A Human Half-Top Kinematic Motion Tracking System Based on Disparity Information of Stereo Camera

Abstract

This paper presents a new real-time system to acquire motion information of human articulated objects such as arm and head. The system does not need any marker or device to wear on human body and adopted stereo camera to obtain robust system against for illumination and complex background without position initialization of articulated objects. We present a solution to estimate self-occluded body objects when human model behaves normal action towards the camera. The main idea of the solution is to apply a component labeling techniques on sliced disparity map, and found the arm position when the arm is located in front of basis distance of body and we could also found arm location when the arm is located on the basis distance with Morphological methods. From this approach, we can obtain the full body shape considering self-occlusion. It is simple and fast in comparison with other methods which satisfy real-time performance and accuracy of object tracking at the same time.