Further constraints on visual articulated motions
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3D human model and joint parameter estimation from monocular image
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Motion estimation of articulated objects with two subparts from monocular images are studied in this paper for three cases: 1) one subpart translates, and the other one rotates around the joint; 2) the two rotation axes of the subparts are parallel to each other; 3) the two rotation axes of the subparts are perpendicular with each other. Three motion models are established respectively, and the conditions for a solution are discussed in detail, which shows that only 4, 5 and 6 image point correspondences are needed respectively for the three kinds of articulated motion estimation. The problem of how to distribute the points on the two subparts is also explained. Finally, a lot of simulated experiments are presented, validating the rightness and efficiency of our motion models.