Recovering articulated pose: a comparison of two pre and postimposed constraint methods.

Full Abstract

We contrast the performance of two methods of imposing constraints during the tracking of articulated objects, the first method preimposing the kinematic constraints during tracking and, thus, using the minimum degrees of freedom, and the second imposing constraints after tracking and, hence, using the maximum. Despite their very different formulations, the methods recover the same pose change. Further comparisons are drawn in terms of computational speed and algorithmic simplicity and robustness, and it is the last area which is the most telling. The results suggest that using built-in constraints is well-suited to tracking individual articulated objects, whereas applying constraints afterward is most suited to problems involving contact and breakage between articulated (or rigid) objects, where the ability to test tracking performance quickly with constraints turned on or off is desirable.

Author information

Author/s: de Campos, Teofilo E (TE); Tordoff, Ben J (BJ); Murray, David W (DW);

Affiliation: Department of Engineering Science, University of Oxford, Parks Road, Oxford OX1 3PJ, UK. teo(-atsign-)robots.ox.ac.uk

Journal and publication information

Publication Type: Comparative Study; Evaluation Studies; Journal Article; Research Support, Non-U.S. Gov't

Journal: IEEE transactions on pattern analysis and machine intelligence (IEEE Trans Pattern Anal Mach Intell), published in United States. (Language: eng)

Reference: 2006-Jan; vol 28 (issue 1) : pp 163-8

Dates: Created 2006/01/11; Completed 2006/02/01; Revised 2006/11/15;

PMID: 16402630, status: MEDLINE (last retrieved date: 2/18/2009)

Sourced from the National Library of Medicine. Abstract text and other information may be subject to copyright.

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