Visual human motion capture from a mobile robot

In this paper, we present a visual human motion capture (HMC) system embedded on a mobile robot. The estimation of the 3D location and configuration of our 14 DOF model of the upper human body is performed with a particle filter. We use a stereoscopic camera to derive appearance based visual cues together with 3D measurements computed from a sparse 3D reconstruction. A comparative study is carried out in order to achieve the best association between measurement cues and filtering strategies in our robotics context. The system performs in real-time in various indoor environments.