Markerless Motion Capture with Structure Estimation Capability

Katsu Yamane; Daisuke Fukuda; Yoshihiko Nakamura

doi:10.20965/jrm.2008.p0322

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JRM Vol.20 No.2 pp. 322-331

doi: 10.20965/jrm.2008.p0322

(2008)

Paper:

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Markerless Motion Capture with Structure Estimation Capability

Katsu Yamane, Daisuke Fukuda, and Yoshihiko Nakamura

Department of Mechano-Informatics, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan

Received:

October 8, 2007

Accepted:

December 29, 2007

Published:

April 20, 2008

Keywords:

motion capture, markerless, structure estimation, reeb graph, volume extraction

Abstract

We present a markerless motion capture system able to determine the kinematic structure while measuring joint movement. In addition to volume data, we also use texture data to precisely measure the degrees of freedom that do not affect the shape, e.g., pronation/supination angles of the forearm and shank. We first obtain topology using a Reeb graph and independently build a tentative articulated-body chain model of the subject for each frame. We then extract a common optimized chain model by comparing joint angles of tentative models of all frames to identify which joints are related to describing the movement of the subject. Our system thus measures movement without prior knowledge of the structure. The system identifies the link length of objects with known structures based on measured data.

Cite this article as:

K. Yamane, D. Fukuda, and Y. Nakamura, “Markerless Motion Capture with Structure Estimation Capability,” J. Robot. Mechatron., Vol.20 No.2, pp. 322-331, 2008.

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References

[1] PhoeniX Technologies Incorporated, “High Performance Real-Time 3D Motion Capture Systems,”
http://www.ptiphoenix.com/
[2] Motion Analysis Corporation,
http://www.motionanalysis.com/
[3] Vicon Motion Systems, “600 Series Motion Capture System Technical Specification,”
http://www.vicon.com/engineering/downloads/VMS009S_600_TechSheet.pdf
[4] S. Park and J. Hodgins, “Capturing and Animating Skin Deformation in Human Motion,” ACM Transactions on Graphics, 25(3), pp. 881-889, 2006.
[5] H. Tanie, K. Yamane, and Y. Nakamura, “High Marker Density Motion Capture by Retroreflective Mesh Suit,” In Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 2895-2900, Barcelona,Spain, April 2005.
[6] W. Martin and J. Aggarwal, “Volumtertic Description of Objects from Multiple View,” IEEE Transactions on Pattern Analysis and Machine Intelligence, 5(2), pp. 150-158, 1987.
[7] H. Saito, S. Baba, M. Kimura, S. Vedula, and T. Kanade, “Appearance-Based Virtual View Generation of Temporally-Varying Events from Multi-Camera Images in the 3D Room,” Technical Report CMU-CS-99-127, Carnegie Mellon University, 1999.
[8] G. Cheung, S. Baker, and T. Kanade, “Shape-from-Shilhouette of Articulated Objects and its Use for Human Body Kinematics Estimation and Motion Capture,” In IEEE Conf. on Computer Vision and Pattern Recognition, pp. 77-84, 2003.
[9] C. Chu, O. Jenkins, and M. Mataric, “Markerless Kinematic Model and Motion Capture from Volume Sequences,” In Proc. of IEEE Computer Vision and Pattern Recognition, pp. 475-482, 2003.
[10] K. Ogawara, L. Xiaolu, and K. Ikeuchi, “Marker-Less Human Motion Estimation using Articulated Deformable Model,” In Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 46-51, 2007.
[11] G. Reeb, “Sur les points singuliers d’une forme de pfaff completement integrable ou d’une fonction numerique (On the singular points of a completely intergrable Pfaff form or of a numerical function),” Comptes Randusde l’Academie Sciences Paris, 222, pp. 847-849, 1946.
[12] M. Hilaga, Y. Shinagawa, T. Kohmura, and T. Kunii, “Topology matching for fully automatic similarity estimation of 3D shapes,” In Proc. of the 28th Annual Conf. on Computer Graphics and Interactive Techniques (SIGGRAPH), pp. 203-212, 2001.
[13] T. Tung and F. Schmitt, “The Augumented Multiresolution Reeb Graph Approach for Content-Based Retrieval of 3D Shapes,” Int. Journal of Shape Modeling, 11(1), pp. 91-120, 2005.
[14] W. Lorensen and H. Cline, “Marching Cubes: A High Resolution 3D Surface Construction Algorithm,” In Proc. of the 14th Annual Conf. on Computer Graphics and Interactive Techniques, pp. 163-169, 1987.
[15] M. S. LaValle, “Planning Algorithms,” Cambridge University Press, New York, NY, 2006.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] PhoeniX Technologies Incorporated, “High Performance Real-Time 3D Motion Capture Systems,”
http://www.ptiphoenix.com/

