Tracking Articulated Objects Using Structure ∗
نویسندگان
چکیده
This paper extends our previous work in rigid object tracking using a spring system to track articulated objects. The idea is to represent each part of an articulated object with a spring system and connect them via articulation points. Articulation points are detected automatically by observing the motion of the object and integrated into the spring systems of the rigid parts. Experiments with real and synthetic video sequences show promising results and improvements over the rigid, previous approach. In a detailed discussion the parameters of the approach are analyzed and future plans are mentioned.
منابع مشابه
Tracking Objects beyond Rigid Motion
Tracking multiple features of a rigid or an articulated object, without considering the underlying structure, becomes ambiguous if the target model (for example color histograms) is similar to other nearby regions or to the background. Instead of tracking multiple features independently, we propose an approach that integrates the underlying structure into the tracking process using an attribute...
متن کاملCoarse-to-Fine Tracking of Articulated Objects Using a Hierarchical Spring System
Tracking of articulated objects is a challenging task in Computer Vision. A highly target specific model can improve the robustness of the tracking by eliminating or reducing the ambiguities in the association task. This paper presents a flexible framework, which allows to build target specific, part-based models for arbitrary articulated objects. The rigid parts are described by hierarchical s...
متن کاملA Novel Method for Tracking Moving Objects using Block-Based Similarity
Extracting and tracking active objects are two major issues in surveillance and monitoring applications such as nuclear reactors, mine security, and traffic controllers. In this paper, a block-based similarity algorithm is proposed in order to detect and track objects in the successive frames. We define similarity and cost functions based on the features of the blocks, leading to less computati...
متن کاملDART: 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...
متن کاملInteractive Segmentation, Tracking, and Kinematic Modeling of Unknown Articulated Objects
We present an interactive perceptual skill for segmenting, tracking, and kinematic modeling of 3D articulated objects. This skill is a prerequisite for general manipulation in unstructured environments. Robot-environment interaction is used to move an unknown object, creating a perceptual signal that reveals the kinematic properties of the object. The resulting perceptual information can then i...
متن کامل