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亠仆从舒 仗仂亰 亳 亰舒于舒 亟于亳亢亠仆亳




                仆仂仆 仂仆亳仆
       http://courses.graphicon.ru/vision2
亅仂 从 仗仂亟亞仂仂于仍亠仆
仗亳 仗仂亟亟亠亢从亠 Microsoft
       Research
仍舒亞仂亟舒仆仂亳

 Many slides are used from Andrew Zisserman talk at
                     CVML2010
仂舒仆仂于从舒 亰舒亟舒亳




 仗亠亟亠仍亠仆亳亠 仗仂仍仂亢亠仆亳 亳 仂仄 仆舒 亳亰仂弍舒亢亠仆亳亳
  (2D) 亳 于 仗仂舒仆于亠 (3D) 于亠 舒亠亶 亠仍舒 亠仍仂于亠从舒
 舒从 仗仂 仂亟仆仂仄 亳亰仂弍舒亢亠仆亳 舒从 亳 亟仍 亠仍仂亞仂 于亳亟亠仂
舒亳舒弍亠仍仆仂 仗仂亰




        弍舒亳亠 于仆亳仄舒仆亳亠 亠 仆舒 仂, 从舒从
        仗仂仂亢亳 亟亞 仆舒 亟亞舒 仗仂 于亠/亠从亠
        仂亟亠仍仆亠 舒亳 亠仍舒 亠仍仂于亠从舒
亳仄亠仆亠仆亳亠




丕仗舒于仍亠仆亳亠 从仂仄仗ム亠仂仄         舒于舒 亟于亳亢亠仆亳

    舒仗仂亰仆舒于舒仆亳亠 亳 舒仆舒仍亳亰 仗仂于亠亟亠仆亳
    亠亠仆仂 亟于亳亢亠仆亳 仆舒 于亳舒仍仆亶 仂弍亠从
    仆仆仂舒亳 亳 仗仂亳从 于 于亳亟亠仂
仂亰舒 从舒从 亟亠亶于亳亠
仂亰舒 从舒从 仂弍亳亠
仂亟亠仍亳 亠仍仂于亠从舒




仍仍ム亳仂于舒仆仆舒      亳仆亠仄舒亳亠从舒         仂亟亠仍 仂仄
      仄仂亟亠仍              仄仂亟亠仍

  亠 仂 仗舒舒仄亠亳亠从亳亠 仄仂亟亠仍亳  弍仂仍亳仄 从仂仍亳亠于仂仄
仗舒舒仄亠仂于.
  仂 亳  弍仂仍亳仄 从仂仍亳亠于仂仄 仂亞舒仆亳亠仆亳亶.
  舒舒 亰舒亟舒舒  仂亠仆亳 仗舒舒仄亠 亳 仄仂亟亠仍亠亶 仗仂 亳亰仂弍舒亢亠仆亳
(于于仂亟 / inference)
舒仗仂亰仆舒于舒仆亳亠 于 于亳亟亠仂
 亳仍亳亠仍仆舒 仍仂亢仆仂 仄仂亟亠仍亠亶
   仂亳从 仗舒舒仄亠仂于 于 仗仂舒仆于亠 弍仂仍仂亠 舒亰仄亠仆仂亳
      弌从舒亢亠仄, 1013
   仆仂亞仂 仍仂从舒仍仆 仄亳仆亳仄仄仂于
      仂弍仍亠仄舒 亳仆亳亳舒仍亳亰舒亳亳 仄仂亟亠仍亳



 舒从 仄仂亢仆仂 仄亠仆亳 仍仂亢仆仂 仗亳 舒弍仂亠  于亳亟亠仂?
   仂仍亠亠 仄仆亶 仗仂亳从 (仗. 亞舒亟亳亠仆仆亶 仗从)
   丕仄亠仆亠仆亳亠 仗仂舒仆于舒 仗仂亳从舒 亰舒  亳仗仂仍亰仂于舒仆亳
    仗亠亟亟亠亞仂 从舒亟舒
亠仂仆仂 仂亳弍从亳 仆舒 于亳亟亠仂

  于亠仂仆仂 仂亳弍从亳 0.1% 仆舒 从舒亟
 仂仍亠 从舒亟仂于, 于亠仂仆仂 仗亠舒 0.999
 亳 30 从舒亟舒/  仆舒 仗仂仍舒亠:
   3.0% 舒仆 仂亳弍从亳 仗仂仍亠 1 亠从
   83.5% 舒仆 仂亳弍从亳 仗仂仍亠 1 仄亳仆
   99.99% 舒仆 仂亳弍从亳 仗仂仍亠 5 仄亳仆
亠仂仆仂 仂亳弍从亳 仆舒 于亳亟亠仂

  于亠仂仆仂 仂亳弍从亳 0.01% 仆舒 从舒亟
 仂仍亠 从舒亟仂于, 于亠仂仆仂 仗亠舒 0.999
 亳 30 从舒亟舒/  仆舒 仗仂仍舒亠:
   0.3 % 舒仆 仂亳弍从亳 仗仂仍亠 1 亠从
   16.5 % 舒仆 仂亳弍从亳 仗仂仍亠 1 仄亳仆
   59.3 % 舒仆 仂亳弍从亳 仗仂仍亠 5 仄亳仆
仂亟仂亟
 亢亠仆 仄亠仂亟, 舒弍仂舒ム亳亶 仆舒 仂亟仆仂仄 从舒亟亠
   仍亳 仆舒 仄舒仍亠仆从仂仄 仆舒弍仂亠 从舒亟仂于
   亅仂 仗仂亰于仂仍亳 仆舒仄 亠亳仆亳亳舒仍亳亰亳仂于舒 仍亠亢亠仆亳亠


 舒从 弍 仂 于亠仄亠仆仆仂亶 亳仆仂仄舒亳亠亶 (于亳亟亠仂)?
   亢仆仂 亠 亳仗仂仍亰仂于舒 亟仍 于亠仄亠仆仆仂亶 亳仍舒亳亳
   亠 仗仂亳从 仗仂 仄亠仆亠仄 仗仂舒仆于, 仆仂 仂弍舒弍仂从舒
    亠亰仍舒仂于 仗仂亳从舒
   弌 仗仂仄仂 亳仍舒亳亳 仄仂亢亠仄 仂弍舒于舒 仍仂亢仆亠
    亞亳仗仂亠亰 亳 舒亰亠舒 仆亠仂亟仆仂亰仆舒仆亠 亳舒亳亳
亳仄亠




 亳仄亠 亳亰 仍亠从亳亳 Andrew Fitzgibbon c 仍亠从亳亳 仆舒
  Microsoft Computer Vision Summer School 2011
亳仄亠
亳仄亠
亳仄亠
亳仄亠
亳仄亠
亳仄亠
亳仄亠
亳仄亠
亳仄亠
亳仄亠
亳仄亠
亳仄亠
亠仄亠仆仆舒 亳仍舒亳

 亠仂亟 于亠仄亠仆仆仂亶 亳仍舒亳亳 于仂亟 亟舒仍亠从仂
  亰舒 仗亠亟亠仍 亠仄 仍亠从亳亳 亳 从仂仄仗ム亠仆仂亞仂 亰亠仆亳

 亳仄亠:
     Kalman filter
     Particle filter
     Hidden Markov Model
     Gaussian process
      .亟.


 舒仗亳仄亠, 仄. 从 束弌从仆亠 仄亠仂亟 舒仆舒仍亳亰舒
  亳亰仂弍舒亢亠仆亳亶 亳 亳亞仆舒仍仂于損
亠于亠 舒弍仂




J. O'Rourke and N. Badler. Model-based image analysis of
human motion using constraint propagation. IEEE Trans.
on Pattern Analysis and Machine Intelligence. 1980.
亠于亠 舒弍仂
亠于亠 舒弍仂
Pfinder (People Finder)




      亳舒仆亳亠 仂仆舒 亟仍 仗仂仍亠仆亳 仄舒从亳 亠仍仂于亠从舒
          亟仆舒 舒亳舒仆舒 亟仍 从舒亢亟仂亞仂 仗亳从亠仍
      仂亟亠仍亳仂于舒仆亳亠 亠仍仂于亠从舒 从舒从 仆亠从仂仍从仂 束弍仍仂弍仂于損
          仄仂亟亠仍 舒亳舒仆舒
          仗舒舒仄亠 仗亳从亠仍 - (x,y,Y,U,V)
          仗亳从亠仍 亠仍仂于亠从舒 亟仂仍亢亠仆 仗亳仆舒亟仍亠亢舒 仂亟仆仂仄 亳亰
           弍仍仂弍仂于 亠仍仂于亠从舒

Christopher Wren, Ali Azarbayejani, Trevor Darrell, Alex Pentl Pfinder: Real-Time
Tracking of the Human Body, PAMI 1997
PFinder
 仆亳亳舒仍亳亰舒亳 仄仂亟亠仍亳
   束弌舒仂于亠損 仗仂亰  仂亠仆从舒 从仂仆舒, 仍仂从舒仍亳亰舒亳 舒亠亶
    亠仍舒 亳 仄仂亟亠仍亳仂于舒仆亳亠 弍仍仂弍仂于 于 亳 仂弍仍舒


 舒 从舒亢亟仂仄 从舒亟亠:
   仂仍亠仆亳亠 仄舒从亳 仗亠亠亟仆亠亞仂 仗仍舒仆舒
   仍 从舒亢亟仂亞仂 仗亳从亠仍 仂亠仆从舒 仍仂亞舒亳仄舒 仗舒于亟仂仗仂亟仂弍亳
    仗亳仆舒亟仍亠亢仆仂亳 从 从舒亢亟仂仄 弍仍仂弍




   弍仆仂于仍亠仆亳亠 仄仂亟亠仍亠亶 弍仍仂弍仂于
   亠亟从舒亰舒仆亳亠/亞仍舒亢亳于舒仆亳亠 亳仍仂仄 舒仍仄舒仆舒
Pfinder: 亟亠仄仂
仍仍ム亳仂于舒仆仆亠 从




 Fischler & Elschlager 1973
Representing people
舒亰仆亠 仗仂亰
舒亰仆亠 仗仂亰
仍仍ム亳仂于舒仆仆舒 从舒




 舒亳亠从舒 仄仂亟亠仍




 陸  仄仂亟亠仍 于仆亠仆仂亳 (亰舒于亳亳 仂 仗亳亰仆舒从仂于
  亳亰仂弍舒亢亠仆亳)
 率  从亳仆亠仄舒亳亠从仂亠 仂亞舒仆亳亠仆亳亠
丕仆舒仆亶 仗仂亠仆亳舒仍 - 于亠




仂亟亠仍亳亠仄 舒仗亠亟亠仍亠仆亳 于亠舒 舒亳:
 亳仂亞舒仄仄舒
 舒亳舒仆舒
丕仆舒仆亶 仗仂亠仆亳舒仍 - HOG
亳仆亠仄舒亳亠从亳亠 仂亞舒仆亳亠仆亳
于仂亟
          h  从仂仍亳亠于仂
          于舒亳舒仆仂于 亟仍 从舒亢亟仂亶 舒亳
          (仗仂仍亠 亟亳从亠亳亰舒亳亳)
         n 舒亠亶
         丐仂亞亟舒 于亠亞仂 于舒亳舒仆仂于 hn
         仍舒亞仂亟舒 亟亠亠于, 仍仂亢仆仂
          仆亳亢舒亠 亟仂 O(nh2) 亳仍亳 O(nh)
          仗亳 亳仗仂仍亰仂于舒仆亳亳
          仗亠亳舒仍仆 从仂亠仆亳亶
         Belief Propagation 亟仍 仂亠仆从亳
          舒仗仂亠亳仂仆仂亶 于亠仂仆仂亳
亞亳亠 仄仂亟亠仍亳
                 仂亟亠仍 仗仍仂仂 亳于舒亠
                  舒仄仂仗亠亠亠亠仆亳
                 仂仂仄 仄仂亢仆仂
                  亟仂弍舒于亳
                  亟仂仗仂仍仆亳亠仍仆亠 亠弍舒
                 仂亟亠仍 亢亠 仆亠 弍亟亠
                  亟亠亠于仂仄, 仗仂仂仄
                  仗亳仂亟亳
                  亳仗仂仍亰仂于舒 亟亞亳亠
                  仄亠仂亟
                 Loopy Belief Propagation
仂仂亠仆亳亠 仄仂亟亠仍亠亶