[2] [2] Motion Analysis Corporation,
http://www.motionanalysis.com/

[3] [3] Vicon Motion Systems, “600 Series Motion Capture System Technical Specification,”
http://www.vicon.com/engineering/downloads/VMS009S_600_TechSheet.pdf

[4] [4] S. Park and J. Hodgins, “Capturing and Animating Skin Deformation in Human Motion,” ACM Transactions on Graphics, 25(3), pp. 881-889, 2006.

[5] [5] H. Tanie, K. Yamane, and Y. Nakamura, “High Marker Density Motion Capture by Retroreflective Mesh Suit,” In Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 2895-2900, Barcelona,Spain, April 2005.

[6] [6] W. Martin and J. Aggarwal, “Volumtertic Description of Objects from Multiple View,” IEEE Transactions on Pattern Analysis and Machine Intelligence, 5(2), pp. 150-158, 1987.

[7] [7] H. Saito, S. Baba, M. Kimura, S. Vedula, and T. Kanade, “Appearance-Based Virtual View Generation of Temporally-Varying Events from Multi-Camera Images in the 3D Room,” Technical Report CMU-CS-99-127, Carnegie Mellon University, 1999.

[8] [8] G. Cheung, S. Baker, and T. Kanade, “Shape-from-Shilhouette of Articulated Objects and its Use for Human Body Kinematics Estimation and Motion Capture,” In IEEE Conf. on Computer Vision and Pattern Recognition, pp. 77-84, 2003.

[9] [9] C. Chu, O. Jenkins, and M. Mataric, “Markerless Kinematic Model and Motion Capture from Volume Sequences,” In Proc. of IEEE Computer Vision and Pattern Recognition, pp. 475-482, 2003.

[10] [10] K. Ogawara, L. Xiaolu, and K. Ikeuchi, “Marker-Less Human Motion Estimation using Articulated Deformable Model,” In Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 46-51, 2007.

[11] [11] G. Reeb, “Sur les points singuliers d’une forme de pfaff completement integrable ou d’une fonction numerique (On the singular points of a completely intergrable Pfaff form or of a numerical function),” Comptes Randusde l’Academie Sciences Paris, 222, pp. 847-849, 1946.

[12] [12] M. Hilaga, Y. Shinagawa, T. Kohmura, and T. Kunii, “Topology matching for fully automatic similarity estimation of 3D shapes,” In Proc. of the 28th Annual Conf. on Computer Graphics and Interactive Techniques (SIGGRAPH), pp. 203-212, 2001.

[13] [13] T. Tung and F. Schmitt, “The Augumented Multiresolution Reeb Graph Approach for Content-Based Retrieval of 3D Shapes,” Int. Journal of Shape Modeling, 11(1), pp. 91-120, 2005.

[14] [14] W. Lorensen and H. Cline, “Marching Cubes: A High Resolution 3D Surface Construction Algorithm,” In Proc. of the 14th Annual Conf. on Computer Graphics and Interactive Techniques, pp. 163-169, 1987.

[15] [15] M. S. LaValle, “Planning Algorithms,” Cambridge University Press, New York, NY, 2006.