Particle Filter Based Human Motion Tracking

被引:0
作者
Li, Zhenning [1 ]
Kulic, Dana [1 ]
机构
[1] Univ Waterloo, Dept Elect & Comp Engn, Waterloo, ON N2L 3G1, Canada
来源
11TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION (ICARCV 2010) | 2010年
关键词
realtime; marker-less; human motion capture; particle filter; quantitative error analysis; CAPTURE;
D O I
暂无
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This paper proposes a particle filter based marker-less upper body motion capture system, capable of running in realtime. This system is designed for a humanoid robot application, and thus a monocular image sequence is used as input. We first set up a model of the human body, a sub-model which includes 11 Degrees of Freedom is used for the upper body tracking. Considering the realtime processing requirements, two time efficient cues are implemented in the likelihood calculation, namely the edge cue and the distance cue. The system is tested using a publicly available database, which consists of both the videos and the ground truth data, enabling quantitative error analysis. The system successfully tracks the human through arbitrary upper body motion at 20Hz.
引用
收藏
页码:555 / 560
页数:6
相关论文
共 21 条
[1]  
AlacCormick J., 2000, PROCEEDING ECCV, V2, P3, DOI DOI 10.1007/3-540-45053-X1
[2]  
[Anonymous], CMU Graphics Lab Motion Capture Database
[3]  
[Anonymous], 2008, LEARNING OPENCV COMP
[4]   A tutorial on particle filters for online nonlinear/non-Gaussian Bayesian tracking [J].
Arulampalam, MS ;
Maskell, S ;
Gordon, N ;
Clapp, T .
IEEE TRANSACTIONS ON SIGNAL PROCESSING, 2002, 50 (02) :174-188
[5]  
Azad Pedram, 2008, 2008 8th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2008), P700, DOI 10.1109/ICHR.2008.4755975
[6]   Stereo-based markerless human motion capture for humanoid robot systems [J].
Azad, Pedram ;
Ude, Ales ;
Asfour, Tamim ;
Dillmann, Ruediger .
PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10, 2007, :3951-+
[7]  
Balan A. O., 2005, Proceedings. 2nd Joint IEEE International Workshop on Visual Surveillance and Performance Evaluation of Tracking and Surveillance (VS-PETS) (IEEE Cat. No. 05EX1178), P349
[8]  
Bandouch J, 2008, LECT NOTES COMPUT SC, V5098, P248, DOI 10.1007/978-3-540-70517-8_24
[9]  
Canny J., READINGS COMPUTER VI, P184
[10]  
Chen Y., 2009, INT C INT ROB SYST