Electrical Engineering
      and Computer Sciences

Electrical Engineering and Computer Sciences

COLLEGE OF ENGINEERING

UC Berkeley

Tracking People with Twists and Exponential Maps

Christoph Bregler and Jitendra Malik

EECS Department
University of California, Berkeley
Technical Report No. UCB/CSD-97-973
November 1997

This paper demonstrates a new visual motion estimation technique that is able to recover high degree-of-freedom articulated human body configurations in complex video sequences. We introduce the use of a novel mathematical technique, the product of exponential maps and twist motions, and its integration into a differential motion estimation. This results in solving simple linear systems, and enables us to recover robustly the kinematic degrees-of-freedom in noise and complex self occluded configurations. We demonstrate this on several image sequences of people doing articulated full body movements, and visualize the results in re-animating an artificial 3D human model. We are also able to recover and re-animate the famous movements of Eadweard Muybridge's motion studies from the last century. To the best of our knowledge, this is the first computer vision based system that is able to process such challenging footage and recover complex motions with such high accuracy.


BibTeX citation:

@techreport{Bregler:CSD-97-973,
    Author = {Bregler, Christoph and Malik, Jitendra},
    Title = {Tracking People with Twists and Exponential Maps},
    Institution = {EECS Department, University of California, Berkeley},
    Year = {1997},
    Month = {Nov},
    URL = {http://www.eecs.berkeley.edu/Pubs/TechRpts/1997/6402.html},
    Number = {UCB/CSD-97-973},
    Abstract = {This paper demonstrates a new visual motion estimation technique that is able to recover high degree-of-freedom articulated human body configurations in complex video sequences. We introduce the use of a novel mathematical technique, the product of exponential maps and twist motions, and its integration into a differential motion estimation. This results in solving simple linear systems, and enables us to recover robustly the kinematic degrees-of-freedom in noise and complex self occluded configurations.  We demonstrate this on several image sequences of people doing articulated full body movements, and visualize the results in re-animating an artificial 3D human model. We are also able to recover and re-animate the famous movements of Eadweard Muybridge's motion studies from the last century. To the best of our knowledge, this is the first computer vision based system that is able to process such challenging footage and recover complex motions with such high accuracy.}
}

EndNote citation:

%0 Report
%A Bregler, Christoph
%A Malik, Jitendra
%T Tracking People with Twists and Exponential Maps
%I EECS Department, University of California, Berkeley
%D 1997
%@ UCB/CSD-97-973
%U http://www.eecs.berkeley.edu/Pubs/TechRpts/1997/6402.html
%F Bregler:CSD-97-973