| Autor: |
Gershom Kutliroff, Shachar Fleishman, Alon Lerner, Mark Kliger |
| Rok vydání: |
2015 |
| Předmět: |
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| Zdroj: |
CVPR Workshops |
| DOI: |
10.1109/cvprw.2015.7301345 |
| Popis: |
In this paper we address the problem of matching a kinematic model of an articulated body to a point cloud obtained from a consumer grade 3D sensor. We present the ICPIK algorithm - an Articulated Iterative Closest Point algorithm based on a solution to the Inverse Kinematic problem. The main virtue of the presented algorithm is its computational efficiency, achieved by relying on inverse-kinematics framework for analytical derivation of the Jacobian matrix, and the enforcement of kinematic constraints. We demonstrate the performance of the ICPIK algorithm by integrating it into a real-time hand tracking system. The presented algorithm achieves similar accuracy as state of the art methods, while significantly reducing computation time. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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