Skeleton-based Joints Position Detection

We present a system for detection of joint positions in scans of articulated models. Our method is based purely on skeletons extracted from scanned point clouds of input models. First, skeletons are extracted from scans and then an estimation of possible matches between skeletons is performed. The matches are evaluated and sorted out. The whole matching process is fully automatic, but some user-driven suggestions can be included. Finally, we pick the best matching of skeletons and create a union-skeleton containing all the nodes from all the skeletons. We find nodes in the union-skeleton with rotation changes higher than the predefined threshold. We take these nodes as joints and visualize them in original scans.