Pose Estimation from a Single Depth Image for Arbitrary Kinematic Skeletons

Details Pose Estimation from a Single Depth Image for Arbitrary Kinematic Skeletons Pose Estimation from a Single Depth Image for Arbitrary Kinematic Skeletons

2011-06-27

arxiv.org/abs/1106.5341v1

Computer Science

Computer Vision and Pattern Recognition

2 pages, 2 figures, RGB-D workshop in Robotics: Science and Systems (RSS 2011)

Scientific paper

We present a method for estimating pose information from a single depth image given an arbitrary kinematic structure without prior training. For an arbitrary skeleton and depth image, an evolutionary algorithm is used to find the optimal kinematic configuration to explain the observed image. Results show that our approach can correctly estimate poses of 39 and 78 degree-of-freedom models from a single depth image, even in cases of significant self-occlusion.

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