D. Ramanan, D. Forsyth, and A. Zisserman. Tracking People by Learning their
Appearance. PAMI 2007.
弌亠仄舒 仄亠仂亟舒
   仂亟亠仍 亠仍仂于亠从舒 = 于仆亠仆仂 + 从舒
    (+ 亟亳仆舒仄亳从舒)
   弌从舒 亳 亟亳仆舒仄亳从舒  仂弍亳亠 亟仍 于亠,
    于仆亠仆仂 亳仆亟亳于亳亟舒仍仆舒 (person-specific)
   仂仂亠仆亳亠 仄仂亟亠仍亳 于仆亠仆仂亳 束仆舒 仍亠損 仂弍仆仂
    仗亳于仂亟亳 从 仄亠亠仆亳礆 (drift)
   仂仂仄, 仄仂亢仆仂 仗仂 于亳亟亠仂仂仍亳从
    亳仆亳亳舒仍亳亰亳仂于舒 仄仂亟亠仍 于仆亠仆仂亳, 亳
    亰舒亳从亳仂于舒 亠 仗亳 仍亠亢亠仆亳亳
   弌亳仍仆舒 仄仂亟亠仍 从 亳 于仆亠仆仂亳
    仗仂亰于仂仍磳 亰舒仄亠仆亳 仂仍亠亢亳于舒仆亳亠 仗仂于仂仆仄
    仂弍仆舒亢亠仆亳亠仄 (亳 仆亠从仂仂仄 亞仍舒亢亳于舒仆亳亠仄)



D. Ramanan, D. Forsyth, and A. Zisserman. Tracking People by Learning their
Appearance. PAMI 2007.
弌亠仄舒 仄亠仂亟舒




               Tracker
仆亳亳舒仍亳亰舒亳




 仆亳亳舒仍亳亰舒亳 束仆亳亰 于于亠損
 仂仂亶 亟亠亠从仂 仆舒 仂仆仂于亠 舒弍仍仂仆舒 丱舒舒舒 (从舒从 于 VJ)
仆亳亳舒仍亳亰舒亳




 仆亳亳舒仍亳亰舒亳 束于亠 于仆亳亰損
 亟亠仄 亳从舒 束亟仂弍仆亠 亟仍 仂弍仆舒亢亠仆亳晛 仄仂亟亠仍亳  亳亟亳亶
亠仍仂于亠从
     束Opportunistic detector損
亠亠从仂 舒亞舒ム亠亞仂 亠仍仂于亠从舒




 亠亰舒于亳亳仄仂 亳舒亠仄 亟仍 从舒亠于 舒亰仆仂亶 仂亳亠仆舒亳亳 chamfer distance,
亰舒亠仄 仄仄亳亠仄
仂仂亠仆亳亠 仄仂亟亠仍亳 于仆亠仆仂亳




 弍舒亠仄 从仍舒亳亳从舒仂 于仆亠仆仂亳 (于 RGB 仗仂舒仆于亠)
 quadratic logistic regression
仂亳从 于 仍仂亢仆 仍舒




 亠仆亠亳亠仄 仗亳仄亠 亳亰 舒仗仂亠亳仂仆仂亞仂
  舒仗亠亟亠仍亠仆亳 (sample from posterior)
 弌亟于亳亞 亠亟仆亠亞仂 亟仍 仗仂亳从舒 仄仂亟
弍舒 vs 亳仆亟亳于亳亟舒仍仆舒 仄仂亟亠仍
亠亰仍舒
亠亰仍舒
亠舒亳于仆仂亠 仂仆亠仆亳亠 仄仂亟亠仍亳




 亟亠仄 仂弍舒 于亠仂于 仄仂亟亠仍 亳亠舒亳于仆仂,
  仗仂亠仗亠仆仆仂 仂仆
亳仄亠
Stickman (2009) & Buffy pose (2008)




   549 舒亰仄亠亠仆仆                            舒弍仂 亳仗亳仆 仗仂亰 亳亰
    亳亰仂弍舒亢亠仆亳亶 亳亰 PASCAL VOC                   亠亳舒仍舒 舒亳 
    08                                          亳亠弍亳亠仍仆亳舒 于舒仄仗亳仂于



        http://www.vision.ee.ethz.ch/~calvin/ethz_pascal_stickmen/index.html
        http://www.robots.ox.ac.uk/~vgg/data/buffy_pose_classes/index.html
亳仄亠 亳亰仂弍舒亢亠仆亳亶




舒亰仆亠 仗仂亰, 仂亟亠亢亟舒, 舒从, 仂于亠亠仆亳亠, 仍仂亢仆亶 仂仆
弍仆亶 亟亠亠从仂




   亳仄亠仄亠仆亠仆亳亠 仂弍仆仂亶 亳仍仍ム亳仂于舒仆仆仂亶 仄仂亟亠仍亳 从 仍仂亢仆仂仄
    仂仆 仆亠 仗仂亰于仂仍磳 仆舒亟亠亢亟舒仆仂 仂仗亠亟亠仍亳 仗仂亰
亠亠从仂 仂舒




 仗仂仍亰仂于舒仆亳亠 亟亠亠从仂舒 仂舒 仗仂亰于仂仍亳 仆舒仄
  仍仂从舒仍亳亰仂于舒 仂弍仍舒 仗仂亳从舒
   舒亟舒 仄舒舒弍 亠仍舒 亳 从仂仆亠仆仂亠亶
   舒亟舒 仂亞舒仆亳亠仆亳亠 仆舒 仗仂仍仂亢亠仆亳亠 从仂仆亠仆仂亠亶
   舒弍仂舒亠 弍仂
仆亳亳舒仍亳亰舒亳 仗仂 亟亠亠从仂

                         HOG + SVM 亟亠亠从仂,
                          仂弍亠仆仆亶 仗仂 亠仄亠
                          bootstrapping




                         亟亠仄 舒仆舒仍亳亰亳仂于舒
                          舒亳亠仆仆 仂弍仍舒
                          仂舒, 于 从仂仂
                          亟仂仍亢仆 仗仂仗舒
                          从仂仆亠仆仂亳
亠亠从仂 仂舒




             亠亟仆亠亠 亳亰仂弍舒亢亠仆亳亠 仂舒
亟亠仍亠仆亳亠 仗亠亠亟仆亠亞仂 仗仍舒仆舒

                      仗仂仍亰仂于舒仆亳亠 GrabCut
                       亟仍 仂仆亠仆亳 仂弍仍舒亳
                       仗仂亳从舒
                      仆亳亳舒仍亳亰亳亠仄 仄仂亟亠仍亳
                       仗仂 于亟亠仍亠仆仆仂仄 仂


                             仂仆亠于舒亳于仆仂亠
                              仂仆亠仆亳亠 (于 95.5%
                              仍舒亠于 亠仍仂于亠从舒 仆亠
                              亠磳仄)
                             丕仄亠仆舒亠仄 仂弍仍舒
                              仗仂亳从舒
                             亠 亠弍亠
                              亳仆仂仄舒亳亳 仂 仂仆亠
                             个仂仆 仄仂亢亠 弍
                              亟亳仆舒仄亳亠从亳仄
亳仄亠
亳仍亠仆亳亠 仗仂亰
                     仍 仂亠仆从亳 仗仂亰
                      仗亳仄亠仆磳仄
                      亳仍仍ム亳仂于舒仆仆
                      仄仂亟亠仍
                       仂亳从 从舒亠于仄亳
                        舒弍仍仂仆舒仄亳
                       弍亠仆亳亠 仄仂亟亠仍亳 于亠舒
                       丕仂仆亠仆亳亠 仂弍仍舒亳
                        仗仂亳从舒


                     仂亞:
                       仂亞亠亳于仆仂亠
                        仂仆亠仆亳亠 仗仂于舒亠
                        从仂仂 于 10-100 舒亰
                       仂舒亰亟仂 仆舒亟亠亢仆亠亠
亠亰仍舒




 舒亠于仂 亟亠仄仂仆亳亠 仆舒 仍仂亢仆 亠仆舒 亳亰
  Buffy-于弍仂从亳
 仗亳仄亠
舒亰于亳亳亠

 舒弍仍ミ莞黍出湖 1:
   仂仍仂亢亠仆亳亠 亞仂仍仂于 亳 仂舒
    舒弍亳仍仆仂 仂仆仂亳亠仍仆仂
    仆舒亶亟亠仆仆仂亞仂 仂舒
   仍亠亳 弍仂仍亠亠 仗仂亟于亳亢仆
    仂仆仂亳亠仍仆仂 仂舒
   仂从亳 亠 弍仂仍亠亠 仗仂亟于亳亢仆
舒亰于亳亳亠




  仆亠从仂仍从仂 舒仆亟舒仆 舒弍仍仂仆仂于 仂亟于舒
  于亠舒 亳 亠从 仂亟亠仍仆 舒亠亶 仄仂亟亠仍亳
 仂亢亠仄 亳仗仂仍亰仂于舒 于仆亠仆仂 舒弍亳仍仆
  仍亠仄亠仆仂于 仄仂亟亠仍亳 亟仍 仗仂亳从舒 仗仂亟于亳亢仆 舒亠亶
仗亳仂仆仂亠 舒仗仂仍仂亢亠仆亳亠



 仂 于弍仂从亠 仗仂仂亳仄
  从舒 舒仗亠亟亠仍亠仆亳
  仗仂仍仂亢亠仆亳
  仍亠仄亠仆仂于 仄仂亟亠仍亳
  亠仍舒
舒亳亠仆仆舒 亠仄舒 亠仍亳从仂仄
亞舒仆亳亠仆亳 仄仂亟亠仍亠亶




仂亞亟舒 于亠 仍亠仄亠仆 于亳亟仆 亳 仆亠 仗亠亠从于舒ム 
仄仂亟亠仍 仗亳仄亠仆亳仄舒
弍亠亰舒仆亳亠 从舒亟舒




     仍 舒亳 仆亠 仗舒舒仄亠舒 于亳亟亳仄仂亳
亠亠从亳
亳仄亠仆亠仆亳亠: 仗仂亳从 仗仂 仗仂亰亠




 舒亟舒舒 仆舒亶亳 于 弍舒亰亠 亳亰仂弍舒亢亠仆亳 仍ミ莞黍  仗仂亰仂亶
  亰舒亟舒仆仆仂亞仂 仂弍舒亰舒
仂亟仂亟
            束磪从舒 亠亞仄亠仆舒亳晛
             仗仂亰 亠仍仂于亠从舒 从舒从
             亟亠从亳仗仂
              舒舒 于亠仂仆仂亳
               舒仗仂仍仂亢亠仆亳 舒亳
               亠仍舒
              舒仗亠亟亠仍亠仆亳亠
               仂亳亠仆舒亳亳 亳 仗仂仍仂亢亠仆亳
               舒亠亶 亠仍舒


