Applied Bionics and Biomechanics

Applied Bionics and Biomechanics / 2012 / Article
Special Issue

Personal Care Robotics

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Open Access

Volume 9 |Article ID 178981 | 14 pages |

Combination of Annealing Particle Filter and Belief Propagation for 3D Upper Body Tracking


3D upper body pose estimation is a topic greatly studied by the computer vision society because it is useful in a great number of applications, mainly for human robots interactions including communications with companion robots. However there is a challenging problem: the complexity of classical algorithms that increases exponentially with the dimension of the vectors’ state becomes too difficult to handle. To tackle this problem, we propose a new approach that combines several annealing particle filters defined independently for each limb and belief propagation method to add geometrical constraints between individual filters. Experimental results on a real human gestures sequence will show that this combined approach leads to reliable results.

Copyright © 2012 Hindawi Publishing Corporation. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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