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A human body is represented by an articulated object model. The model
consists of 15 nodes. Each node corresponds to a part of human body.
The nodes are connected to each other in a tree graph so that one node
includes one joint that has at most 3 rotational axes. Joint rotational
angles of the node i at time t are expressed by a vector 
. The subscript k means the rotational
axis of the joint rotational angle. The minimum and maximum
value of 
are defined so that a human model prohibit
unrealistic motion.
The motion is said to be estimated if the angles of all the joints are calculated for every frame in an image sequence.