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Evaluation of on-line analytic and numeric inverse kinematics approaches driven by partial vision input

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Abstract

Despite its central role in the constitution of a truly enactive interface, 3D interaction through human full body movement has been hindered by a number of technological and algorithmic factors. Let us mention the cumbersome magnetic equipments, or the underdetermined data set provided by less invasive video-based approaches. In the present paper, we explore the recovery of the full body posture of a standing subject in front of a stereo camera system. The 3D position of the hands, the head and the center of the trunk segment are extracted in real-time and provided to the body posture recovery algorithmic layer. We focus on the comparison between numeric and analytic inverse kinematics approaches in terms of performances and overall quality of the reconstructed body posture. Algorithmic issues arise from the very partial and noisy input and the singularity of the human standing posture. Despite stability concerns, results confirm the pertinence of this approach in this demanding context.

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Abbreviations

IK:

Inverse kinematics

PIK:

Prioritized inverse kinematics

dof:

Degree of freedom

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Acknowledgments

We thank the reviewers for their constructive feedback. This work was partly supported by the European Union through the Networks of Excellence ENACTIVE and INTUITION. The project TIN2004-07926 of Spanish Government and the European Project HUMODAN 2001-32202 from UE V Program-IST have subsidized part of this work. J. Varona acknowledges the support of a Ramon y Cajal fellowship from the Spanish MEC.

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Authors and Affiliations

  1. Virtual Reality Laboratory, Ecole Polytechnique Fédérale de Lausanne, Station 14, 1015, Lausanne, Switzerland

    Ronan Boulic

  2. Dept Mat. i Informatica, Universitat de les Illes Balears (UIB), Balears, Spain

    Javier Varona & Francisco Perales

  3. CEIT and Tecnun (University of Navarra), San Sebastian, Spain

    Luis Unzueta & Angel Suescun

  4. Escuela Politécnica University of Alcalá, Alcalá, Spain

    Manuel Peinado

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  1. Ronan Boulic
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  2. Javier Varona
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  3. Luis Unzueta
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  4. Manuel Peinado
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  5. Angel Suescun
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  6. Francisco Perales
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Correspondence to Ronan Boulic.

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Boulic, R., Varona, J., Unzueta, L. et al. Evaluation of on-line analytic and numeric inverse kinematics approaches driven by partial vision input. Virtual Reality 10, 48–61 (2006). https://doi.org/10.1007/s10055-006-0024-8

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