Multi Body Kalman Filtering with Articulation Constraints for Humanoid Robot Pose and Motion Estimation.
Daniel HauschildtSören KernerStefan TasseOliver UrbannPublished in: RoboCup (2011)
Keyphrases
- kalman filtering
- humanoid robot
- multibody
- motion estimation
- motion segmentation
- multi frame
- motion model
- kalman filter
- articulated objects
- rigid objects
- image sequences
- point correspondences
- motion parameters
- multi modal
- motion capture
- body pose
- particle filter
- feature tracking
- optical flow
- motion tracking
- motion compensation
- motion vectors
- human motion
- structure from motion
- moving objects
- d objects
- pose estimation
- motion field
- geometric constraints
- particle filtering
- video coding
- model selection
- geometric properties
- computational complexity
- video sequences
- pairwise
- human pose
- mean shift
- object tracking