Motion analysis of articulated objects and its applications in human motion analysis

摘要

Many objects such as human body, robot and door can be approximately modeled by some rigid links connected together by joints. By estimating the motion of the rigid links, it is possible to recover the motion and structure of the articulated objects. In this paper we show that based on coplanar motion of rigidity links the motion and structure of the jointed links can be determined within a scale faster from a monocular sequence of images. Furthermore we analyze the relationship among the number of the frames and links and the number of the equations and unknowns. In order to obtain the unique numerical solution to motion estimation of the coplanar links we advocate a search approach. The experiments with simulated data and real images are included to demonstrate the validity of the theoretic results.