Within the last decade, robotic research has turned more and more towards flexible assistance and service applications. Especially when cooperating with untrained persons at small distances in the same workspace, it is essential for the robot to have a deep understanding and a reliable hypothesis of the intentions, activities and movements of the human interaction partner. With growing computat...

An algorithm for estimating the pose and twist of a rigid body using measurements made by a redundant number of on-board accelerometers is formulated. Redundancy helps reduce the e ect of the accelerometer noise. This algorithm is based only on rigid-body kinematics because it is intended to be used for rigid bodies acted upon by forces and moments elusive to modelling. Procedures are developed...

We present a novel approach to detecting human silhouettes in monocular sequences that achieves very low rates of both false positives and negatives by combining shape and motion information. To this end, we use sequences of moving silhouettes built using motion capture data that we match against short image sequences. We demonstrate the effectiveness of our technique using both indoor and outd...

We describe a visual communication application for a dark, theaterlike interactive virtual simulation training environment. Our system visually estimates and tracks the body position, orientation and the arm-pointing direction of the trainee. This system uses a near-IR camera array to capture images of the trainee from different angles in the dim-lighted theater. Image features like silhouettes...

Recent introduction of low-cost depth cameras triggered a number of interesting works, pushing forward the state-of-the-art in human body pose extraction and tracking. However, despite the remarkable progress, many of the contemporary methods cope inadequately with complex scenarios, involving multiple interacting users, under the presence of severe inter- and intra-occlusions. In this work, we...

This paper introduces the Path Relinking Particle Filter (PRPF) algorithm for improving estimation problems in human motion capture. PRPF hybridizes both Particle Filter and Path Relinking frameworks. The proposed algorithm increases the performance of general Particle Filter by improving the quality of the estimate, adapting computational load to problem constraints and reducing the number of ...

Accurate markerless motion capture systems rely on images that allow segmentation of the person in the foreground. While the accuracy of such approaches is comparable to marker based systems, the segmentation step makes strong restrictions to the capture environment, e.g. homogenous clothing or background, constant lighting etc. In our approach a template model is fitted to images by an Analysi...

We describe a system for human body pose estimation from multiple views that is fast and completely automatic. The algorithm is able to work in the presence of multiple people by decoupling the problems of pose estimation of different people.The pose is estimated based on a likelihood function that integrates information from multiple views and thus obtains a globally optimum solution. Other ch...

We present a method to simultaneously estimate 3d body pose and action categories from monocular video sequences. Our approach learns a lowdimensional embedding of the pose manifolds using Locally Linear Embedding (LLE), as well as the statistical relationship between body poses and their image appearance. In addition, the dynamics in these pose manifolds are modelled. Sparse kernel regressors ...

In this paper, we present our stereo vision ASIC and a real-time upper body pose detection algorithm. The developed an ASIC which can generate QVGA(320×240) 30fps stereo map mounted on embedded system. We also developed a real-time upper body pose detection algorithm which is executed in the embedded system. The developed hardware and detection algorithm can extract various human upper body pos...