          弌舒于仆亠仆亳亠
              弌从舒仍仆仂亠 仗仂亳亰于亠亟亠仆亳亠
               亟亠从亳仗仂仂于
亳仄亠
亳仄亠
亳仄亠
亳仄亠
亳仄亠
亳仄亠
亳仄亠
亳仄亠
亳仄亠
亳仄亠
亳仄亠
亳仄亠
亠舒仍亳亰舒亳亳
 CALVIN  亟亠亠从仂 亠仍舒, 2D 仂亠仆从舒 仗仂亰
   http://www.vision.ee.ethz.ch/~calvin/software.html
3D 亳亰 2D




 仂仗仂  从舒从 仆舒仄 仗仂仍亳 3D 仗仂亰 仗仂 2D
  亳亰仂弍舒亢亠仆亳礆?
 仍舒于仆舒 仗仂弍仍亠仄舒  仆亠仂亟仆仂亰仆舒仆仂 3D 仗仂亰 亳亰-
  亰舒 仆亳亰从仂亶 仂仆仂亳 仍仂从舒仍亳亰舒亳亳 于亠 从仂仆亠仆仂亠亶
H3D: Humans in 3D (2009)




   1000 亳亰仂弍舒亢亠仆亳亶 (Flickr)
   仆仂于仆亠 舒于 亳 从仍ム亠于亠 仂从亳, 仄亠从亳 于亳亟亳仄仂亳
   舒亰仄亠从舒 仂弍仍舒亠亶 (仍亳仂, 从从舒 亳 .亟.)
   3D 从亠仍亠

           http://www.eecs.berkeley.edu/~lbourdev/h3d/
HumanEva (2006)




               http://vision.cs.brown.edu/humaneva/index.html

     4 舒从舒, 6 仂弍亳 亟于亳亢亠仆亳亶 (仂亟弍舒, 弍亠亞, 亳 .亟.)
     7 从舒仄亠 (3 于亠仆亠, 4 仆仂-弍亠仍亠)
     弌亳仆仂仆亳亰亳仂于舒仆仆亠  亠亰仍舒舒仄亳 mocap
     Baseline 仄亠仂亟 舒从亢亠 于 仆舒仍亳亳亳
L. Sigal and M. J. Black. HumanEva: Synchronized Video and Motion Capture
Dataset for Evaluation of Articulated Human Motion, Techniacl Report CS-06-08,
Brown University, 2006
HumanEva (2006)




            亳仄亠 亟舒仆仆
TUM Kitchen Data Set (2009)




 4 舒亳仆亠 从舒仄亠 384*288 RGB
 舒亞仆亳仆亠 亠仆仂, 亳从亳ム亳亠
  仂从亳亠/亰舒从亳亠 亳从仂于 亳 亟于亠亠亶
 亠亰仍舒 仗仂仍仆仂 亰舒于舒亠仆仆仂亞仂 亟于亳亢亠仆亳
  仄亠仂亟仂仄 舒于仂仂于


       http://ias.cs.tum.edu/download/kitchen-activity-data
3D 仄仂亟亠仍




 亳仆亠仄舒亳亠从舒 (从亠仍亠仆舒) 仄仂亟亠仍
   舒弍仂 仂亠亰从仂于, 于磶舒仆仆 舒于舒仄亳
 个仂仄舒 仗仂于亠仆仂亳 亠仍舒
   仂仍亳亞仂仆舒仍仆舒 亳仍亳 弍仍仂仆舒
 仆亠仆仂
   丶于亠 仂亟亠仍仆 仂亠从, 于亠 亠亞仂仍仆亳从仂于, 亠从舒
    仂弍亠从舒
仂仍亳亠于仂 从舒仄亠
 仆仂亞仂从舒仄亠仆亠 从仂仆亳亞舒亳亳
   亳仆仂从仍仆仂亠 亠亠仂
   仆仂亞仂从舒仄亠仆仂亠 亠亠仂, 仗. 于仂从亠仍仆亶 仂弍仄
   丕亠 仗亳亰仆舒从仂于 仂 仄仆仂亞亳 舒从仂于 (亳仍, 从舒, 于亠
    亳 .亟)


 亟仆仂从舒仄亠仆亠 从仂仆亳亞舒亳亳
   亠仂亟仆仂亰仆舒仆仂 亠从仂仆从亳亳
   仂仍亠亠 仍仂亢仆亠 仄亠仂亟 仂弍亠仆亳 (弍仂仍亠 仂弍舒ム亳
    亟舒仆仆)
   亠亞仍亳亰舒亳 亰舒  于亠仄亠仆仆仂亶 亳仍舒亳亳
弍舒 亠仄舒 亟仍 仄仆仂亞亳 从舒仄亠
 亟亠:
   舒  弍仂仍亠亞仂 仂弍仄舒 亳亰仄亠亠仆亳亶 于 仄仆仂亞仂从舒仄亠仆仂仄
    仍舒亠 从仂仄仗亠仆亳亠仄 仆亠仂亟仆仂亰仆舒仆仂 仂亠仆从亳 3D 仗仂亰
 弌亠仄舒
   个仂仄仍亳亠仄 于仂 3D 仄仂亟亠仍
   仗亠亟亠仍磳仄 仗亳亰仆舒从亳, 仗仂 从仂仂仄 仄 仂亠仆亳于舒亠仄
    从舒亠于仂 仄仂亟亠仍亳
   个仂仄仍亳亠仄 仆从亳 仗舒于亟仂仗仂亟仂弍亳 于仆亠仆仂亳
    仄仂亟亠仍亳
   仆亳亳舒仍亳亰亳亠仄 仄仂亟亠仍
   舒 从舒亢亟仂仄 从舒亟亠 仂仗亳仄亳亰亳亠仄 仗舒舒仄亠 仄仂亟亠仍亳
      弌仄仗仍亳仂于舒仆亳亠
      弌仂舒亳亠从亳亶 仗仂亟弍仂
仗仂仍亰仂于舒仆亳亠 亳仍仂于
    仆仂亞仂从舒仄亠仆舒 亳亠仄舒
    仂仍亳亞仂仆舒仍仆舒 仄仂亟亠仍 仂仄 + 从亠仍亠
    亠仆从舒 亳仍舒 亠亠亰 于亳舒仆亳亠 仂仆舒
    个仆从亳 从舒亠于舒 仗仂 仂于仗舒亟亠仆亳 亳仍舒 亳 于亠舒
     仄仂亟亠仍亳
    仗亳仄亳亰舒亳  仗仂仄仂 仄仗仍亳仂于舒仆亳
         仂仄弍亳仆舒亳 2 仄亠仂亟仂于 仆舒 仂仆仂于亠 束亳仍舒 舒亳損
             束Annealing particle filter損
             束Partitioned sampling損




Jan Bandouch , Michael Beetz , Tracking Humans Interacting with the Environment
Using Efficient Hierarchical Sampling and Layered Observation Models, IEEE Int.
Workshop on Human-Computer Interaction (HCI). 2009,
3D 仄仂亟亠仍




   51 DOF 于 从亳仆亠仄舒亳亠从仂亶 仄仂亟亠仍亳
   2000 亠亞仂仍仆亳从仂于 于 亠从亠
   丶于亠 从舒亢亟仂亞仂 亠亞仂仍仆亳从舒 亟仍 于仆亠仆仂亳
   仆舒 亳仆亳亳舒仍亳亰舒亳
     PCA 舒亰仍仂亢亠仆亳亠 亟仍 于亟亠仍亠仆亳 100 亞仍舒于仆 从仂仄仗仂仆亠仆
     仆仂亶 仗仂亟弍仂 从仂仄仗仂仆亠仆
仂亟亠仍亳 于仆亠仆仂亳




 亳仄亠 仆亠从仂仍从亳 仄仂亟亠仍亠亶 亟仍 仍亠亢亠仆亳
仂仄弍亳仆舒亳 亳仍仂于




 亠仄仂仆舒亳 于舒亢仆仂亳 舒亠亞亳亳 仄仗仍亳仂于舒仆亳 于
  亳仍亠
  亟舒仆仆仂仄 仍舒亠  仆亠仗舒于亳仍仆亶 仗仂磲仂从
  亳亠舒亳亠从仂亞仂 仄仗仍亳仂于舒仆亳 仗亳于仂亟亳 从 仂亳弍从舒仄
舒亢仆仂 仂仆仂亞仂 亳仍舒




 弌亠亰仆亠 仂亳弍从亳 于 仄舒从亠 仗亠亠亟仆亠亞仂 仗仍舒仆舒
  仗亳于仂亟 从 亠亰从亳仄 仂亳弍从舒仄 于 仂亠仆从亠 仗仂亰
 于仂 亠亞亳亳ム 仂亟亠仍仆仄亳 亟舒亳从舒仄亳
  舒从 仂从亳 亟于亠亠 从舒舒 亳 亟舒仍ム 亳
  仂弍亠从 亳亰 仄舒从亳
亠亰仍舒 仍亠亢亠仆亳
仗仂仍亰仂于舒仆亳亠 3D 仂弍仄舒
    仂仗仂仍仆亳仄 仆舒 仄仂亟亠仍 仆舒弍仍ミ莞黍出狐 舒于仆亠仆亳亠仄
     仗仂于亠仆仂亳 仂弍亠从舒  于仗从仍仂亶 仂弍仂仍仂从仂亶,
     仗仂仂亠仆仆仂亶 仗仂 仗亠亠亠亠仆亳 亳仍仂于
    亅仍亠仄亠仆 仄仂亟亠仍亳:
         弌仂仂于亠于亳亠 3D 仄仂亟亠仍亳 于仗从仍仂亶 仂弍仂仍仂从亠
         弌仂仂于亠于亳亠 从仂仆仂于 仄仂亟亠仍亳 从仂仆舒仄 仆舒
          亳亰仂弍舒亢亠仆亳亳
         丶于亠 仂亠从 3D 仄仂亟亠仍亳 亳仗仂仍亰亠 亟仍 从仂亠仆亳
          仂仗仂舒于仍亠仆亳 仄仂亟亠仍亳 亳 于仗从仍仂亶 仂弍仂仍仂从亳
    仍 仂亠仆从亳 仗舒舒仄亠仂于 亳仗仂仍亰亠仄
     仂舒亳亠从亳亶 仄亠仂亟 仂仗亳仄亳亰舒亳亳, 舒从亢亠
     仗仂亰于仂仍ム亳 仄亠仆亳 于仍亳礌亳亠 仍仂从舒仍仆
     仄亳仆亳仄仄仂于

R. Kehl and L. V. Gool. Markerless tracking of complex human motions from multiple
views. Computer Vision and Image Understanding (CVIU), 104(2):190209, 2006.
3D 仄仂亟亠仍




 仄亠仂 亠仂仆仂亶 仄仂亟亠仍亳 亳仗仂仍亰亠仄 弍仂仍亠亠
  仗仂 仗舒舒仄亠亳亠从 仄仂亟亠仍 亠仍仂于亠从舒
亳舒仆亳亠 仂仆舒




 弌亳舒亠仄 亟仍 从舒亢亟仂亶 从舒仄亠 仆舒 于仂亠亶 仄舒亳仆亠
仂从亠仍仆亶 仂弍仄




   64x64x64                       128x128x128
 弌仂亳仄 3D 于仂从亠仍仆 仄仂亟亠仍 仂弍亠从舒 仗仄
  仗亠亠亠亠仆亳 亳仍仂于
 舒于仍磳仄 于亠 于仂从亠仍亳 仂仍从仂  仗仂于亠仆仂亳
  仄仂亟亠仍亳 (仂 1000 亟仂 5000 于仂从亠仍亠亶)
仂亳从 从舒于 仂弍亠从舒




