholar 

  5. R. Cipolla and A. Blake. Active Vision, chapter Geometry from Visual Motion, pages 189–202. 1992.

    Google Scholar 

  6. D. G. Lowe. Robust model-based motion tracking through the integration of search and estimation. International Journal of Computer Vision, 8(2):113–122, 1992.

    CrossRef  Google Scholar 

  7. P. Wunsch and G. Hirzinger. Real-time visual tracking of 3-Dobjects with dynamic handling of occlusion. In Proceedings of the 1997 International Conference on Robotics and Automation, pages 2868–2873, 1997.

    Google Scholar 

  8. C. Harris. Tracking with rigid models. In A. Blake, editor, Active Vision, chapter 4, pages 59–73. MIT Press, 1992.

    Google Scholar 

  9. M. Isard and A. Blake. CONDENSATION-conditional density propagation for visual tracking. International Journal of Computer Vision, 29(1):5–28, 1998.

    CrossRef  Google Scholar 

  10. N. Daucher, M. Dhome, J. T. Lapresté, and G. Rives. Modelled object pose estimation and tracking by monocular vision. In Proceedings of the British Machine Vision Conference, pages 249–258, 1993.

    Google Scholar 

  11. A. D. Worrall, G. D. Sullivan, and K. D. Baker. Pose refinement of active models using forces in 3D. In J. Eklundh, editor, Proceedings of the Third European Conference on Computer vision ( ECCV’94 ), volume 2, pages 341–352, May 1994.

    Google Scholar 

  12. E. Marchand, P. Bouthemy, F. Chaumette, and V. Moreau. Robust real-time visual tracking using a 2D-3D model-based approach. In Proceedings of ICCV’99, volume 1, pages 262–268, Kerkyra, Greece, 20–27 September 1999.

    Google Scholar 

  13. V.S. Varadarajan. Lie Groups, Lie Algebras and Their Representations. Number 102 in Graduate Texts in Mathematics. Springer-Verlag, 1974.

    Google Scholar 

  14. D.H. Sattinger and O.L. Weaver. Lie groups and algebras with applications to physics, geometry, and mechanics. Number 61 in Applied Mathematical Sciences. Springer-Verlag, 1986.

    Google Scholar 

  15. T. Drummond and R. Cipolla. Visual tracking and control using Lie algebras. In Proceedings of IEEE Conference on Computer Vision and Pattern Recognition, volume 2, pages 652–657, Fort Collins, Colorado, 23–25 June 1999. IEEE.

    Google Scholar 

  16. M. Armstrong and A. Zisserman. Robust object tracking. In Proceedings of Second Asian Conference on Computer Vision, pages 58–62, 1995.

    Google Scholar 

  17. M. Paterson and F. Yao. Efficient binary space partitions for hidden surface removal and solid modeling. Discrete and Computational Geometry, 5(5):485–503, 1990.

    MathSciNet  CrossRef  MATH  Google Scholar 

  18. J. MacCormick and A. Blake. Spatial dependence in the observation of visual contours. In Proceedings of the Fifth European Conference on Computer vision (ECCV’98), pages 765–781, 1998.

    Google Scholar 

  19. M. Haag and H-H. Nagel. Tracking of complex driving manoeuvres in traffic image sequences. Image and Vision Computing, 16:517–527, 1998.

    CrossRef  Google Scholar 

  20. J. K. Aggarwal, Q. Cai, W. Liao, and B. Sabata. Nonrigid motion analysis: articulated and elastic motion. Computer Vision and Image Understanding, 70(2):142–156, 1998.

    CrossRef  Google Scholar 

  21. D. G. Lowe. Fitting parameterised 3-D models to images. IEEE T-PAMI, 13(5):441–450, 1991.

    CrossRef  Google Scholar 

  22. Q. Delamarre and O. Faugeras. 3D articulated models and multi-view tracking with silhouttes. In Proceedings of ICCV’99, volume 2, pages 716–721, Kerkyra, Greece, 20–27 September 1999.

    Google Scholar 

  23. T. Drummond and R. Cipolla. Real-time tracking of complex structures with on-line camera calibration. In Proceedings of British Machine Vision Conference 1999, volume 2, pages 574–583, Nottingham, 13–16 September 1999. BMVA.

    Google Scholar 

Download references

Author information

Authors and Affiliations

Authors

Editor information

Editors and Affiliations

Rights and permissions

Reprints and Permissions

Copyright information

© 2000 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

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. https://doi.org/10.1007/3-540-45053-X_2

Download citation

  • DOI: https://doi.org/10.1007/3-540-45053-X_2

  • Published:

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-67686-7

  • Online ISBN: 978-3-540-45053-5

  • eBook Packages: Springer Book Archive

We’re sorry, something doesn't seem to be working properly.

Please try refreshing the page. If that doesn't work, please contact support so we can address the problem.