JRM Vol.20 No.2 pp. 322-331
doi: 10.20965/jrm.2008.p0322


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

October 8, 2007
December 29, 2007
April 20, 2008
motion capture, markerless, structure estimation, reeb graph, volume extraction

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:
Katsu Yamane, Daisuke Fukuda, and Yoshihiko Nakamura, “Markerless Motion Capture with Structure Estimation Capability,” J. Robot. Mechatron., Vol.20, No.2, pp. 322-331, 2008.
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