Animating rotation with quaternion curves
SIGGRAPH '85 Proceedings of the 12th annual conference on Computer graphics and interactive techniques
A Mathematical Introduction to Robotic Manipulation
A Mathematical Introduction to Robotic Manipulation
Stochastic Tracking of 3D Human Figures Using 2D Image Motion
ECCV '00 Proceedings of the 6th European Conference on Computer Vision-Part II
3-D model-based tracking of humans in action: a multi-view approach
CVPR '96 Proceedings of the 1996 Conference on Computer Vision and Pattern Recognition (CVPR '96)
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
Fast Pose Estimation with Parameter-Sensitive Hashing
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Twist Based Acquisition and Tracking of Animal and Human Kinematics
International Journal of Computer Vision
Articulated Body Motion Capture by Stochastic Search
International Journal of Computer Vision
A Modular Approach to the Analysis and Evaluation of Particle Filters for Figure Tracking
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
3D People Tracking with Gaussian Process Dynamical Models
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
Integration of Vision and Inertial Sensors for 3D Arm Motion Tracking in Home-based Rehabilitation
International Journal of Robotics Research
Three Dimensional Monocular Human Motion Analysis in End-Effector Space
EMMCVPR '09 Proceedings of the 7th International Conference on Energy Minimization Methods in Computer Vision and Pattern Recognition
Coupled Visual and Kinematic Manifold Models for Tracking
International Journal of Computer Vision
Optimization and Filtering for Human Motion Capture
International Journal of Computer Vision
Proposal maps driven MCMC for estimating human body pose in static images
CVPR'04 Proceedings of the 2004 IEEE computer society conference on Computer vision and pattern recognition
2D action recognition serves 3D human pose estimation
ECCV'10 Proceedings of the 11th European conference on computer vision conference on Computer vision: Part III
Kinematic jump processes for monocular 3D human tracking
CVPR'03 Proceedings of the 2003 IEEE computer society conference on Computer vision and pattern recognition
Efficient and robust shape matching for model based human motion capture
DAGM'11 Proceedings of the 33rd international conference on Pattern recognition
Outdoor human motion capture using inverse kinematics and von mises-fisher sampling
ICCV '11 Proceedings of the 2011 International Conference on Computer Vision
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Human motion capturing (HMC) from multiview image sequences is an extremely difficult problem due to depth and orientation ambiguities and the high dimensionality of the state space. In this paper, we introduce a novel hybrid HMC system that combines video input with sparse inertial sensor input. Employing an annealing particle-based optimization scheme, our idea is to use orientation cues derived from the inertial input to sample particles from the manifold of valid poses. Then, visual cues derived from the video input are used to weight these particles and to iteratively derive the final pose. As our main contribution, we propose an efficient sampling procedure where the particles are derived analytically using inverse kinematics on the orientation cues. Additionally, we introduce a novel sensor noise model to account for uncertainties based on the von Mises-Fisher distribution. Doing so, orientation constraints are naturally fulfilled and the number of needed particles can be kept very small. More generally, our method can be used to sample poses that fulfill arbitrary orientation or positional kinematic constraints. In the experiments, we show that our system can track even highly dynamic motions in an outdoor environment with changing illumination, background clutter, and shadows.