Upper body tracking for human-machine interaction with a moving camera

Authors:
Yi-Ru Chen;Cheng-Ming Huang;Li-Chen Fu
Affiliations:
Department of Electrical Engineering, National Taiwan University, Taiwan, ROC;Department of Electrical Engineering, National Taiwan University, Taiwan, ROC;Department of Electrical Engineering and Computer Science and Information Engineering, National Taiwan University, Taiwan, ROC
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

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Abstract

This research presents an upper body tracking method with a monocular camera. The human model is defined in a high dimensional state space. We hereby propose a hierarchical structure model to solve the tracking problem by SIR (Sampling Importance Resampling) particle filter with partitioned sampling. The image spatial and temporal information is used to track the human body and estimate the human posture. When doing the human-machine interaction, a static monocular camera may not get plenty of information from 2D images, so we must move the camera platform to a better position for acquiring more enriched image information. The proposed upper body tracking technique will then adjust to estimating the human posture during the camera moving. To validate the effectiveness of the proposed tracking approach, extensive experiments have been performed, of which the result appear to be quite promising.