Singularity Analysis for Articulated Object Tracking

We analyze the use of kinematic constraints for articulated object tracking. Conditions for the occurrence of singularities in 3-D models are presented and their effects on tracking are characterized. We describe a novel 2-D Scaled Prismatic Model (SPM) for figure registration. In contrast to 3-D kinematic models, the SPM has fewer singularity problems and does not require detailed knowledge of the 3-D kinematics. We fully characterize the singularities in the SPM and illustrate tracking through singularities using synthetic and real examples with 3-D and 2-D models. Our results demonstrate the significant benefits of the SPM in tracking with a single source of video.

• Type: Conference
• Year: 1998
• Where: CVPR
• Authors: Daniel D. Morris, James M. Rehg
• Keywords: 2-D Models, 3-D Kinematic Models, 3-D Kinematics, 3-D Models, Articulated Object Tracking, Computer Vision, CVPR 1998