SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
Iterative point matching for registration of free-form curves and surfaces
International Journal of Computer Vision
Impulse-based dynamic simulation
WAFR Proceedings of the workshop on Algorithmic foundations of robotics
A hand gesture interface device
CHI '87 Proceedings of the SIGCHI/GI Conference on Human Factors in Computing Systems and Graphics Interface
Computational modeling for the computer animation of legged figures
SIGGRAPH '85 Proceedings of the 12th annual conference on Computer graphics and interactive techniques
A survey of computer vision-based human motion capture
Computer Vision and Image Understanding - Modeling people toward vision-based underatanding of a person's shape, appearance, and movement
Collision Detection and Response for Computer Animation
SIGGRAPH '88 Proceedings of the 15th annual conference on Computer graphics and interactive techniques
Real-time 3D model acquisition
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
An Efficient k-Means Clustering Algorithm: Analysis and Implementation
IEEE Transactions on Pattern Analysis and Machine Intelligence
Modeling the constraints of human hand motion
HUMO '00 Proceedings of the Workshop on Human Motion (HUMO'00)
Vision based hand modeling and tracking for virtual teleconferencing and telecollaboration
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Construction and animation of anatomically based human hand models
Proceedings of the 2003 ACM SIGGRAPH/Eurographics symposium on Computer animation
Physics-based Animation (Graphics Series)
Physics-based Animation (Graphics Series)
Motion editing with data glove
Proceedings of the 2004 ACM SIGCHI International Conference on Advances in computer entertainment technology
Human hand modeling from surface anatomy
I3D '06 Proceedings of the 2006 symposium on Interactive 3D graphics and games
Fast median and bilateral filtering
ACM SIGGRAPH 2006 Papers
Vision-based hand pose estimation: A review
Computer Vision and Image Understanding
Dextrous manipulation from a grasping pose
ACM SIGGRAPH 2009 papers
Real-time hand-tracking with a color glove
ACM SIGGRAPH 2009 papers
I3D '11 Symposium on Interactive 3D Graphics and Games
Smart particle filtering for 3D hand tracking
FGR' 04 Proceedings of the Sixth IEEE international conference on Automatic face and gesture recognition
3D spatial interaction: applications for art, design, and science
ACM SIGGRAPH 2011 Courses
6D hands: markerless hand-tracking for computer aided design
Proceedings of the 24th annual ACM symposium on User interface software and technology
Tabletop Ensemble: touch-enabled virtual percussion instruments
I3D '12 Proceedings of the ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games
Real-time human pose recognition in parts from single depth images
CVPR '11 Proceedings of the 2011 IEEE Conference on Computer Vision and Pattern Recognition
Lightweight palm and finger tracking for real-time 3D gesture control
VR '11 Proceedings of the 2011 IEEE Virtual Reality Conference
MirageTable: freehand interaction on a projected augmented reality tabletop
Proceedings of the SIGCHI Conference on Human Factors in Computing Systems
HoloDesk: direct 3d interactions with a situated see-through display
Proceedings of the SIGCHI Conference on Human Factors in Computing Systems
IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews
Digits: freehand 3D interactions anywhere using a wrist-worn gloveless sensor
Proceedings of the 25th annual ACM symposium on User interface software and technology
Real-time human pose tracking from range data
ECCV'12 Proceedings of the 12th European conference on Computer Vision - Volume Part VI
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Tracking the full skeletal pose of the hands and fingers is a challenging problem that has a plethora of applications for user interaction. Existing techniques either require wearable hardware, add restrictions to user pose, or require significant computation resources. This research explores a new approach to tracking hands, or any articulated model, by using an augmented rigid body simulation. This allows us to phrase 3D object tracking as a linear complementarity problem with a well-defined solution. Based on a depth sensor's samples, the system generates constraints that limit motion orthogonal to the rigid body model's surface. These constraints, along with prior motion, collision/contact constraints, and joint mechanics, are resolved with a projected Gauss-Seidel solver. Due to camera noise properties and attachment errors, the numerous surface constraints are impulse capped to avoid overpowering mechanical constraints. To improve tracking accuracy, multiple simulations are spawned at each frame and fed a variety of heuristics, constraints and poses. A 3D error metric selects the best-fit simulation, helping the system handle challenging hand motions. Such an approach enables real-time, robust, and accurate 3D skeletal tracking of a user's hand on a variety of depth cameras, while only utilizing a single x86 CPU core for processing.