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Sensors 2017, 17(8), 1913; doi:10.3390/s17081913

Dual Quaternions as Constraints in 4D-DPM Models for Pose Estimation

Departamento de Ingeniería de Sistemas y Automática, Instituto de Automática e informática Industrial, Universitat Politècnica de València, València 46022, Spain
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Received: 1 June 2017 / Revised: 7 August 2017 / Accepted: 13 August 2017 / Published: 19 August 2017
(This article belongs to the Special Issue Imaging Depth Sensors—Sensors, Algorithms and Applications)
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Abstract

The goal of this research work is to improve the accuracy of human pose estimation using the Deformation Part Model (DPM) without increasing computational complexity. First, the proposed method seeks to improve pose estimation accuracy by adding the depth channel to DPM, which was formerly defined based only on red–green–blue (RGB) channels, in order to obtain a four-dimensional DPM (4D-DPM). In addition, computational complexity can be controlled by reducing the number of joints by taking it into account in a reduced 4D-DPM. Finally, complete solutions are obtained by solving the omitted joints by using inverse kinematics models. In this context, the main goal of this paper is to analyze the effect on pose estimation timing cost when using dual quaternions to solve the inverse kinematics. View Full-Text
Keywords: DPM; 4D-DPM; dual quaternions; Kalman filter; polishphere; pose estimation; kinematic constraints DPM; 4D-DPM; dual quaternions; Kalman filter; polishphere; pose estimation; kinematic constraints
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Martinez-Berti, E.; Sánchez-Salmerón, A.-J.; Ricolfe-Viala, C. Dual Quaternions as Constraints in 4D-DPM Models for Pose Estimation. Sensors 2017, 17, 1913.

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