Fast registration of articulated objects from depth images

We present an approach for fast registration of a Global Articulated 3D Model to RGBD data from Kinect. Our approach uses geometry based matching of rigid parts of the articulated objects in depth images. The registration is performed in a parametric space of transformations independently for each segment. The time for registering each frame with the global model is reduced greatly using this method. We experimented the algorithm with different articulated object datasets and obtained significantly low execution time as compared to ICP algorithm when applied on each rigid part of the articulated object.