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A.I. Comport, E. Marchand, F. Chaumette. Complex articulated object tracking. In Int. Workshop on Articulated Motion and Deformable Objects, AMDO'04, J.F. Perales, B.A. Draper (eds.), Lecture Notes in Computer Science, Volume 3179, Pages 189-201, Palma de Mallorca, Spain, September 2004.

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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


Éric Marchand
François Chaumette

BibTex Reference

   Author = {Comport, A.I. and Marchand, E. and Chaumette, F.},
   Title = {Complex articulated object tracking},
   BookTitle = {Int. Workshop on Articulated Motion and Deformable Objects, AMDO'04},
   editor = {Perales, J.F. and Draper, B.A.},
   Volume = {    3179},
   Pages = {189--201},
   Series = {Lecture Notes in Computer Science},
   Address = {Palma de Mallorca, Spain},
   Month = {September},
   Year = {2004}

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