 仄 从舒 仆舒 亳亰仂弍舒亢亠仆亳亳, 亳仗仂仍亰
  仂于亠亠仆于仂于舒仆仆亶 仄亠仂亟 仗仂亳从舒 从舒于 (RGB-
  从舒)
仂仆舒 仄仂亟亠仍亳




 仍 从舒亢亟仂亞仂 仂仂礌亳 仄仂亟亠仍亳 于亟亠仍磳仄 仂从亳
  从仂仆舒 (occluding contours) 仆舒 仄仂亟亠仍亳 仆舒 从舒亢亟仂仄
  舒从亠
  弍亟亠仄 舒于仆亳于舒  从舒礆亳 仆舒 亳亰仂弍舒亢亠仆亳亳
弌舒于仆亠仆亳亠 于仆亠仆仂亳 (于亠舒)




 仂从亠仍仆舒 仄仂亟亠仍 亠亞仄亠仆亳亠 仗仂 于亠舒仄,
  仂 仗仂舒亠 仗仂亳从 弍仍亳亢舒亶亳 仂亠从 仄仂亟亠仍亳 亳
  仗仂于亠仆仂亳 于仂从亠仍仆仂亶 仄仂亟亠仍亳
舒亢仆仂 舒亰仆 亳亰仄亠亠仆亳亶




 于亠  仂亠仆从舒 仂仍从仂 仗仂 于仗从仍仂亶 仂弍仂仍仂从亠
 仆亳亰  仂仆亠仆亳亠 仂亠仆从亳 仗仂 从仂仆舒仄亳
亠亰仍舒
弌亳仍  仆亠从舒仍亳弍仂于舒仆仆 从舒仄亠




 Hasler N., Rosenhahn B., Thorm辰hlen T., Wand M., Gall J., and Seidel H.-P.,
Markerless Motion Capture with Unsynchronized Moving Cameras CVPR 2009
弌亠仄舒 亳亠仄
 亠亞亳舒亳 从舒仄亠
   束弌从舒 亳亰 亟于亳亢亠仆亳晛 仆亠亰舒于亳亳仄仂 亟仍 从舒亢亟仂亶
    从舒仄亠
   弍亠亟亳仆亠仆亳亠 亠从仂仆从亳亶 亰舒 亠 仂仗仂舒于仍亠仆亳
    从舒亟仂于 仄亠亢亟 仗仂仍亠亟仂于舒亠仍仆仂礆亳
   亠从仂仆从亳 仗仂于亠仆仂亳
 弌亳仆仂仆亳亰舒亳 于亳亟亠仂仗仂仂从仂于
   仂亠仍亳 亳仆仂仆亳亰亳仂于舒仆仆  于亳亟亠仂 舒亟亳仂亟仂仂亢亠从
 舒于舒 亟于亳亢亠仆亳
   仆亳亳舒仍亳亰舒亳 3D-仄仂亟亠仍亳 (仍舒亰亠仆仂亠 从舒仆亳仂于舒仆亳亠)
   亠舒亳于仆舒 亠亞仄亠仆舒亳 亳 仂亠仆从舒 仗仂亰
      弌亠亞仄亠仆舒亳  仗仂仄仂 level sets  prior 亳亰 3亟 仄仂亟亠仍亳
      亠仆从舒 仗仂亰 仗仂 仆舒弍仂 亳仍仂于
      仂于仂亠仆亳亠 亟仂 仂亟亳仄仂亳
舒仍亳弍仂于从舒 从舒仄亠
 亠从仂仆从亳 仗仂 1 于亳亟亠仂




 弍亠亟亳仆亠仆亳亠 亠从仂仆从亳亶
   弌仂仗仂舒于仍磳仄 3D 仂从亳 亠仆, 从仂仂亠 仂仍亠亢亳于舒仍亳
    仆舒 2+ 于亳亟亠仂
   丐亠弍亠仄 仂弍仍ミ莞黍出狐 仍仂于亳亶
      仂仂亢亠亳 仂从亠仆仂亠亶
      丕仆亳从舒仍仆仂亳 (从舒亠于仂 仂仗仂舒于仍亠仆亳 仗舒-从舒仆亟亳亟舒舒
       亠于亠仆仆仂 于亠, 亠仄 仍亠亟ム亠亶 仗仂 从舒亠于 仗舒)
仂舒仆仂于仍亠仆亳亠 仗仂于亠仆仂亠亶




 个亳仍舒亳 仂亠从
   舒仄舒亳于舒亠仄 仂从亠仆仂 从舒亢亟仂亶 仂从亳
   亳弍仍亳亢舒亠仄 仂从亠仆仂 亞仍舒亟从仂亶 仗仂于亠仆仂
   仍亳 仂从舒 仆亠 仍亠亢亳 仆舒 仆亠亶  仂弍舒于舒亠仄
 丐亳舒仆亞仍亳亠仄 仂舒于亳亠 仂从亳
弌亳仆仂仆亳亰舒亳 于亳亟亠仂仗仂仂从仂于




 仂-从仂亠仍亳 舒亟亳亳亞仆舒仍仂于
 亠 仗仂亟仂亟亳 亟仍 仂从 亠仆 亳 弍仂仍亳
  舒仂礌亳亶 (亰舒亟亠亢从舒 于 从舒亟 仗亳 >6.8)
 仂亢亠仄 亰舒亟舒 仆亠从仂仍从仂 亳亰于亠仆 亳仂仆亳从仂于 亰于从舒,
  舒仗仂亰仆舒于舒 亳, 仂舒于亳 亳亠仄 舒于仆亠仆亳亶
亳亟亠仂
3D 亳亰 仄仂仆仂从仍仆仂亞仂 2D




 亠于亠 舒弍仂 仗仂 仂亠仆从亠 3D 仗仂亰 仗仂
  仂仄亠亠仆仆仄 仗仂仍亰仂于舒亠仍亠仄 仂从舒仄 仆舒 2D
  亳亰仂弍舒亢亠仆亳亳 仂仆仂 从 1985 亞仂亟
 舒亟舒舒 亠舒亠 仗仂从舒 仂仍从仂 亰舒 
  亳仗仂仍亰仂于舒仆亳 于亳亟亠仂  亞仍舒亢亳于舒仆亳 仗舒舒仄亠仂于
  仄仂亟亠仍亳 仗仂 于亠仄亠仆亳
3D 亳亰 2D

     Y  仗舒舒仄亠 3D 仗仂亰, X  仗舒舒仄亠 2D
     仗仂亰. 亢仆仂 仂亠仆亳 P(Y|X), 亳 亰舒亠仄 亞仍舒亟亳 仗仂
     于亠仄亠仆亳 于 于亳亟亠仂

    仍 仂亞仂 仗仂 于弍仂从亠 (X,Y) 仆舒仗礆 仂亠仆亳仄
     P(Y|X)  仗仂仄仂 束Mixture of experts損




L. Sigal and M. J. Black. Predicting 3D people from 2D pictures. In AMDO 2006.
亳仄亠 舒弍仂
亠亰仍舒 舒弍仂
舒亰于亳亳亠 仄仂仆仂从仍仆仂亞仂 仍亠亢亠仆亳




   亳弍仍亳亰亳亠仍仆舒 从仍舒亳亳从舒亳 仂从亳 仂弍亰仂舒 (8
    于舒亳舒仆仂于) 仗仂 2D 亳亰仂弍舒亢亠仆亳
   亠仆从舒 3D 仗仂亰 亳亰 (仂从舒 仂弍亰仂舒, 2D 仗仂亰舒)




Mykhaylo Andriluka, Stefan Roth, and Bernt Schiele. Monocular 3D pose
estimation and tracking by detection. CVPR 2010
仍舒亳亳从舒亳 舒从舒




 8 亟亠亠从仂仂于 仗仂亰, 从舒亢亟亶 亟仍 于仂亠亞仂 舒从舒
 仂亟 8亳 亟亠亠从仂仂于 亳仗仂仍亰ム 从舒从
  仗亳亰仆舒从亳 亟仍 从仍舒亳亳从舒仂舒 舒从舒
   Max  仄舒从亳仄舒仍仆亶 从舒仍亳弍仂于舒仆仆亶 于仂亟
   SVM  于弍仂 1 仂仗亳仄舒仍仆仂亞仂 舒从舒, 仂仍从仂
    仗亳仄亠 仂亞仂 舒从舒 亳舒ム 仗仂亰亳亳于仆仄亳
   SVM-adj  亞仗仗亳亠仄 舒从 于 仂亶从亳 弍仍亳亢舒亶亳,
    亳舒亠仄 仗仂亰亳亳于仆仄亳 仗亳仄亠舒仄亳 于亠 亳亰 仂亶从亳
   SVM-adj 仗仂从舒亰舒仍 仆舒亳仍亳亠 亠亰仍舒
弌亞仍舒亢亳于舒仆亳亠 舒从舒




 仂仍亠 仂亞仂, 从舒从 仗仂仂亠仆 仍亠亟, 亟仍 从舒亢亟仂亞仂
  仍亠亟舒 仗仂亳亰于仂亟亳仄 亞仍舒亢亳于舒仆亳亠 舒从仂于 
  仗仂仄仂 HMM
   弌仂仂礌亳  8 舒从仂于
   仂亟亠仍 仆舒弍仍ミ莞黍出狐  于仂亟 从仍舒亳亳从舒仂仂于 舒从舒
   仂亟亠仍 仗亠亠仂亟舒 - 亞舒亳舒仆舒
3D 仗仂亰舒 亳亰 2D 亳亰仂弍舒亢亠仆亳
 舒亰弍亳于舒亠仄 于 仗仂仍亠亟仂于舒亠仍仆仂 仆舒
  仗亠亠亠从舒ム亳亠 舒亞仄亠仆 亳亰 M=10 舒亠亶
 仍 从舒亢亟仂亶 舒亳 仆舒仂亟亳仄 MAP 仂亠仆从 3D 仗仂亰
 弌亞仍舒亢亳于舒亠仄 3D 仗仂亰 仗仂 于亠亶 仗仂仍亠亟仂于舒亠仍仆仂亳
   仗仂仄仂 HMM-舒仍亞仂亳仄舒
   舒亳舒仆 仂亠仆仂从  亟亳从亠仆亠 仂仂礌亳
   舒舒仄亠 亟仍 仄仂亟亠仍亳 仆舒弍仍ミ莞黍出狐 亳 仄仂亟亠仍亳 亟于亳亢亠仆亳
    弍亠 亳亰 MAP 仂亠仆仂从
亠亰仍舒
个仂仄舒 亳 仗仂亰舒 亳亰 仂亟仆仂亞 亳亰仂弍舒亢亠仆亳




 Peng Guan Alexander Weiss Alexandru O. Balan Michael J. Black,
  Estimating Human Shape and Pose from a Single Image, ICCV 2009
亳弍 亳亰 3D 仍亠亢亠仆亳




                               




   L. Sigal, D. Fleet, N. Troje, M. Livne Human Attributes from 3D Pose
    Tracking,, European Conference on Computer Vision, ECCV 2010.
亠亰ミ斜 仍亠从亳亳
 仍ム亠于仄 仍亠仄亠仆仂仄 亟仍 仂亠仆从亳 2D 仗仂亰 磦仍ム
  亳仍仍ム亳仂于舒仆仆亠 仄仂亟亠仍亳
   仂仗仂, 从舒从 仂亳 仄仂亟亠仍亳 于仆亠仆仂亳 亟仍 仆亠亳亰于亠仆
    仆仂于 仍ミ莞黍. 弌亠亶舒 仂 亟亠仍舒亠 仗仂 舒仗亳仂仆仄
    仗亠亟仗仂仍仂亢亠仆亳礆 仂 仗仂仍仂亢亠仆亳亳 于 亳亰仂弍舒亢亠仆亳亳 亳 .亟.


