Stereo-Based Markerless Human Motion Capture System

Abstract

Markerless human motion capture means to capture human motion without any additional arrangements required, by operating on image sequences only. Implementing such a system on a humanoid robot and thus giving the robot the ability to perceive human motion would be valuable for various reasons. Captured trajectories, which are calculated in joint angle space, can serve as a valuable source for learning from humans. Another application for the data computed by such a system is the recognition of actions and activities, serving as a perception component for human-robot interaction. However, providing data for learning of movements is the more challenging goal, since reproducing captured trajectories on the robot sets the highest demands on smoothness and accuracy.