Details
| Originalsprache | Englisch |
|---|---|
| Titel des Sammelwerks | 2009 Workshop on Applications of Computer Vision, WACV 2009 |
| Publikationsstatus | Veröffentlicht - 2009 |
| Veranstaltung | 2009 Workshop on Applications of Computer Vision, WACV 2009 - Snowbird, UT, USA / Vereinigte Staaten Dauer: 7 Dez. 2009 → 8 Dez. 2009 |
Publikationsreihe
| Name | 2009 Workshop on Applications of Computer Vision, WACV 2009 |
|---|
Abstract
This work presents an approach for the modeling and numerical optimization of ball joints within a Marker-less Motion Capture (MoCap) framework. In skeleton based approaches, kinematic chains are commonly used to model 1 DoF revolute joints. A 3 DoF joint (e.g. a shoulder or hip) is consequently modeled by concatenating three consecutive 1 DoF revolute joints. Obviously such a representation is not optimal and singularities can occur. Therefore, we propose to model 3 DoF joints with spherical joints or ball joints using the representation of a twist and its exponential mapping (known from 1 DoF revolute joints). The exact modeling and numerical optimization of ball joints requires additionally the adjoint transform and the logarithm of the exponential mapping. Experiments with simulated and real data demonstrate that ball joints can better represent arbitrary rotations than the concatenation of 3 revolute joints. Moreover, we demonstrate that the 3 revolute joints representation is very similar to the Euler angles representation and has the same limitations in terms of singularities.
ASJC Scopus Sachgebiete
- Informatik (insg.)
- Angewandte Informatik
- Informatik (insg.)
- Maschinelles Sehen und Mustererkennung
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- BibTex
- RIS
2009 Workshop on Applications of Computer Vision, WACV 2009. 2009. 5403056 (2009 Workshop on Applications of Computer Vision, WACV 2009).
Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Aufsatz in Konferenzband › Forschung › Peer-Review
}
TY - GEN
T1 - Ball joints for Marker-less human Motion Capture
AU - Pons-Moll, Gerard Pons
AU - Rosenhahn, Bodo
PY - 2009
Y1 - 2009
N2 - This work presents an approach for the modeling and numerical optimization of ball joints within a Marker-less Motion Capture (MoCap) framework. In skeleton based approaches, kinematic chains are commonly used to model 1 DoF revolute joints. A 3 DoF joint (e.g. a shoulder or hip) is consequently modeled by concatenating three consecutive 1 DoF revolute joints. Obviously such a representation is not optimal and singularities can occur. Therefore, we propose to model 3 DoF joints with spherical joints or ball joints using the representation of a twist and its exponential mapping (known from 1 DoF revolute joints). The exact modeling and numerical optimization of ball joints requires additionally the adjoint transform and the logarithm of the exponential mapping. Experiments with simulated and real data demonstrate that ball joints can better represent arbitrary rotations than the concatenation of 3 revolute joints. Moreover, we demonstrate that the 3 revolute joints representation is very similar to the Euler angles representation and has the same limitations in terms of singularities.
AB - This work presents an approach for the modeling and numerical optimization of ball joints within a Marker-less Motion Capture (MoCap) framework. In skeleton based approaches, kinematic chains are commonly used to model 1 DoF revolute joints. A 3 DoF joint (e.g. a shoulder or hip) is consequently modeled by concatenating three consecutive 1 DoF revolute joints. Obviously such a representation is not optimal and singularities can occur. Therefore, we propose to model 3 DoF joints with spherical joints or ball joints using the representation of a twist and its exponential mapping (known from 1 DoF revolute joints). The exact modeling and numerical optimization of ball joints requires additionally the adjoint transform and the logarithm of the exponential mapping. Experiments with simulated and real data demonstrate that ball joints can better represent arbitrary rotations than the concatenation of 3 revolute joints. Moreover, we demonstrate that the 3 revolute joints representation is very similar to the Euler angles representation and has the same limitations in terms of singularities.
UR - http://www.scopus.com/inward/record.url?scp=77951158436&partnerID=8YFLogxK
U2 - 10.1109/WACV.2009.5403056
DO - 10.1109/WACV.2009.5403056
M3 - Conference contribution
AN - SCOPUS:77951158436
SN - 9781424454976
T3 - 2009 Workshop on Applications of Computer Vision, WACV 2009
BT - 2009 Workshop on Applications of Computer Vision, WACV 2009
T2 - 2009 Workshop on Applications of Computer Vision, WACV 2009
Y2 - 7 December 2009 through 8 December 2009
ER -