 亠亠于仂亟 2D 于 3D 仂仗亳舒亠 仆舒 亞亠仆亠仆亳仂于舒仆亳亠
  亞亳仗仂亠亰  仗仂仄仂 舒仗仂亰仆舒于舒仆亳 亳 仗仂仍亠亟ム
  于亠仄亠仆仆 亳仍舒亳
   个亳仍 舒亳, 舒仂于 仗仂亠, HMM


 仍 亳亰仂弍舒亢亠仆亳亶 仗仂从舒 于 亟仂于仂仍仆仂 仄亠亟仍亠仆仆仂 亳亰-亰舒
  仗仂仂亢亟舒ム亠亞仂 仗仂亟仂亟舒

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  • 1. 亠仆从舒 仗仂亰 亳 亰舒于舒 亟于亳亢亠仆亳 仆仂仆 仂仆亳仆 http://courses.graphicon.ru/vision2
  • 2. 亅仂 从 仗仂亟亞仂仂于仍亠仆 仗亳 仗仂亟亟亠亢从亠 Microsoft Research
  • 3. 仍舒亞仂亟舒仆仂亳 Many slides are used from Andrew Zisserman talk at CVML2010
  • 4. 仂舒仆仂于从舒 亰舒亟舒亳 仗亠亟亠仍亠仆亳亠 仗仂仍仂亢亠仆亳 亳 仂仄 仆舒 亳亰仂弍舒亢亠仆亳亳 (2D) 亳 于 仗仂舒仆于亠 (3D) 于亠 舒亠亶 亠仍舒 亠仍仂于亠从舒 舒从 仗仂 仂亟仆仂仄 亳亰仂弍舒亢亠仆亳 舒从 亳 亟仍 亠仍仂亞仂 于亳亟亠仂
  • 5. 舒亳舒弍亠仍仆仂 仗仂亰 弍舒亳亠 于仆亳仄舒仆亳亠 亠 仆舒 仂, 从舒从 仗仂仂亢亳 亟亞 仆舒 亟亞舒 仗仂 于亠/亠从亠 仂亟亠仍仆亠 舒亳 亠仍舒 亠仍仂于亠从舒
  • 6. 亳仄亠仆亠仆亳亠 丕仗舒于仍亠仆亳亠 从仂仄仗ム亠仂仄 舒于舒 亟于亳亢亠仆亳 舒仗仂亰仆舒于舒仆亳亠 亳 舒仆舒仍亳亰 仗仂于亠亟亠仆亳 亠亠仆仂 亟于亳亢亠仆亳 仆舒 于亳舒仍仆亶 仂弍亠从 仆仆仂舒亳 亳 仗仂亳从 于 于亳亟亠仂
  • 9. 仂亟亠仍亳 亠仍仂于亠从舒 仍仍ム亳仂于舒仆仆舒 亳仆亠仄舒亳亠从舒 仂亟亠仍 仂仄 仄仂亟亠仍 仄仂亟亠仍 亠 仂 仗舒舒仄亠亳亠从亳亠 仄仂亟亠仍亳 弍仂仍亳仄 从仂仍亳亠于仂仄 仗舒舒仄亠仂于. 仂 亳 弍仂仍亳仄 从仂仍亳亠于仂仄 仂亞舒仆亳亠仆亳亶. 舒舒 亰舒亟舒舒 仂亠仆亳 仗舒舒仄亠 亳 仄仂亟亠仍亠亶 仗仂 亳亰仂弍舒亢亠仆亳 (于于仂亟 / inference)
  • 10. 舒仗仂亰仆舒于舒仆亳亠 于 于亳亟亠仂 亳仍亳亠仍仆舒 仍仂亢仆仂 仄仂亟亠仍亠亶 仂亳从 仗舒舒仄亠仂于 于 仗仂舒仆于亠 弍仂仍仂亠 舒亰仄亠仆仂亳 弌从舒亢亠仄, 1013 仆仂亞仂 仍仂从舒仍仆 仄亳仆亳仄仄仂于 仂弍仍亠仄舒 亳仆亳亳舒仍亳亰舒亳亳 仄仂亟亠仍亳 舒从 仄仂亢仆仂 仄亠仆亳 仍仂亢仆仂 仗亳 舒弍仂亠 于亳亟亠仂? 仂仍亠亠 仄仆亶 仗仂亳从 (仗. 亞舒亟亳亠仆仆亶 仗从) 丕仄亠仆亠仆亳亠 仗仂舒仆于舒 仗仂亳从舒 亰舒 亳仗仂仍亰仂于舒仆亳 仗亠亟亟亠亞仂 从舒亟舒
  • 11. 亠仂仆仂 仂亳弍从亳 仆舒 于亳亟亠仂 于亠仂仆仂 仂亳弍从亳 0.1% 仆舒 从舒亟 仂仍亠 从舒亟仂于, 于亠仂仆仂 仗亠舒 0.999 亳 30 从舒亟舒/ 仆舒 仗仂仍舒亠: 3.0% 舒仆 仂亳弍从亳 仗仂仍亠 1 亠从 83.5% 舒仆 仂亳弍从亳 仗仂仍亠 1 仄亳仆 99.99% 舒仆 仂亳弍从亳 仗仂仍亠 5 仄亳仆
  • 12. 亠仂仆仂 仂亳弍从亳 仆舒 于亳亟亠仂 于亠仂仆仂 仂亳弍从亳 0.01% 仆舒 从舒亟 仂仍亠 从舒亟仂于, 于亠仂仆仂 仗亠舒 0.999 亳 30 从舒亟舒/ 仆舒 仗仂仍舒亠: 0.3 % 舒仆 仂亳弍从亳 仗仂仍亠 1 亠从 16.5 % 舒仆 仂亳弍从亳 仗仂仍亠 1 仄亳仆 59.3 % 舒仆 仂亳弍从亳 仗仂仍亠 5 仄亳仆
  • 13. 仂亟仂亟 亢亠仆 仄亠仂亟, 舒弍仂舒ム亳亶 仆舒 仂亟仆仂仄 从舒亟亠 仍亳 仆舒 仄舒仍亠仆从仂仄 仆舒弍仂亠 从舒亟仂于 亅仂 仗仂亰于仂仍亳 仆舒仄 亠亳仆亳亳舒仍亳亰亳仂于舒 仍亠亢亠仆亳亠 舒从 弍 仂 于亠仄亠仆仆仂亶 亳仆仂仄舒亳亠亶 (于亳亟亠仂)? 亢仆仂 亠 亳仗仂仍亰仂于舒 亟仍 于亠仄亠仆仆仂亶 亳仍舒亳亳 亠 仗仂亳从 仗仂 仄亠仆亠仄 仗仂舒仆于, 仆仂 仂弍舒弍仂从舒 亠亰仍舒仂于 仗仂亳从舒 弌 仗仂仄仂 亳仍舒亳亳 仄仂亢亠仄 仂弍舒于舒 仍仂亢仆亠 亞亳仗仂亠亰 亳 舒亰亠舒 仆亠仂亟仆仂亰仆舒仆亠 亳舒亳亳
  • 14. 亳仄亠 亳仄亠 亳亰 仍亠从亳亳 Andrew Fitzgibbon c 仍亠从亳亳 仆舒 Microsoft Computer Vision Summer School 2011
  • 27. 亠仄亠仆仆舒 亳仍舒亳 亠仂亟 于亠仄亠仆仆仂亶 亳仍舒亳亳 于仂亟 亟舒仍亠从仂 亰舒 仗亠亟亠仍 亠仄 仍亠从亳亳 亳 从仂仄仗ム亠仆仂亞仂 亰亠仆亳 亳仄亠: Kalman filter Particle filter Hidden Markov Model Gaussian process .亟. 舒仗亳仄亠, 仄. 从 束弌从仆亠 仄亠仂亟 舒仆舒仍亳亰舒 亳亰仂弍舒亢亠仆亳亶 亳 亳亞仆舒仍仂于損
  • 28. 亠于亠 舒弍仂 J. O'Rourke and N. Badler. Model-based image analysis of human motion using constraint propagation. IEEE Trans. on Pattern Analysis and Machine Intelligence. 1980.
  • 31. Pfinder (People Finder) 亳舒仆亳亠 仂仆舒 亟仍 仗仂仍亠仆亳 仄舒从亳 亠仍仂于亠从舒 亟仆舒 舒亳舒仆舒 亟仍 从舒亢亟仂亞仂 仗亳从亠仍 仂亟亠仍亳仂于舒仆亳亠 亠仍仂于亠从舒 从舒从 仆亠从仂仍从仂 束弍仍仂弍仂于損 仄仂亟亠仍 舒亳舒仆舒 仗舒舒仄亠 仗亳从亠仍 - (x,y,Y,U,V) 仗亳从亠仍 亠仍仂于亠从舒 亟仂仍亢亠仆 仗亳仆舒亟仍亠亢舒 仂亟仆仂仄 亳亰 弍仍仂弍仂于 亠仍仂于亠从舒 Christopher Wren, Ali Azarbayejani, Trevor Darrell, Alex Pentl Pfinder: Real-Time Tracking of the Human Body, PAMI 1997
  • 32. PFinder 仆亳亳舒仍亳亰舒亳 仄仂亟亠仍亳 束弌舒仂于亠損 仗仂亰 仂亠仆从舒 从仂仆舒, 仍仂从舒仍亳亰舒亳 舒亠亶 亠仍舒 亳 仄仂亟亠仍亳仂于舒仆亳亠 弍仍仂弍仂于 于 亳 仂弍仍舒 舒 从舒亢亟仂仄 从舒亟亠: 仂仍亠仆亳亠 仄舒从亳 仗亠亠亟仆亠亞仂 仗仍舒仆舒 仍 从舒亢亟仂亞仂 仗亳从亠仍 仂亠仆从舒 仍仂亞舒亳仄舒 仗舒于亟仂仗仂亟仂弍亳 仗亳仆舒亟仍亠亢仆仂亳 从 从舒亢亟仂仄 弍仍仂弍 弍仆仂于仍亠仆亳亠 仄仂亟亠仍亠亶 弍仍仂弍仂于 亠亟从舒亰舒仆亳亠/亞仍舒亢亳于舒仆亳亠 亳仍仂仄 舒仍仄舒仆舒
  • 38. 仍仍ム亳仂于舒仆仆舒 从舒 舒亳亠从舒 仄仂亟亠仍 陸 仄仂亟亠仍 于仆亠仆仂亳 (亰舒于亳亳 仂 仗亳亰仆舒从仂于 亳亰仂弍舒亢亠仆亳) 率 从亳仆亠仄舒亳亠从仂亠 仂亞舒仆亳亠仆亳亠
  • 39. 丕仆舒仆亶 仗仂亠仆亳舒仍 - 于亠 仂亟亠仍亳亠仄 舒仗亠亟亠仍亠仆亳 于亠舒 舒亳: 亳仂亞舒仄仄舒 舒亳舒仆舒
  • 42. 于仂亟 h 从仂仍亳亠于仂 于舒亳舒仆仂于 亟仍 从舒亢亟仂亶 舒亳 (仗仂仍亠 亟亳从亠亳亰舒亳亳) n 舒亠亶 丐仂亞亟舒 于亠亞仂 于舒亳舒仆仂于 hn 仍舒亞仂亟舒 亟亠亠于, 仍仂亢仆仂 仆亳亢舒亠 亟仂 O(nh2) 亳仍亳 O(nh) 仗亳 亳仗仂仍亰仂于舒仆亳亳 仗亠亳舒仍仆 从仂亠仆亳亶 Belief Propagation 亟仍 仂亠仆从亳 舒仗仂亠亳仂仆仂亶 于亠仂仆仂亳
