| Daniel D. Morris Robotics Institute Carnegie Mellon University Pittsburgh, PA 15213 |
James M. Rehg Cambridge Research Lab Compaq Computer Corporation Cambridge, MA 02139 |
This project consists of work I did with Jim Rehg at Compaq's Cambridge Research Lab (formerly Digital Equipment Coporation) in the summer of 1997. We extend Jim's thesis work at CMU on visual tracking of a hand to more general articulated figures.
We analyze the use of kinematic constraints for articulated object tracking. Conditions for the occurrence of singularities in 3-D models are presented and their effects on tracking are characterized. We describe a novel 2-D Scaled Prismatic Model (SPM) for figure registration. In contrast to 3-D kinematic models, the SPM has fewer singularity problems and does not require detailed knowledge of the 3-D kinematics. We fully characterize the singularities in the SPM and illustrate tracking through singularities using synthetic and real examples with 3-D and 2-D models. Our results demonstrate the significant benefits of the SPM in tracking with a single source of video.
Full compressed postscript file (660K)
Appeared in: CVPR '98, Santa Barbara, CA, June 1998.
See also Technical Report at Compaq.
 Fred Astaire Dancing |
 Tracking using SPM |
 Fred in my office |
 Bill and Ginger |
Comments to: Daniel Morris (ddmorris@ri.cmu.edu)