Real-Time Tracking of Multiple Articulated Structures in Multiple Views

This paper describes a highly flexible approach to real-time frame-rate tracking in complex camera and structures configurations, including the use of multiple cameras and the tracking of multiple or articulated targets. A powerful and general method is presented for expressing and solving the constraints which exist in these configurations in a principled manner. This method exploits the geometric structure present in the Lie group and Lie algebra formalism to express the constraints that derive from structures such as hinges or a common ground plane. This method makes use of the adjoint representation to simplify the constraints which are then applied by means of Lagrange multipliers.

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