Recovery of 3D Articulated Motion from 2D Correspondences

We present a method for computing the 3D motion of articulated models from 2D correspondences. An iterative batch algorithm is proposed which estimates the maximum aposteriori trajectory based on the 2D measurements subject to a number of constraints. These include (i) kinematic constraints based on a 3D kinematic model, (ii) joint angle limits, (iii) dynamic smoothing and (iv) 3D key frames which can be specified the user. The framework handles any variation in the number of constraints as well as partial or missing data. This method is shown to obtain favorable reconstruction results on a movie dance sequence. Authors email: [email protected], [email protected], [email protected] c Compaq Computer Corporation, 1999 This work may not be copied or reproduced in whole or in part for any commercial purpose. Permission to copy in whole or in part without payment of fee is granted for nonprofit educational and research purposes provided that all such whole or partial copies include the following: a notice that such copying is by permission of the Cambridge Research Laboratory of Compaq Computer Corporation in Cambridge, Massachusetts; an acknowledgment of the authors and individual contributors to the work; and all applicable portions of the copyright notice. Copying, reproducing, or republishing for any other purpose shall require a license with payment of fee to the Cambridge Research Laboratory. All rights reserved. CRL Technical reports are available on the CRL’s web page at http://www.crl.research.digital.com. Compaq Computer Corporation Cambridge Research Laboratory One Kendall Square, Building 700 Cambridge, Massachusetts 02139 USA