홈 › Papers

Online Unsupervised Learning of the 3D Kinematic Structure of Arbitrary Rigid Bodies

This work addresses the problem of 3D kinematic structure learning of arbitrary articulated rigid bodies from RGB-D data sequences. Typically, this problem is addressed by offline methods that process a batch of frames, assuming that complete point trajectories are available. However, this approach is not feasible when considering scenarios that require continuity and fluidity, for instance, human-robot interaction. In contrast, we propose to tackle this problem in an online unsupervised fashion, by recursively maintaining the metric distance of the scene's 3D structure, while achieving real-time performance. The influence of noise is mitigated by building a similarity measure based on a linear embedding representation and incorporating this representation into the original metric distance. The kinematic structure is then estimated based on a combination of implicit motion and spatial properties. The proposed approach achieves competitive performance both quantitatively and qualitatively in terms of estimation accuracy, even compared to offline methods.

Code (0)

등록된 구현이 없습니다.

Similar Papers 제목 키워드 기반