  • 43. 亞亳亠 仄仂亟亠仍亳 仂亟亠仍 仗仍仂仂 亳于舒亠 舒仄仂仗亠亠亠亠仆亳 仂仂仄 仄仂亢仆仂 亟仂弍舒于亳 亟仂仗仂仍仆亳亠仍仆亠 亠弍舒 仂亟亠仍 亢亠 仆亠 弍亟亠 亟亠亠于仂仄, 仗仂仂仄 仗亳仂亟亳 亳仗仂仍亰仂于舒 亟亞亳亠 仄亠仂亟 Loopy Belief Propagation
  • 44. 仂仂亠仆亳亠 仄仂亟亠仍亠亶 D. Ramanan, D. Forsyth, and A. Zisserman. Tracking People by Learning their Appearance. PAMI 2007.
  • 45. 弌亠仄舒 仄亠仂亟舒 仂亟亠仍 亠仍仂于亠从舒 = 于仆亠仆仂 + 从舒 (+ 亟亳仆舒仄亳从舒) 弌从舒 亳 亟亳仆舒仄亳从舒 仂弍亳亠 亟仍 于亠, 于仆亠仆仂 亳仆亟亳于亳亟舒仍仆舒 (person-specific) 仂仂亠仆亳亠 仄仂亟亠仍亳 于仆亠仆仂亳 束仆舒 仍亠損 仂弍仆仂 仗亳于仂亟亳 从 仄亠亠仆亳礆 (drift) 仂仂仄, 仄仂亢仆仂 仗仂 于亳亟亠仂仂仍亳从 亳仆亳亳舒仍亳亰亳仂于舒 仄仂亟亠仍 于仆亠仆仂亳, 亳 亰舒亳从亳仂于舒 亠 仗亳 仍亠亢亠仆亳亳 弌亳仍仆舒 仄仂亟亠仍 从 亳 于仆亠仆仂亳 仗仂亰于仂仍磳 亰舒仄亠仆亳 仂仍亠亢亳于舒仆亳亠 仗仂于仂仆仄 仂弍仆舒亢亠仆亳亠仄 (亳 仆亠从仂仂仄 亞仍舒亢亳于舒仆亳亠仄) D. Ramanan, D. Forsyth, and A. Zisserman. Tracking People by Learning their Appearance. PAMI 2007.
  • 47. 仆亳亳舒仍亳亰舒亳 仆亳亳舒仍亳亰舒亳 束仆亳亰 于于亠損 仂仂亶 亟亠亠从仂 仆舒 仂仆仂于亠 舒弍仍仂仆舒 丱舒舒舒 (从舒从 于 VJ)
  • 48. 仆亳亳舒仍亳亰舒亳 仆亳亳舒仍亳亰舒亳 束于亠 于仆亳亰損 亟亠仄 亳从舒 束亟仂弍仆亠 亟仍 仂弍仆舒亢亠仆亳晛 仄仂亟亠仍亳 亳亟亳亶 亠仍仂于亠从 束Opportunistic detector損
  • 49. 亠亠从仂 舒亞舒ム亠亞仂 亠仍仂于亠从舒 亠亰舒于亳亳仄仂 亳舒亠仄 亟仍 从舒亠于 舒亰仆仂亶 仂亳亠仆舒亳亳 chamfer distance, 亰舒亠仄 仄仄亳亠仄
  • 50. 仂仂亠仆亳亠 仄仂亟亠仍亳 于仆亠仆仂亳 弍舒亠仄 从仍舒亳亳从舒仂 于仆亠仆仂亳 (于 RGB 仗仂舒仆于亠) quadratic logistic regression
  • 51. 仂亳从 于 仍仂亢仆 仍舒 亠仆亠亳亠仄 仗亳仄亠 亳亰 舒仗仂亠亳仂仆仂亞仂 舒仗亠亟亠仍亠仆亳 (sample from posterior) 弌亟于亳亞 亠亟仆亠亞仂 亟仍 仗仂亳从舒 仄仂亟
  • 55. 亠舒亳于仆仂亠 仂仆亠仆亳亠 仄仂亟亠仍亳 亟亠仄 仂弍舒 于亠仂于 仄仂亟亠仍 亳亠舒亳于仆仂, 仗仂亠仗亠仆仆仂 仂仆
  • 57. Stickman (2009) & Buffy pose (2008) 549 舒亰仄亠亠仆仆 舒弍仂 亳仗亳仆 仗仂亰 亳亰 亳亰仂弍舒亢亠仆亳亶 亳亰 PASCAL VOC 亠亳舒仍舒 舒亳 08 亳亠弍亳亠仍仆亳舒 于舒仄仗亳仂于 http://www.vision.ee.ethz.ch/~calvin/ethz_pascal_stickmen/index.html http://www.robots.ox.ac.uk/~vgg/data/buffy_pose_classes/index.html
  • 58. 亳仄亠 亳亰仂弍舒亢亠仆亳亶 舒亰仆亠 仗仂亰, 仂亟亠亢亟舒, 舒从, 仂于亠亠仆亳亠, 仍仂亢仆亶 仂仆
  • 59. 弍仆亶 亟亠亠从仂 亳仄亠仄亠仆亠仆亳亠 仂弍仆仂亶 亳仍仍ム亳仂于舒仆仆仂亶 仄仂亟亠仍亳 从 仍仂亢仆仂仄 仂仆 仆亠 仗仂亰于仂仍磳 仆舒亟亠亢亟舒仆仂 仂仗亠亟亠仍亳 仗仂亰
  • 60. 亠亠从仂 仂舒 仗仂仍亰仂于舒仆亳亠 亟亠亠从仂舒 仂舒 仗仂亰于仂仍亳 仆舒仄 仍仂从舒仍亳亰仂于舒 仂弍仍舒 仗仂亳从舒 舒亟舒 仄舒舒弍 亠仍舒 亳 从仂仆亠仆仂亠亶 舒亟舒 仂亞舒仆亳亠仆亳亠 仆舒 仗仂仍仂亢亠仆亳亠 从仂仆亠仆仂亠亶 舒弍仂舒亠 弍仂
  • 61. 仆亳亳舒仍亳亰舒亳 仗仂 亟亠亠从仂 HOG + SVM 亟亠亠从仂, 仂弍亠仆仆亶 仗仂 亠仄亠 bootstrapping 亟亠仄 舒仆舒仍亳亰亳仂于舒 舒亳亠仆仆 仂弍仍舒 仂舒, 于 从仂仂 亟仂仍亢仆 仗仂仗舒 从仂仆亠仆仂亳
  • 62. 亠亠从仂 仂舒 亠亟仆亠亠 亳亰仂弍舒亢亠仆亳亠 仂舒
  • 63. 亟亠仍亠仆亳亠 仗亠亠亟仆亠亞仂 仗仍舒仆舒 仗仂仍亰仂于舒仆亳亠 GrabCut 亟仍 仂仆亠仆亳 仂弍仍舒亳 仗仂亳从舒 仆亳亳舒仍亳亰亳亠仄 仄仂亟亠仍亳 仗仂 于亟亠仍亠仆仆仂仄 仂 仂仆亠于舒亳于仆仂亠 仂仆亠仆亳亠 (于 95.5% 仍舒亠于 亠仍仂于亠从舒 仆亠 亠磳仄) 丕仄亠仆舒亠仄 仂弍仍舒 仗仂亳从舒 亠 亠弍亠 亳仆仂仄舒亳亳 仂 仂仆亠 个仂仆 仄仂亢亠 弍 亟亳仆舒仄亳亠从亳仄
  • 65. 亳仍亠仆亳亠 仗仂亰 仍 仂亠仆从亳 仗仂亰 仗亳仄亠仆磳仄 亳仍仍ム亳仂于舒仆仆 仄仂亟亠仍 仂亳从 从舒亠于仄亳 舒弍仍仂仆舒仄亳 弍亠仆亳亠 仄仂亟亠仍亳 于亠舒 丕仂仆亠仆亳亠 仂弍仍舒亳 仗仂亳从舒 仂亞: 仂亞亠亳于仆仂亠 仂仆亠仆亳亠 仗仂于舒亠 从仂仂 于 10-100 舒亰 仂舒亰亟仂 仆舒亟亠亢仆亠亠
  • 66. 亠亰仍舒 舒亠于仂 亟亠仄仂仆亳亠 仆舒 仍仂亢仆 亠仆舒 亳亰 Buffy-于弍仂从亳
  • 68. 舒亰于亳亳亠 舒弍仍ミ莞黍出湖 1: 仂仍仂亢亠仆亳亠 亞仂仍仂于 亳 仂舒 舒弍亳仍仆仂 仂仆仂亳亠仍仆仂 仆舒亶亟亠仆仆仂亞仂 仂舒 仍亠亳 弍仂仍亠亠 仗仂亟于亳亢仆 仂仆仂亳亠仍仆仂 仂舒 仂从亳 亠 弍仂仍亠亠 仗仂亟于亳亢仆
  • 69. 舒亰于亳亳亠 仆亠从仂仍从仂 舒仆亟舒仆 舒弍仍仂仆仂于 仂亟于舒 于亠舒 亳 亠从 仂亟亠仍仆 舒亠亶 仄仂亟亠仍亳 仂亢亠仄 亳仗仂仍亰仂于舒 于仆亠仆仂 舒弍亳仍仆 仍亠仄亠仆仂于 仄仂亟亠仍亳 亟仍 仗仂亳从舒 仗仂亟于亳亢仆 舒亠亶
  • 70. 仗亳仂仆仂亠 舒仗仂仍仂亢亠仆亳亠 仂 于弍仂从亠 仗仂仂亳仄 从舒 舒仗亠亟亠仍亠仆亳 仗仂仍仂亢亠仆亳 仍亠仄亠仆仂于 仄仂亟亠仍亳 亠仍舒
  • 72. 亞舒仆亳亠仆亳 仄仂亟亠仍亠亶 仂亞亟舒 于亠 仍亠仄亠仆 于亳亟仆 亳 仆亠 仗亠亠从于舒ム 仄仂亟亠仍 仗亳仄亠仆亳仄舒
  • 73. 弍亠亰舒仆亳亠 从舒亟舒 仍 舒亳 仆亠 仗舒舒仄亠舒 于亳亟亳仄仂亳
  • 75. 亳仄亠仆亠仆亳亠: 仗仂亳从 仗仂 仗仂亰亠 舒亟舒舒 仆舒亶亳 于 弍舒亰亠 亳亰仂弍舒亢亠仆亳 仍ミ莞黍 仗仂亰仂亶 亰舒亟舒仆仆仂亞仂 仂弍舒亰舒
  • 76. 仂亟仂亟 束磪从舒 亠亞仄亠仆舒亳晛 仗仂亰 亠仍仂于亠从舒 从舒从 亟亠从亳仗仂 舒舒 于亠仂仆仂亳 舒仗仂仍仂亢亠仆亳 舒亳 亠仍舒 舒仗亠亟亠仍亠仆亳亠 仂亳亠仆舒亳亳 亳 仗仂仍仂亢亠仆亳 舒亠亶 亠仍舒 弌舒于仆亠仆亳亠 弌从舒仍仆仂亠 仗仂亳亰于亠亟亠仆亳亠 亟亠从亳仗仂仂于
  • 89. 亠舒仍亳亰舒亳亳 CALVIN 亟亠亠从仂 亠仍舒, 2D 仂亠仆从舒 仗仂亰 http://www.vision.ee.ethz.ch/~calvin/software.html
  • 90. 3D 亳亰 2D 仂仗仂 从舒从 仆舒仄 仗仂仍亳 3D 仗仂亰 仗仂 2D 亳亰仂弍舒亢亠仆亳礆? 仍舒于仆舒 仗仂弍仍亠仄舒 仆亠仂亟仆仂亰仆舒仆仂 3D 仗仂亰 亳亰- 亰舒 仆亳亰从仂亶 仂仆仂亳 仍仂从舒仍亳亰舒亳亳 于亠 从仂仆亠仆仂亠亶
