3-D TRACKING AND MOTION ESTIMATION USING HIERARCHICAL KALMAN FILTER

The authors present a novel approach to the problem of tracking and re constructing articulated objects in 3-D space. The newly conceived com putational process and its supporing data structure, the hierarchical Kalman filter (HKF) and the adaptive hierarchical structure (AHS), all ow the problem to be treated in a single, unified framework. There are three novelties in the authors' formulation: reducing the 3-D trackin g problem to 2-D tracking; incorporating the kinematic and the dynamic properties of object; and tracking nonrigid objects. To demonstrate t he appropriateness of the proposed method, the authors present some of the experimental results on both synthetic and real images.