Complex articulated object tracking.

Andrew Comport (1) , E. Marchand (1) , François Chaumette (1)

1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality

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.

Domaines: Robotique [cs.RO]

Andrew Comport, E. Marchand, François Chaumette. Complex articulated object tracking.. Electronic Letters on Computer Vision and Image Analysis, 2005, 5 (3), pp.20-30. ⟨inria-00351887⟩