Abstract
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.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Aggarwal, J., Cai, Q., Liao, W., Sabata, B.: Nonrigid motion analysis: Articulated and elastic motion. Computrer Vision and Image Understanding 70, 142–156 (1998)
Lowe, D.: Three-dimensional object recognition from single two-dimensional images. Artificial Intelligence 31, 355–394 (1987)
Drummond, T., Cipolla, R.: Real-time visual tracking of complex structures. IEEE Trans. on Pattern Analysis and Machine Intelligence 27, 932–946 (2002)
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)
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)
Dhome, M., Richetin, M., Lapresté, J.T., Rives, G.: Determination of the attitude of 3-d objects from a single perspective view. IEEE Trans. on Pattern Analysis and Machine Intelligence 11, 1265–1278 (1989)
Dementhon, D., Davis, L.: Model-based object pose in 25 lines of codes. Int. J. of Computer Vision 15, 123–141 (1995)
Lu, C., Hager, G., Mjolsness, E.: Fast and globally convergent pose estimation from video images. IEEE Trans. on Pattern Analysis and Machine Intelligence 22, 610–622 (2000)
Lowe, D.: Fitting parameterized three-dimensional models to images. IEEE Trans. on Pattern Analysis and Machine Intelligence 13, 441–450 (1991)
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)
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)
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)
Huber, P.J.: Robust Statistics. Wiler, New York (1981)
Hutchinson, S., Hager, G., Corke, P.: A tutorial on visual servo control. IEEE Trans. on Robotics and Automation 12, 651–670 (1996)
Espiau, B., Chaumette, F., Rives, P.: A new approach to visual servoing in robotics. IEEE Trans. on Robotics and Automation 8, 313–326 (1992)
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)
Fischler, N., Bolles, R.: Random sample consensus: A paradigm for model fitting with application to image analysis and automated cartography. Communication of the ACM 24, 381–395 (1981)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2004 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Comport, A.I., Marchand, É., Chaumette, F. (2004). Complex Articulated Object Tracking. In: Perales, F.J., Draper, B.A. (eds) Articulated Motion and Deformable Objects. AMDO 2004. Lecture Notes in Computer Science, vol 3179. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-30074-8_19
Download citation
DOI: https://doi.org/10.1007/978-3-540-30074-8_19
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-22958-2
Online ISBN: 978-3-540-30074-8
eBook Packages: Springer Book Archive