Title :
Visual human motion capture from a mobile robot
Author :
Fontmarty, Mathias ; Lerasle, Frédéric ; Danès, Patrick
Author_Institution :
LAAS, CNRS, Toulouse, France
fDate :
Sept. 27 2009-Oct. 2 2009
Abstract :
In this paper, we present a visual human motion capture (HMC) system embedded on a mobile robot. The estimation of the 3D location and configuration of our 14 DOF model of the upper human body is performed with a particle filter. We use a stereoscopic camera to derive appearance based visual cues together with 3D measurements computed from a sparse 3D reconstruction. A comparative study is carried out in order to achieve the best association between measurement cues and filtering strategies in our robotics context. The system performs in real-time in various indoor environments.
Keywords :
cameras; image motion analysis; image reconstruction; mobile robots; particle filtering (numerical methods); robot vision; 3D location; 3D measurements; appearance based visual cues; mobile robot; particle filter; sparse 3D reconstruction; stereoscopic camera; upper human body; visual human motion capture; Cameras; Filtering; Human robot interaction; Mobile communication; Mobile robots; Particle filters; Robot kinematics; Robot sensing systems; Robot vision systems; Sensor systems;
Conference_Titel :
Robot and Human Interactive Communication, 2009. RO-MAN 2009. The 18th IEEE International Symposium on
Conference_Location :
Toyama
Print_ISBN :
978-1-4244-5081-7
Electronic_ISBN :
1944-9445
DOI :
10.1109/ROMAN.2009.5326308
