Physics-Based Person Tracking Using Simplified Lower-Body Dynamics

We introduce a physics-based model for 3D person tracking. Based on a biomechanical characterization of lower-body dynamics, the model captures important physical properties of bipedal locomotion such as balance and ground contact, generalizes naturally to variations in style due to changes in speed, step-length, and mass, and avoids common problems such as footskate that arise with existing trackers. The model dynamics comprises a two degree-offreedom representation of human locomotion with inelastic ground contact. A stochastic controller generates impulsive forces during the toe-off stage of walking and spring-like forces between the legs. A higher-dimensional kinematic observation model is then conditioned on the underlying dynamics. We use the model for tracking walking people from video, including examples with turning, occlusion, and varying gait.

• Type: Conference
• Year: 2007
• Where: CVPR
• Authors: Marcus A. Brubaker, David J. Fleet, Aaron Hertzmann
• Keywords: Computer Vision, CVPR 2007, Inelastic Ground Contact, Kinematic Observation Model, Model Captures, Model Dynamics, Physics-based Model