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An articulated object under consideration is defined as consisting of several solid parts which are arranged in a tree graph structure. Each part holds its shape information by a patch-modeling method so that we can cope with the wide variety of geometric shapes.
Each part in the model also holds the joint information that connects the part to the parent part. The joint has at most three axes around which to rotate the part, and at each axis the range of the rotation angle is defined. Only the root part has the location information in the 3D world, assumed to be given to the system in advance. Therefore, to estimate the pose of the articulated object is equivalent to determine all the rotation angle values in the model.