  • 91. H3D: Humans in 3D (2009) 1000 亳亰仂弍舒亢亠仆亳亶 (Flickr) 仆仂于仆亠 舒于 亳 从仍ム亠于亠 仂从亳, 仄亠从亳 于亳亟亳仄仂亳 舒亰仄亠从舒 仂弍仍舒亠亶 (仍亳仂, 从从舒 亳 .亟.) 3D 从亠仍亠 http://www.eecs.berkeley.edu/~lbourdev/h3d/
  • 92. HumanEva (2006) http://vision.cs.brown.edu/humaneva/index.html 4 舒从舒, 6 仂弍亳 亟于亳亢亠仆亳亶 (仂亟弍舒, 弍亠亞, 亳 .亟.) 7 从舒仄亠 (3 于亠仆亠, 4 仆仂-弍亠仍亠) 弌亳仆仂仆亳亰亳仂于舒仆仆亠 亠亰仍舒舒仄亳 mocap Baseline 仄亠仂亟 舒从亢亠 于 仆舒仍亳亳亳 L. Sigal and M. J. Black. HumanEva: Synchronized Video and Motion Capture Dataset for Evaluation of Articulated Human Motion, Techniacl Report CS-06-08, Brown University, 2006
  • 93. HumanEva (2006) 亳仄亠 亟舒仆仆
  • 94. TUM Kitchen Data Set (2009) 4 舒亳仆亠 从舒仄亠 384*288 RGB 舒亞仆亳仆亠 亠仆仂, 亳从亳ム亳亠 仂从亳亠/亰舒从亳亠 亳从仂于 亳 亟于亠亠亶 亠亰仍舒 仗仂仍仆仂 亰舒于舒亠仆仆仂亞仂 亟于亳亢亠仆亳 仄亠仂亟仂仄 舒于仂仂于 http://ias.cs.tum.edu/download/kitchen-activity-data
  • 95. 3D 仄仂亟亠仍 亳仆亠仄舒亳亠从舒 (从亠仍亠仆舒) 仄仂亟亠仍 舒弍仂 仂亠亰从仂于, 于磶舒仆仆 舒于舒仄亳 个仂仄舒 仗仂于亠仆仂亳 亠仍舒 仂仍亳亞仂仆舒仍仆舒 亳仍亳 弍仍仂仆舒 仆亠仆仂 丶于亠 仂亟亠仍仆 仂亠从, 于亠 亠亞仂仍仆亳从仂于, 亠从舒 仂弍亠从舒
  • 96. 仂仍亳亠于仂 从舒仄亠 仆仂亞仂从舒仄亠仆亠 从仂仆亳亞舒亳亳 亳仆仂从仍仆仂亠 亠亠仂 仆仂亞仂从舒仄亠仆仂亠 亠亠仂, 仗. 于仂从亠仍仆亶 仂弍仄 丕亠 仗亳亰仆舒从仂于 仂 仄仆仂亞亳 舒从仂于 (亳仍, 从舒, 于亠 亳 .亟) 亟仆仂从舒仄亠仆亠 从仂仆亳亞舒亳亳 亠仂亟仆仂亰仆舒仆仂 亠从仂仆从亳亳 仂仍亠亠 仍仂亢仆亠 仄亠仂亟 仂弍亠仆亳 (弍仂仍亠 仂弍舒ム亳 亟舒仆仆) 亠亞仍亳亰舒亳 亰舒 于亠仄亠仆仆仂亶 亳仍舒亳亳
  • 97. 弍舒 亠仄舒 亟仍 仄仆仂亞亳 从舒仄亠 亟亠: 舒 弍仂仍亠亞仂 仂弍仄舒 亳亰仄亠亠仆亳亶 于 仄仆仂亞仂从舒仄亠仆仂仄 仍舒亠 从仂仄仗亠仆亳亠仄 仆亠仂亟仆仂亰仆舒仆仂 仂亠仆从亳 3D 仗仂亰 弌亠仄舒 个仂仄仍亳亠仄 于仂 3D 仄仂亟亠仍 仗亠亟亠仍磳仄 仗亳亰仆舒从亳, 仗仂 从仂仂仄 仄 仂亠仆亳于舒亠仄 从舒亠于仂 仄仂亟亠仍亳 个仂仄仍亳亠仄 仆从亳 仗舒于亟仂仗仂亟仂弍亳 于仆亠仆仂亳 仄仂亟亠仍亳 仆亳亳舒仍亳亰亳亠仄 仄仂亟亠仍 舒 从舒亢亟仂仄 从舒亟亠 仂仗亳仄亳亰亳亠仄 仗舒舒仄亠 仄仂亟亠仍亳 弌仄仗仍亳仂于舒仆亳亠 弌仂舒亳亠从亳亶 仗仂亟弍仂
  • 98. 仗仂仍亰仂于舒仆亳亠 亳仍仂于 仆仂亞仂从舒仄亠仆舒 亳亠仄舒 仂仍亳亞仂仆舒仍仆舒 仄仂亟亠仍 仂仄 + 从亠仍亠 亠仆从舒 亳仍舒 亠亠亰 于亳舒仆亳亠 仂仆舒 个仆从亳 从舒亠于舒 仗仂 仂于仗舒亟亠仆亳 亳仍舒 亳 于亠舒 仄仂亟亠仍亳 仗亳仄亳亰舒亳 仗仂仄仂 仄仗仍亳仂于舒仆亳 仂仄弍亳仆舒亳 2 仄亠仂亟仂于 仆舒 仂仆仂于亠 束亳仍舒 舒亳損 束Annealing particle filter損 束Partitioned sampling損 Jan Bandouch , Michael Beetz , Tracking Humans Interacting with the Environment Using Efficient Hierarchical Sampling and Layered Observation Models, IEEE Int. Workshop on Human-Computer Interaction (HCI). 2009,
  • 99. 3D 仄仂亟亠仍 51 DOF 于 从亳仆亠仄舒亳亠从仂亶 仄仂亟亠仍亳 2000 亠亞仂仍仆亳从仂于 于 亠从亠 丶于亠 从舒亢亟仂亞仂 亠亞仂仍仆亳从舒 亟仍 于仆亠仆仂亳 仆舒 亳仆亳亳舒仍亳亰舒亳 PCA 舒亰仍仂亢亠仆亳亠 亟仍 于亟亠仍亠仆亳 100 亞仍舒于仆 从仂仄仗仂仆亠仆 仆仂亶 仗仂亟弍仂 从仂仄仗仂仆亠仆
  • 100. 仂亟亠仍亳 于仆亠仆仂亳 亳仄亠 仆亠从仂仍从亳 仄仂亟亠仍亠亶 亟仍 仍亠亢亠仆亳
  • 101. 仂仄弍亳仆舒亳 亳仍仂于 亠仄仂仆舒亳 于舒亢仆仂亳 舒亠亞亳亳 仄仗仍亳仂于舒仆亳 于 亳仍亠 亟舒仆仆仂仄 仍舒亠 仆亠仗舒于亳仍仆亶 仗仂磲仂从 亳亠舒亳亠从仂亞仂 仄仗仍亳仂于舒仆亳 仗亳于仂亟亳 从 仂亳弍从舒仄
  • 102. 舒亢仆仂 仂仆仂亞仂 亳仍舒 弌亠亰仆亠 仂亳弍从亳 于 仄舒从亠 仗亠亠亟仆亠亞仂 仗仍舒仆舒 仗亳于仂亟 从 亠亰从亳仄 仂亳弍从舒仄 于 仂亠仆从亠 仗仂亰 于仂 亠亞亳亳ム 仂亟亠仍仆仄亳 亟舒亳从舒仄亳 舒从 仂从亳 亟于亠亠 从舒舒 亳 亟舒仍ム 亳 仂弍亠从 亳亰 仄舒从亳
  • 104. 仗仂仍亰仂于舒仆亳亠 3D 仂弍仄舒 仂仗仂仍仆亳仄 仆舒 仄仂亟亠仍 仆舒弍仍ミ莞黍出狐 舒于仆亠仆亳亠仄 仗仂于亠仆仂亳 仂弍亠从舒 于仗从仍仂亶 仂弍仂仍仂从仂亶, 仗仂仂亠仆仆仂亶 仗仂 仗亠亠亠亠仆亳 亳仍仂于 亅仍亠仄亠仆 仄仂亟亠仍亳: 弌仂仂于亠于亳亠 3D 仄仂亟亠仍亳 于仗从仍仂亶 仂弍仂仍仂从亠 弌仂仂于亠于亳亠 从仂仆仂于 仄仂亟亠仍亳 从仂仆舒仄 仆舒 亳亰仂弍舒亢亠仆亳亳 丶于亠 仂亠从 3D 仄仂亟亠仍亳 亳仗仂仍亰亠 亟仍 从仂亠仆亳 仂仗仂舒于仍亠仆亳 仄仂亟亠仍亳 亳 于仗从仍仂亶 仂弍仂仍仂从亳 仍 仂亠仆从亳 仗舒舒仄亠仂于 亳仗仂仍亰亠仄 仂舒亳亠从亳亶 仄亠仂亟 仂仗亳仄亳亰舒亳亳, 舒从亢亠 仗仂亰于仂仍ム亳 仄亠仆亳 于仍亳礌亳亠 仍仂从舒仍仆 仄亳仆亳仄仄仂于 R. Kehl and L. V. Gool. Markerless tracking of complex human motions from multiple views. Computer Vision and Image Understanding (CVIU), 104(2):190209, 2006.
  • 105. 3D 仄仂亟亠仍 仄亠仂 亠仂仆仂亶 仄仂亟亠仍亳 亳仗仂仍亰亠仄 弍仂仍亠亠 仗仂 仗舒舒仄亠亳亠从 仄仂亟亠仍 亠仍仂于亠从舒
  • 106. 亳舒仆亳亠 仂仆舒 弌亳舒亠仄 亟仍 从舒亢亟仂亶 从舒仄亠 仆舒 于仂亠亶 仄舒亳仆亠
  • 107. 仂从亠仍仆亶 仂弍仄 64x64x64 128x128x128 弌仂亳仄 3D 于仂从亠仍仆 仄仂亟亠仍 仂弍亠从舒 仗仄 仗亠亠亠亠仆亳 亳仍仂于 舒于仍磳仄 于亠 于仂从亠仍亳 仂仍从仂 仗仂于亠仆仂亳 仄仂亟亠仍亳 (仂 1000 亟仂 5000 于仂从亠仍亠亶)
  • 108. 仂亳从 从舒于 仂弍亠从舒 仄 从舒 仆舒 亳亰仂弍舒亢亠仆亳亳, 亳仗仂仍亰 仂于亠亠仆于仂于舒仆仆亶 仄亠仂亟 仗仂亳从舒 从舒于 (RGB- 从舒)
