Predicting Missing Markers to Drive Real-Time Centre of Rotation Estimation

This paper addresses the problem of real-time location of the joints or centres of rotation (CoR) of human skeletons in the presence of missing data. The data is assumed to be 3dmarker positions from a motion capture system. We present an integrated framework which predicts the occluded marker positions using a Kalman filter in combination with inferred information from neighbouring markers and thereby maintains a continuous data-flow. The CoR positions can be calculated with high accuracy even in cases where markers are occluded for a long period of time.

[1]  Jurriaan D. Mulder,et al.  Optical Tracking and Automatic Model Estimation of Composite Interaction Devices , 2006, IEEE Virtual Reality Conference (VR 2006).

[2]  Jurgen Broeren,et al.  A kinematic analysis of a haptic handheld stylus in a virtual environment: a study in healthy subjects , 2006, Journal of NeuroEngineering and Rehabilitation.

[3]  Jessica K. Hodgins,et al.  Automatic Joint Parameter Estimation from Magnetic Motion Capture Data , 2023, Graphics Interface.

[4]  J. Cameron,et al.  Real-Time Estimation of Missing Markers in Human Motion Capture , 2008, 2008 2nd International Conference on Bioinformatics and Biomedical Engineering.

[5]  Jim X. Chen.  Animation and Simulation , 2009 .

[6]  Leif Kobbelt,et al.  Self-calibrating optical motion tracking for articulated bodies , 2005, IEEE Proceedings. VR 2005. Virtual Reality, 2005..

[7]  Greg Welch,et al.  The HiBall Tracker: high-performance wide-area tracking for virtual and augmented environments , 1999, VRST '99.

[8]  W. Taylor,et al.  A survey of formal methods for determining the centre of rotation of ball joints. , 2006, Journal of biomechanics.

[9]  R. E. Kalman,et al.  A New Approach to Linear Filtering and Prediction Problems , 2002 .

[10]  Michael F. Cohen,et al.  Verbs and Adverbs: Multidimensional Motion Interpolation , 1998, IEEE Computer Graphics and Applications.

[11]  Guodong Liu,et al.  Estimation of missing markers in human motion capture , 2006, The Visual Computer.

[12]  Sahan Gamage,et al.  New least squares solutions for estimating the average centre of rotation and the axis of rotation. , 2002, Journal of biomechanics.

[13]  Jean-Christopher Nebel.  Keyframe interpolation with self-collision avoidance , 1999, Computer Animation and Simulation.

[14]  Joan Lasenby,et al.  A real-time sequential algorithm for human joint localization , 2005, SIGGRAPH '05.

[15]  D Thalmann,et al.  Using skeleton-based tracking to increase the reliability of optical motion capture. , 2001, Human movement science.

[16]  Alberto Menache,et al.  Understanding Motion Capture for Computer Animation and Video Games , 1999 .

[17]  Berthold K. P. Horn,et al.  Closed-form solution of absolute orientation using unit quaternions , 1987 .

[18]  David A. Forsyth,et al.  Skeletal Parameter Estimation from Optical Motion Capture Data , 2005, CVPR.