This project explores the use of abstract, physics-based models of
human locomation in tracking. Abstract models, like the one shown
above, are used in robotics and biomechanics to capture key aspects of
the dynamics of human locomotion. Some of them exhibit
humanoid-like walking as passive limit cycles of their motion,
exhibiting their stability and applicability to human motion
modelling. This project aims to use these abstractions to build
motion models which can then be used to constrain human pose tracking.
Publications
Physics-based Person Tracking Using the Anthropomorphic Walker.
Marcus A Brubaker, David J Fleet and Aaron Hertzmann. International Journal of Computer Vision, 2010. (pdf)(code)
The Kneed Walker for Human Pose Tracking. Marcus A Brubaker and David J Fleet. In Proceedings of IEEE CVPR 2008. (pdf)(avi)
Physics-based Person Tracking Using Simplified Lower Body Dynamics. Marcus A Brubaker, David J Fleet and Aaron Hertzmann. In Proceedings of IEEE CVPR 2007. (pdf)(avi)
Selected References
Energetics of Actively Powered Locomotion Using the Simplest Walking Model. Art D. Kuo. Journal of Biomechanical Engineering. No. 124, pgs 113-120, 2002. (pdf)
A Simple Model Predicts the Step Length-Speed Relationship in Human Walking. Art D. Kuo. Journal of Biomechanical Engineering. No. 123, pgs 264-269, 2001. (pdf)
Dynamics and Control of Bipedal Locomotion. Tad McGeer. Journal of Theoretical Biology. No. 163, pgs 277-314, 1993. (pdf)
Passive Dynamic Walking. Tad McGeer. International Journal of Robotics Research, Vol. 9, No. 2, pgs 62-82, 1990. (pdf)
