Kinematic sets for real-time robust articulated object tracking

13 years 4 months ago

Download www.irisa.fr

In this article a new approach is given for real-time visual tracking of a class of articulated non-rigid objects in 3D. The main contribution of this paper consists in symmetrically modeling the motion and velocity of an articulated object via a novel kinematic set approach. This is likened to a Lagrange-d’Alembert formulation in classical physics. The advantages of this new model over pre-existing methods include improved precision, robustness and eﬃciency, leading to real-time performance. Furthermore, a general class of mechanical joints can be considered and the method can track objects where previous approaches have failed due to a lack of visual information. In summary, a joint conﬁguration is modeled by using Pfaﬃan velocity constraints. The conﬁguration and location of a joint is then used to build a general Jacobian Matrix which relates individual rigid body velocities(twists) to an underlying minimal subspace. A closed loop control law is then derived in order to ...

Andrew I. Comport, Éric Marchand, Fran&cced

Real-time Traffic