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2007

Kinematic sets for real-time robust articulated object tracking

9 years 5 months ago
Kinematic sets for real-time robust articulated object tracking
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
Added 15 Dec 2010
Updated 15 Dec 2010
Type Journal
Year 2007
Where IVC
Authors Andrew I. Comport, Éric Marchand, François Chaumette
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