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Comport05c

A.I. Comport, E. Marchand, F. Chaumette. Complex articulated object tracking. Electronic Letters on Computer Vision and Image Analysis, ELCVIA, Special issue on "Articuled Motion & Deformable Objects", 5(3):20-30, May 2005.

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Abstract

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 kinematicchain 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

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Éric Marchand
François Chaumette

BibTex Reference

@article{Comport05c,
   Author = {Comport, A.I. and Marchand, E. and Chaumette, F.},
   Title = {Complex articulated object tracking},
   Journal = {Electronic Letters on Computer Vision and Image Analysis, ELCVIA, Special issue on "Articuled Motion & Deformable Objects"},
   Volume = {    5},
   Number = {3},
   Pages = {20--30},
   Publisher = {ELCVIA},
   Month = {May},
   Year = {2005}
}

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