8,339 research outputs found
A fast and robust hand-driven 3D mouse
The development of new interaction paradigms requires a natural interaction. This means that people should be able to interact with technology with the same models used to interact with everyday real life, that is through gestures, expressions, voice. Following this idea, in this paper we propose a non intrusive vision based tracking system able to capture hand motion and simple hand gestures. The proposed device allows to use the hand as a "natural" 3D mouse, where the forefinger tip or the palm centre are used to identify a 3D marker and the hand gesture can be used to simulate the mouse buttons. The approach is based on a monoscopic tracking algorithm which is computationally fast and robust against noise and cluttered backgrounds. Two image streams are processed in parallel exploiting multi-core architectures, and their results are combined to obtain a constrained stereoscopic problem. The system has been implemented and thoroughly tested in an experimental environment where the 3D hand mouse has been used to interact with objects in a virtual reality application. We also provide results about the performances of the tracker, which demonstrate precision and robustness of the proposed syste
Automated Markerless Extraction of Walking People Using Deformable Contour Models
We develop a new automated markerless motion capture system for the analysis of walking people. We employ global evidence gathering techniques guided by biomechanical analysis to robustly extract articulated motion. This forms a basis for new deformable contour models, using local image cues to capture shape and motion at a more detailed level. We extend the greedy snake formulation to include temporal constraints and occlusion modelling, increasing the capability of this technique when dealing with cluttered and self-occluding extraction targets. This approach is evaluated on a large database of indoor and outdoor video data, demonstrating fast and autonomous motion capture for walking people
Evaluation of Pose Tracking Accuracy in the First and Second Generations of Microsoft Kinect
Microsoft Kinect camera and its skeletal tracking capabilities have been
embraced by many researchers and commercial developers in various applications
of real-time human movement analysis. In this paper, we evaluate the accuracy
of the human kinematic motion data in the first and second generation of the
Kinect system, and compare the results with an optical motion capture system.
We collected motion data in 12 exercises for 10 different subjects and from
three different viewpoints. We report on the accuracy of the joint localization
and bone length estimation of Kinect skeletons in comparison to the motion
capture. We also analyze the distribution of the joint localization offsets by
fitting a mixture of Gaussian and uniform distribution models to determine the
outliers in the Kinect motion data. Our analysis shows that overall Kinect 2
has more robust and more accurate tracking of human pose as compared to Kinect
1.Comment: 10 pages, IEEE International Conference on Healthcare Informatics
2015 (ICHI 2015
A practical multirobot localization system
We present a fast and precise vision-based software intended for multiple robot localization. The core component of the software is a novel and efficient algorithm for black and white pattern detection. The method is robust to variable lighting conditions, achieves sub-pixel precision and its computational complexity is independent of the processed image size. With off-the-shelf computational equipment and low-cost cameras, the core algorithm is able to process hundreds of images per second while tracking hundreds of objects with a millimeter precision. In addition, we present the method's mathematical model, which allows to estimate the expected localization precision, area of coverage, and processing speed from the camera's intrinsic parameters and hardware's processing capacity. The correctness of the presented model and performance of the algorithm in real-world conditions is verified in several experiments. Apart from the method description, we also make its source code public at \emph{http://purl.org/robotics/whycon}; so, it can be used as an enabling technology for various mobile robotic problems
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