Visual Tracking of Self-occluding Articulated Objects Contents 1 Introduction 1 2 a Framework for Tracking Self-occluding Objects 2

Computer sensing of hand and limb motion is an important problem for applications in human-computer interaction, virtual reality, and athletic performance measurement. We describe a framework for local tracking of self-occluding motion, in which parts of the mechanism obstruct each others visibility to the camera. Our approach uses a kinematic model to predict occlusion and windowed templates to track partially occluded objects. We analyze our model of self-occlusion, discuss the implementation of our algorithm, and give experimental results for 3D hand tracking under signi cant amounts of self-occlusion. These results extend the DigitEyes system for articulated tracking described in [22, 21] to handle self-occluding motions.