Real-Time 3D Body Pose Tracking from Multiple 2D Images

Authors:
Chi-Wei Chu;Ramakant Nevatia
Affiliations:
Institute for Robotics and Intelligent System, University of Southern California, Los Angeles, CA 90089-0273;Institute for Robotics and Intelligent System, University of Southern California, Los Angeles, CA 90089-0273
Venue:
AMDO '08 Proceedings of the 5th international conference on Articulated Motion and Deformable Objects
Year:
2008

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Abstract

We present a human body motion tracking system for an interactive virtual simulation training environment. This system captures images using IR illumination and near-IR cameras to overcome limitations of a dimly lit environment. Features, such as silhouettes and medial axis of blobs are extracted from the images which lack much internal texture. We use a combination of a 2D ICP and particle filtering method to estimate the articulated body configuration of a trainee from image features. The method allows articulation of the arms at elbows and shoulders and of the body at the waist; this is a considerable improvement over previous such methods. Our system works in real-time and is robust to temporary errors in image acquisition or tracking. The system serves as part of a multi-modal user-input device for interactive simulation.