Abstract
This paper addresses the problem of articulated motion tracking from image sequences. We describe a method that relies on an explicit parameterization of the extremal contours in terms of the joint parameters of an associated kinematic model. The latter allows us to predict the extremal contours from the body-part primitives of an articulated model and to compare them with observed image contours. The error function that measures the discrepancy between observed contours and predicted contours is minimized using an analytical expression of the Jacobian that maps joint velocities onto contour velocities. In practice we model people both by their geometry (truncated elliptical cones) and with their articulated structure – a kinematic model with 40 rotational degrees of freedom. We observe image data gathered with several synchronized cameras. The tracker has been successfully applied to image sequences gathered at 30 frames/second.
This is a preview of subscription content, log in via an institution to check access.
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Gavrila, D.M.: The visual analysis of human movement: A survey. Computer Vision and Image Understanding 73, 82–98 (1999)
Bregler, C., Malik, J., Pullen, K.: Twist based acquisition and tracking of animal and human kinematics. International Journal of Computer Vision 56, 179–194 (2004)
Deutscher, J., Blake, A., Reid, I.: Articulated body motion capture by annealed particle filtering. Computer Vision and Pattern Recognition, 2126–2133 (2000)
Hilton, A.: Towards model-based capture of a persons shape, appearance and motion. In: Proceedings of the IEEE International Workshop on Modelling People (1999)
Yan, J., Pollefeys, M.: A factorization approach to articulated motion recovery. In: Conference on Computer Vision and Pattern Recognition, vol. 2, pp. 815–821 (2005)
Drummond, T., Cipolla, R.: Real-time tracking of highly articulated structures in the presence of noisy measurements. In: ICCV, pp. 315–320 (2001)
Sminchisescu, C., Telea, A.: Human pose estimation from silhouettes. a consistent approach using distance level sets. In: WSCG International Conference on Computer Graphics, Visualization and Computer Vision (2002)
Delamarre, Q., Faugeras, O.: 3d articulated models and multi-view tracking with physical forces. Computer Vision and Image Understanding 81, 328–357 (2001)
Niskanen, M., Boyer, E., Horaud, R.: Articulated motion capture from 3-d points and normals. In: Clocksin, F.T. (ed.) British Machine Vision Conference, vol. 1, pp. 439–448. British Machine Vision Association (BMVA), Oxford (2005)
Blake, A., Isard, M.: Active Contours. Springer, Heidelberg (1998)
Agarwal, A., Triggs, B.: Learning to track 3d human motion from silhouettes. In: International Conference on Machine Learning, Banff, pp. 9–16 (2004)
Drummond, T., Cipolla, R.: Real-time visual tracking of complex structures. IEEE Trans. Pattern Analalysis Machine Intelligence 24, 932–946 (2002)
Martin, F., Horaud, R.: Multiple camera tracking of rigid objects. International Journal of Robotics Research 21, 97–113 (2002)
Rosten, E., Drummond, T.: Rapid rendering of apparent contours of implicit surfaces for real-time tracking. In: British Machine Vision Conference, vol. 2, pp. 719–728 (2003)
McCarthy, J.M.: Introduction to Theoretical Kinematics. MIT Press, Cambridge (1990)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2006 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Knossow, D., Ronfard, R., Horaud, R., Devernay, F. (2006). Tracking with the Kinematics of Extremal Contours. In: Narayanan, P.J., Nayar, S.K., Shum, HY. (eds) Computer Vision – ACCV 2006. ACCV 2006. Lecture Notes in Computer Science, vol 3851. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11612032_67
Download citation
DOI: https://doi.org/10.1007/11612032_67
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-31219-2
Online ISBN: 978-3-540-32433-1
eBook Packages: Computer ScienceComputer Science (R0)