Probabilistic Articulated Real-Time Tracking for Robot Manipulation

DART: Dense Articulated Real-Time Tracking

This paper introduces DART, a general framework for tracking articulated objects composed of rigid bodies connected through a kinematic tree. DART covers a broad set of objects encountered in indoor environments, including furniture and tools, and human and robot bodies, hands and manipulators. To achieve efficient and robust tracking, DART extends the signed distance function representation to...

Kinematic sets for real-time robust articulated object tracking

In this article a new approach is given for real-time visual tracking of a class of articulated non-rigid objects in 3D. The main contribution of this paper consists in symmetrically modeling the motion and velocity of an articulated object via a novel kinematic set approach. This is likened to a Lagrange-d’Alembert formulation in classical physics. The advantages of this new model over pre-exi...

Real-Time 3D Tracking of Articulated Tools for Robotic Surgery

In robotic surgery, tool tracking is important for providing safe tool-tissue interaction and facilitating surgical skills assessment. Despite recent advances in tool tracking, existing approaches are faced with major difficulties in real-time tracking of articulated tools. Most algorithms are tailored for offline processing with pre-recorded videos. In this paper, we propose a real-time 3D tra...

Real-Time Tracking of Multiple Articulated Structures in Multiple Views

Real-time articulated human body tracking using silhouette information

In this paper we describe a system for visual tracking of the limbs of a human body. The system uses a 3D computer graphics model of the human figure and optimizes its parameters to fit the person’s silhouette in one or more camera views. The system incorporates joint angle constraints and a novel method for dealing with ambiguous edges. The system operates in realtime on multiple views and has...