Stereo-based Markerless Human Motion Capture for Humanoid Robot Systems

Abstract— In this paper, we present an image-based markerless human motion capture system, intended for humanoid robot systems. The restrictions set by this ambitious goal are numerous. The input of the system is a sequence of stereo image pairs only, captured by cameras positioned at approximately eye distance. No artificial markers can be used to simplify the estimation problem. Furthermore, the complexity of all algorithms incorporated must be suitable for real-time application, which is maybe the biggest problem when considering the high dimensionality of the search space. Finally, the system must not depend on a static camera setup and has to find the initial configuration automatically. We present a system, which tackles these problems by combining multiple cues within a particle filter framework, allowing the system to recover from wrong estimations in a natural way. We make extensive use of the benefit of having a calibrated stereo setup. To reduce search space implicitl...

• Type: Conference
• Year: 2007
• Where: ICRA
• Authors: Pedram Azad, Ales Ude, Tamim Asfour, Rüdiger Dillmann
• Keywords: ICRA 2007, Motion Capture System, Robotics, Search Space, Stereo Image Pairs