Kinematics of motion tracking using computer vision
This work addresses a specific integration challenge for researchers in robotics or biomechanics, but it is incremental as it adapts existing techniques.
The paper tackles the problem of integrating computer vision motion tracking with multibody system dynamics by adapting methods and nomenclature, enabling applications like inverse-dynamics simulations driven by tracked body motions.
This paper describes the kinematics of the motion tracking of a rigid body using video recording. The novelty of the paper is on the adaptation of the methods and nomenclature used in Computer Vision to those used in Multibody System Dynamics. That way, the equations presented here can be used, for example, for inverse-dynamics multibody simulations driven by the motion tracking of selected bodies. This paper also adapts the well-known Zhang calibration method to the presented nomenclature.