Articulated Structure from Motion by Factorization

Authors:
P. Tresadern;I. Reid
Affiliations:
University of Oxford;University of Oxford
Venue:
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 2 - Volume 02
Year:
2005

Citing 0
Cited 17

Towards a measure of deformability of shape sequences

Pattern Recognition Letters
Learning Articulated Structure and Motion

International Journal of Computer Vision
5D motion subspaces for planar motions

ECCV'10 Proceedings of the 11th European conference on computer vision conference on Computer vision: Part III
Articulated motion segmentation using RANSAC with priors

WDV'05/WDV'06/ICCV'05/ECCV'06 Proceedings of the 2005/2006 international conference on Dynamical vision
Estimation and utilization of articulations in recovering non-rigid structure from motion using motion subspaces

J-HGBU '11 Proceedings of the 2011 joint ACM workshop on Human gesture and behavior understanding
A general framework for motion segmentation: independent, articulated, rigid, non-rigid, degenerate and non-degenerate

ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part IV
Recovering articulated non-rigid shapes, motions and kinematic chains from video

AMDO'06 Proceedings of the 4th international conference on Articulated Motion and Deformable Objects
Optimal Metric Projections for Deformable and Articulated Structure-from-Motion

International Journal of Computer Vision
Unsupervised skeleton extraction and motion capture from 3D deformable matching

Neurocomputing
Efficient articulated trajectory reconstruction using dynamic programming and filters

ECCV'12 Proceedings of the 12th European conference on Computer Vision - Volume Part I
A unified view on deformable shape factorizations

ECCV'12 Proceedings of the 12th European conference on Computer Vision - Volume Part VI
Joint estimation of segmentation and structure from motion

Computer Vision and Image Understanding
Application of heterogenous motion models towards structure recovery from motion

ACCV'12 Proceedings of the 11th Asian conference on Computer Vision - Volume Part I
Multilinear Factorizations for Multi-Camera Rigid Structure from Motion Problems

International Journal of Computer Vision
Recursive non-rigid structure from motion with online learned shape prior

Computer Vision and Image Understanding
A multi-manifold semi-supervised Gaussian mixture model for pattern classification

Pattern Recognition Letters
Occlusion-aware multi-view reconstruction of articulated objects for manipulation

Robotics and Autonomous Systems

Quantified Score

Hi-index	0.00

Visualization

Abstract

Multibody affine Structure From Motion (SFM) methods commonly assume independent motion between objects such that the ýmeasurement matrixý has rank 4k. When multiple views are available, each object is then independently calibrated to a metric co-ordinate frame. However, articulated motion results in a further decrease in rank 驴 a fact that we exploit to detect articulated objects and determine their degrees of freedom using simple linear methods. Furthermore, these objects cannot be recovered and calibrated independently since this violates articulation constraints. We show that articulation constraints can be imposed during factorization and self-calibration to recover consistent 3D structure and motion, from which link lengths and joint angles can be computed. The stability of the method is evaluated using synthetic data for comparison with ground truth and results are also presented for real image sequences.