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A Video Database for Head Pose Tracking Evaluation

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Motion models for robust 3D human body tracking

Raquel Urtasun

In this work, we propose new ways to learn pose and motion priors models and show that they can be used to increase the performance of 3D body tracking algorithms, resulting in very realistic motions under very challenging conditions. We first explored an ...

EPFL2006

Embedding Motion in Model-Based Stochastic Tracking

Daniel Gatica-Perez, Jean-Marc Odobez, Silèye Oumar Ba

Particle filtering (PF) is now established as one of the most popular methods for visual tracking. Within this framework, two assumptions are generally made. The first is that the data are temporally independent given the sequence of object states, and the ...

2006

Temporal Motion Models for Monocular and Multiview 3–D Human Body Tracking

Pascal Fua, Raquel Urtasun

We explore an approach to 3D people tracking with learned motion models and deterministic optimization. The tracking problem is formulated as the minimization of a differ- entiable criterion whose differential structure is rich enough for optimization to b ...

Elsevier2006

3D Position Tracking in Challenging Terrain

Roland Siegwart, Pierre Lamon

The intent of this paper is to show how the accuracy of 3D position tracking can be improved by considering rover locomotion in rough terrain as a holistic problem. An appropriate locomotion concept endowed with a controller min- imizing slip improves the ...

2005

Motion tracking for human-robot interaction

Björn Jensen

This thesis aims at improving the perceptional side of interaction to enable the handling of more complex situations. For the Swiss National Exposition Expo.02 the robot RoboX and an event-driven interaction system have been designed by members of our lab. ...

EPFL2004

Hierarchical Implicit Surface Joint Limits for Human Body Tracking

Pascal Fua, Raquel Urtasun, Lorna Herda

To increase the reliability of existing human motion tracking algorithms, we propose a method for imposing limits on the underlying hierarchical joint structures in a way that is true to life. Unlike most existing approaches, we explicitly represent depend ...

2004

3D Tracking for Gait Characterization and Recognition

Pascal Fua, Raquel Urtasun

We propose an approach to gait analysis that relies on fitting 3--D temporal motion models to synchronized video sequences. These models allow us not only to track but also to recover motion parameters that can be used to recognize people and characterize ...

2004

Embedding motion in model-based stochastic tracking

Daniel Gatica-Perez, Jean-Marc Odobez

2004

3D human body tracking using deterministic temporal motion models

Pascal Fua, Raquel Urtasun

There has been much effort invested in increasing the robustness of human body tracking by incorporating motion models. Most approaches are probabilistic in nature and seek to avoid becoming trapped into local minima by considering multiple hypotheses, whi ...

Springer2004

Motion likelihood and proposal modeling in Model-Based Stochastic Tracking

Daniel Gatica-Perez, Jean-Marc Odobez

Particle filtering is now established as one of the most popular methods for visual tracking. Within this framework, there are two important considerations. The first one refers to the generic assumption that the observations are temporally independent giv ...

IDIAP2004