Pose estimation of jointed structures

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Citations (Scopus)

Abstract

A framework is proposed for model-based monocular vision covering not only conventional 3-D rigid models, but also flexible structures made up of 3-D rigid bodies connected by rotational joints. Pose-estimation problems from a single view are defined and discussed according to this object model composed of rigid bodies and rotational axes, respectively represented by sets of unit vectors and by single unit vectors. The authors define primitive problems as those which are solvable, but which would be unsolvable if any vector in the problem were invisible. A theorem is derived to extract a primitive problem family, members of which correspond to models containing rigid bodies and invisible rotational axes. Two generic rotation-estimation algorithms applicable to this problem family are also constructed. Experimental results from several primitive problems show the effectiveness of the proposed framework.

Original languageEnglish
Title of host publicationProc 91 IEEE Comput Soc Conf Comput Vision Pattern Recognit
PublisherPubl by IEEE
Pages566-572
Number of pages7
ISBN (Print)0818621486
Publication statusPublished - Dec 1 1991
Externally publishedYes
EventProceedings of the 1991 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Maui, HI
Duration: Jun 3 1991Jun 6 1991

Publication series

NameProc 91 IEEE Comput Soc Conf Comput Vision Pattern Recognit

Other

OtherProceedings of the 1991 IEEE Computer Society Conference on Computer Vision and Pattern Recognition
CityMaui, HI
Period6/3/916/6/91

ASJC Scopus subject areas

  • Engineering(all)

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  • Cite this

    Shakunaga, T. (1991). Pose estimation of jointed structures. In Proc 91 IEEE Comput Soc Conf Comput Vision Pattern Recognit (pp. 566-572). (Proc 91 IEEE Comput Soc Conf Comput Vision Pattern Recognit). Publ by IEEE.