Title :
Hands in action: real-time 3D reconstruction of hands in interaction with objects
Author :
Romero, Javier ; Kjellström, Hedvig ; Kragic, Danica
Author_Institution :
Comput. Vision & Active Perception Lab., CSC-KTH, Stockholm, Sweden
Abstract :
This paper presents a method for vision based estimation of the pose of human hands in interaction with objects. Despite the fact that most robotics applications of human hand tracking involve grasping and manipulation of objects, the majority of methods in the literature assume a free hand, isolated from the surrounding environment. Our hand tracking method is non-parametric, performing a nearest neighbor search in a large database (100000 entries) of hand poses with and without grasped objects. The system operates in real time, it is robust to self occlusions, object occlusions and segmentation errors, and provides full hand pose reconstruction from markerless video. Temporal consistency in hand pose is taken into account, without explicitly tracking the hand in the high dimensional pose space.
Keywords :
computer vision; image reconstruction; pose estimation; search problems; hand pose reconstruction; human hand tracking; nearest neighbor search; object occlusion; pose estimation; real-time 3D reconstruction; robotics; segmentation error; self occlusion; vision based estimation; Computer vision; Grasping; Humans; Image databases; Image reconstruction; Nearest neighbor searches; Orbital robotics; Real time systems; Robots; Robustness;
Conference_Titel :
Robotics and Automation (ICRA), 2010 IEEE International Conference on
Conference_Location :
Anchorage, AK
Print_ISBN :
978-1-4244-5038-1
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2010.5509753