Robust Articulated-ICP for Real-Time Hand Tracking
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Date
2015
Journal Title
Journal ISSN
Volume Title
Publisher
The Eurographics Association and John Wiley & Sons Ltd.
Abstract
We present a robust method for capturing articulated hand motions in realtime using a single depth camera. Our system is based on a realtime registration process that accurately reconstructs hand poses by fitting a 3D articulated hand model to depth images. We register the hand model using depth, silhouette, and temporal information. To effectively map low-quality depth maps to realistic hand poses, we regularize the registration with kinematic and temporal priors, as well as a data-driven prior built from a database of realistic hand poses. We present a principled way of integrating such priors into our registration optimization to enable robust tracking without severely restricting the freedom of motion. A core technical contribution is a new method for computing tracking correspondences that directly models occlusions typical of single-camera setups. To ensure reproducibility of our results and facilitate future research, we fully disclose the source code of our implementation.
Description
@article{10.1111:cgf.12700,
journal = {Computer Graphics Forum},
title = {{Robust Articulated-ICP for Real-Time Hand Tracking}},
author = {Tagliasacchi, Andrea and Schröder, Matthias and Tkach, Anastasia and Bouaziz, Sofien and Botsch, Mario and Pauly, Mark},
year = {2015},
publisher = {The Eurographics Association and John Wiley & Sons Ltd.},
DOI = {10.1111/cgf.12700}
}