Robust Articulated-ICP for Real-Time Hand Tracking

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 novel 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.


Year:
2015
Publisher:
Eurographics Association
Keywords:
Note:
To appear at the 2015 Symposium on Geometry Processing (Computer Graphics Forum). Originally submitted on Jan. 20 2015 for review (ACM SIGGRAPH)
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 Record created 2015-03-29, last modified 2018-03-17

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