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Carnegie Mellon Robotics Institute

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Abstract

We analyze the use of kinematic constraints for articulated object tracking. Conditions for the occurrence of singularities in 3-D models are presented and their effects on tracking are characterized. We describe a novel 2-D Scaled Prismatic Model (SPM) for figure registration. In contrast to 3-D kinematic models, the SPM has fewer singularity problems and does not require detailed knowledge of the 3-D kinematics. We fully characterize the singularities in the SPM and illustrate tracking through singularities using synthetic and real examples with 3-D and 2-D models. Our results demonstrate the significant benefits of the SPM in tracking with a single source of video.

Notes

Associated Project(s): Articulated Motion Tracking

Number of pages: 8

Text Reference

Daniel D. Morris and Jim Rehg, "Singularity Analysis for Articulated Object Tracking," Proceedings of CVPR '98, , June, 1998, pp. 289 - 296.

BibTeX Reference

@article{Morris_1998_2858,
   author = "Daniel D. Morris and Jim Rehg",
   title = "Singularity Analysis for Articulated Object Tracking",
   journal = "Proceedings of CVPR '98",
   pages = "289 - 296",
   month = "June",
   year = "1998",
}

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