Robots operating autonomously in household environments must be capable of interacting with articulated objects on a daily basis. They should be able to infer each object’s underlying kinematic linkages purely by observing its motion during manipulation. This work proposes a framework that enables robots to learn the articulation in objects from user-provided demonstrations, using RGB-D sensors...

Many animation systems rely on key-frames or poses to produce animated sequences of figures we interpret as articulated, e. g. the skeleton of a character. The production of poses is a difficult problem which can be solved by using techniques such as forward and inverse kinematics. However, animators often find these techniques difficult to work with. The work, presented in this thesis, propose...

Articulated matching arises naturally in object recognition and tracking. When a part-based description of an object is adopted, the problem of matching the model features to the data can be decomposed into matching the parts while paying attention to overall model coherence. Here we focus on the rst part of the problem, namely, the articulated matching of a part based description of an object ...