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Complex articulated object tracking
Comport, Andrew (IRISA - INRIA (Rennes, França))
Marchand, Éric (IRISA - INRIA (Rennes, França))
Chaumette, Francois (IRISA - INRIA (Rennes, França))

Data: 2005
Resum: 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.
Drets: Aquest document està subjecte a una llicència d'ús Creative Commons. Es permet la reproducció total o parcial i la comunicació pública de l'obra, sempre que no sigui amb finalitats comercials, i sempre que es reconegui l'autoria de l'obra original. No es permet la creació d'obres derivades. Creative Commons
Llengua: Anglès.
Document: article ; recerca ; publishedVersion
Matèria: Computer Vision ; Image Registration ; Non-rigid Motion ; Multi-body Systems ; 3D Tracking ; Articulated Objects ; Kinematic Sets ; Visual Servoing ; Model-Based ; Real-time ; Visió per computadora ; Registre d'imatge ; Moviment no rígid ; Pista en 3D ; Objectes articulats ; A temps real ; Visión por computadora ; Registro de imagen ; Movimiento no rígido ; Objetos articulados ; A tiempo real
Publicat a: ELCVIA : Electronic Letters on Computer Vision and Image Analysis, V. 5 n. 3 (2005) p. 21-31, ISSN 1577-5097

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