Visual human motion capture from a mobile robot

被引：0

作者：

Fontmarty, Mathias ^{[1
]}

Lerasle, Frederic ^{[1
]}

Danes, Patrick ^{[1
]}

机构：

[1] CNRS, F-31077 Toulouse, France

来源：

RO-MAN 2009: THE 18TH IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, VOLS 1 AND 2 | 2009年

关键词：

TRACKING; FUSION;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this paper, we present a visual human motion capture (HMC) system embedded on a mobile robot. The estimation of the 3D location and configuration of our 14 DOF model of the upper human body is performed with a particle filter. We use a stereoscopic camera to derive appearance based visual cues together with 3D measurements computed from a sparse 3D reconstruction. A comparative study is carried out in order to achieve the best association between measurement cues and filtering strategies in our robotics context. The system performs in real-time in various indoor environments.

引用

页码：283 / 288

页数：6

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