Motion Estimation of Articulated Objects from Perspective Views
AMDO '02 Proceedings of the Second International Workshop on Articulated Motion and Deformable Objects
Motion Analysis of Articulated Objects from Monocular Images
IEEE Transactions on Pattern Analysis and Machine Intelligence
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This paper derives what we term the Euclidean hinge constraint for projective reconstruction of objects displaying articulated motion. A Euclidean hinge is defined here to be an articulation axis with the proviso that any plane perpendicular to the articulation axis in link 1 has a coincident plane which is perpendicular to the articulation ads in link 2 and that these planes remain coincident under articulated motion. This constraint permits the independent projective reconstructions of two adjacent articulated links to be placed in a common frame. The constraint may be expressed mathematically by considering what we define as circular parallax. Additionally the existence of a Euclidean hinge permits the permits the projective frame to be brought nearer to a Euclidean frame for the reconstructed object. A brief reprise of the method of articulation axis estimation is given together with a more extensive series of experimental results.