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Motion analysis of articulated objects from monocular images

机译：单眼图像对关节对象的运动分析

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This paper presents a new method of motion analysis of articulated objects from feature point correspondences over monocular perspective images without imposing any constraints on motion. An articulated object is modeled as a kinematic chain consisting of joints and links, and its 3D joint positions are estimated within a scale factor using the connection relationship of two links over two or three images. Then, twists and exponential maps are employed to represent the motion of each link, including the general motion of the base link and the rotation of other links around their joints. Finally, constraints from image point correspondences, which are similar to that of the essential matrix in rigid motion, are developed to estimate the motion. In the algorithm, the characteristic of articulated motion, i.e., motion correlation among links, is applied to decrease the complexity of the problem and improve the robustness. A point pattern matching algorithm for articulated objects is also discussed in this paper. Simulations and experiments on real images show the correctness and efficiency of the algorithms.
机译：本文提出了一种新的运动分析方法，该方法根据单眼透视图像上的特征点对应关系对关节对象进行运动分析，而不会对运动施加任何约束。关节对象被建模为由关节和链接组成的运动链，并使用两个或三个图像上的两个链接的连接关系在比例因子内估算其3D关节位置。然后，使用扭曲和指数图来表示每个链接的运动，包括基本链接的一般运动以及其他链接绕其关节的旋转。最后，提出了来自像点对应关系的约束，该约束类似于刚体运动中的基本矩阵的约束，以估计运动。在该算法中，采用了关节运动的特性，即链接之间的运动相关性，以降低问题的复杂性并提高鲁棒性。本文还讨论了一种针对关节物体的点模式匹配算法。在真实图像上的仿真和实验表明了算法的正确性和有效性。

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