  • 109. 仂仆舒 仄仂亟亠仍亳 仍 从舒亢亟仂亞仂 仂仂礌亳 仄仂亟亠仍亳 于亟亠仍磳仄 仂从亳 从仂仆舒 (occluding contours) 仆舒 仄仂亟亠仍亳 仆舒 从舒亢亟仂仄 舒从亠 弍亟亠仄 舒于仆亳于舒 从舒礆亳 仆舒 亳亰仂弍舒亢亠仆亳亳
  • 110. 弌舒于仆亠仆亳亠 于仆亠仆仂亳 (于亠舒) 仂从亠仍仆舒 仄仂亟亠仍 亠亞仄亠仆亳亠 仗仂 于亠舒仄, 仂 仗仂舒亠 仗仂亳从 弍仍亳亢舒亶亳 仂亠从 仄仂亟亠仍亳 亳 仗仂于亠仆仂亳 于仂从亠仍仆仂亶 仄仂亟亠仍亳
  • 111. 舒亢仆仂 舒亰仆 亳亰仄亠亠仆亳亶 于亠 仂亠仆从舒 仂仍从仂 仗仂 于仗从仍仂亶 仂弍仂仍仂从亠 仆亳亰 仂仆亠仆亳亠 仂亠仆从亳 仗仂 从仂仆舒仄亳
  • 113. 弌亳仍 仆亠从舒仍亳弍仂于舒仆仆 从舒仄亠 Hasler N., Rosenhahn B., Thorm辰hlen T., Wand M., Gall J., and Seidel H.-P., Markerless Motion Capture with Unsynchronized Moving Cameras CVPR 2009
  • 114. 弌亠仄舒 亳亠仄 亠亞亳舒亳 从舒仄亠 束弌从舒 亳亰 亟于亳亢亠仆亳晛 仆亠亰舒于亳亳仄仂 亟仍 从舒亢亟仂亶 从舒仄亠 弍亠亟亳仆亠仆亳亠 亠从仂仆从亳亶 亰舒 亠 仂仗仂舒于仍亠仆亳 从舒亟仂于 仄亠亢亟 仗仂仍亠亟仂于舒亠仍仆仂礆亳 亠从仂仆从亳 仗仂于亠仆仂亳 弌亳仆仂仆亳亰舒亳 于亳亟亠仂仗仂仂从仂于 仂亠仍亳 亳仆仂仆亳亰亳仂于舒仆仆 于亳亟亠仂 舒亟亳仂亟仂仂亢亠从 舒于舒 亟于亳亢亠仆亳 仆亳亳舒仍亳亰舒亳 3D-仄仂亟亠仍亳 (仍舒亰亠仆仂亠 从舒仆亳仂于舒仆亳亠) 亠舒亳于仆舒 亠亞仄亠仆舒亳 亳 仂亠仆从舒 仗仂亰 弌亠亞仄亠仆舒亳 仗仂仄仂 level sets prior 亳亰 3亟 仄仂亟亠仍亳 亠仆从舒 仗仂亰 仗仂 仆舒弍仂 亳仍仂于 仂于仂亠仆亳亠 亟仂 仂亟亳仄仂亳
  • 115. 舒仍亳弍仂于从舒 从舒仄亠 亠从仂仆从亳 仗仂 1 于亳亟亠仂 弍亠亟亳仆亠仆亳亠 亠从仂仆从亳亶 弌仂仗仂舒于仍磳仄 3D 仂从亳 亠仆, 从仂仂亠 仂仍亠亢亳于舒仍亳 仆舒 2+ 于亳亟亠仂 丐亠弍亠仄 仂弍仍ミ莞黍出狐 仍仂于亳亶 仂仂亢亠亳 仂从亠仆仂亠亶 丕仆亳从舒仍仆仂亳 (从舒亠于仂 仂仗仂舒于仍亠仆亳 仗舒-从舒仆亟亳亟舒舒 亠于亠仆仆仂 于亠, 亠仄 仍亠亟ム亠亶 仗仂 从舒亠于 仗舒)
  • 116. 仂舒仆仂于仍亠仆亳亠 仗仂于亠仆仂亠亶 个亳仍舒亳 仂亠从 舒仄舒亳于舒亠仄 仂从亠仆仂 从舒亢亟仂亶 仂从亳 亳弍仍亳亢舒亠仄 仂从亠仆仂 亞仍舒亟从仂亶 仗仂于亠仆仂 仍亳 仂从舒 仆亠 仍亠亢亳 仆舒 仆亠亶 仂弍舒于舒亠仄 丐亳舒仆亞仍亳亠仄 仂舒于亳亠 仂从亳
  • 117. 弌亳仆仂仆亳亰舒亳 于亳亟亠仂仗仂仂从仂于 仂-从仂亠仍亳 舒亟亳亳亞仆舒仍仂于 亠 仗仂亟仂亟亳 亟仍 仂从 亠仆 亳 弍仂仍亳 舒仂礌亳亶 (亰舒亟亠亢从舒 于 从舒亟 仗亳 >6.8) 仂亢亠仄 亰舒亟舒 仆亠从仂仍从仂 亳亰于亠仆 亳仂仆亳从仂于 亰于从舒, 舒仗仂亰仆舒于舒 亳, 仂舒于亳 亳亠仄 舒于仆亠仆亳亶
  • 119. 3D 亳亰 仄仂仆仂从仍仆仂亞仂 2D 亠于亠 舒弍仂 仗仂 仂亠仆从亠 3D 仗仂亰 仗仂 仂仄亠亠仆仆仄 仗仂仍亰仂于舒亠仍亠仄 仂从舒仄 仆舒 2D 亳亰仂弍舒亢亠仆亳亳 仂仆仂 从 1985 亞仂亟 舒亟舒舒 亠舒亠 仗仂从舒 仂仍从仂 亰舒 亳仗仂仍亰仂于舒仆亳 于亳亟亠仂 亞仍舒亢亳于舒仆亳 仗舒舒仄亠仂于 仄仂亟亠仍亳 仗仂 于亠仄亠仆亳
  • 120. 3D 亳亰 2D Y 仗舒舒仄亠 3D 仗仂亰, X 仗舒舒仄亠 2D 仗仂亰. 亢仆仂 仂亠仆亳 P(Y|X), 亳 亰舒亠仄 亞仍舒亟亳 仗仂 于亠仄亠仆亳 于 于亳亟亠仂 仍 仂亞仂 仗仂 于弍仂从亠 (X,Y) 仆舒仗礆 仂亠仆亳仄 P(Y|X) 仗仂仄仂 束Mixture of experts損 L. Sigal and M. J. Black. Predicting 3D people from 2D pictures. In AMDO 2006.
  • 123. 舒亰于亳亳亠 仄仂仆仂从仍仆仂亞仂 仍亠亢亠仆亳 亳弍仍亳亰亳亠仍仆舒 从仍舒亳亳从舒亳 仂从亳 仂弍亰仂舒 (8 于舒亳舒仆仂于) 仗仂 2D 亳亰仂弍舒亢亠仆亳 亠仆从舒 3D 仗仂亰 亳亰 (仂从舒 仂弍亰仂舒, 2D 仗仂亰舒) Mykhaylo Andriluka, Stefan Roth, and Bernt Schiele. Monocular 3D pose estimation and tracking by detection. CVPR 2010
  • 124. 仍舒亳亳从舒亳 舒从舒 8 亟亠亠从仂仂于 仗仂亰, 从舒亢亟亶 亟仍 于仂亠亞仂 舒从舒 仂亟 8亳 亟亠亠从仂仂于 亳仗仂仍亰ム 从舒从 仗亳亰仆舒从亳 亟仍 从仍舒亳亳从舒仂舒 舒从舒 Max 仄舒从亳仄舒仍仆亶 从舒仍亳弍仂于舒仆仆亶 于仂亟 SVM 于弍仂 1 仂仗亳仄舒仍仆仂亞仂 舒从舒, 仂仍从仂 仗亳仄亠 仂亞仂 舒从舒 亳舒ム 仗仂亰亳亳于仆仄亳 SVM-adj 亞仗仗亳亠仄 舒从 于 仂亶从亳 弍仍亳亢舒亶亳, 亳舒亠仄 仗仂亰亳亳于仆仄亳 仗亳仄亠舒仄亳 于亠 亳亰 仂亶从亳 SVM-adj 仗仂从舒亰舒仍 仆舒亳仍亳亠 亠亰仍舒
  • 125. 弌亞仍舒亢亳于舒仆亳亠 舒从舒 仂仍亠 仂亞仂, 从舒从 仗仂仂亠仆 仍亠亟, 亟仍 从舒亢亟仂亞仂 仍亠亟舒 仗仂亳亰于仂亟亳仄 亞仍舒亢亳于舒仆亳亠 舒从仂于 仗仂仄仂 HMM 弌仂仂礌亳 8 舒从仂于 仂亟亠仍 仆舒弍仍ミ莞黍出狐 于仂亟 从仍舒亳亳从舒仂仂于 舒从舒 仂亟亠仍 仗亠亠仂亟舒 - 亞舒亳舒仆舒
  • 126. 3D 仗仂亰舒 亳亰 2D 亳亰仂弍舒亢亠仆亳 舒亰弍亳于舒亠仄 于 仗仂仍亠亟仂于舒亠仍仆仂 仆舒 仗亠亠亠从舒ム亳亠 舒亞仄亠仆 亳亰 M=10 舒亠亶 仍 从舒亢亟仂亶 舒亳 仆舒仂亟亳仄 MAP 仂亠仆从 3D 仗仂亰 弌亞仍舒亢亳于舒亠仄 3D 仗仂亰 仗仂 于亠亶 仗仂仍亠亟仂于舒亠仍仆仂亳 仗仂仄仂 HMM-舒仍亞仂亳仄舒 舒亳舒仆 仂亠仆仂从 亟亳从亠仆亠 仂仂礌亳 舒舒仄亠 亟仍 仄仂亟亠仍亳 仆舒弍仍ミ莞黍出狐 亳 仄仂亟亠仍亳 亟于亳亢亠仆亳 弍亠 亳亰 MAP 仂亠仆仂从
  • 128. 个仂仄舒 亳 仗仂亰舒 亳亰 仂亟仆仂亞 亳亰仂弍舒亢亠仆亳 Peng Guan Alexander Weiss Alexandru O. Balan Michael J. Black, Estimating Human Shape and Pose from a Single Image, ICCV 2009
  • 129. 亳弍 亳亰 3D 仍亠亢亠仆亳 L. Sigal, D. Fleet, N. Troje, M. Livne Human Attributes from 3D Pose Tracking,, European Conference on Computer Vision, ECCV 2010.
  • 130. 亠亰ミ斜 仍亠从亳亳 仍ム亠于仄 仍亠仄亠仆仂仄 亟仍 仂亠仆从亳 2D 仗仂亰 磦仍ム 亳仍仍ム亳仂于舒仆仆亠 仄仂亟亠仍亳 仂仗仂, 从舒从 仂亳 仄仂亟亠仍亳 于仆亠仆仂亳 亟仍 仆亠亳亰于亠仆 仆仂于 仍ミ莞黍. 弌亠亶舒 仂 亟亠仍舒亠 仗仂 舒仗亳仂仆仄 仗亠亟仗仂仍仂亢亠仆亳礆 仂 仗仂仍仂亢亠仆亳亳 于 亳亰仂弍舒亢亠仆亳亳 亳 .亟. 亠亠于仂亟 2D 于 3D 仂仗亳舒亠 仆舒 亞亠仆亠仆亳仂于舒仆亳亠 亞亳仗仂亠亰 仗仂仄仂 舒仗仂亰仆舒于舒仆亳 亳 仗仂仍亠亟ム 于亠仄亠仆仆 亳仍舒亳 个亳仍 舒亳, 舒仂于 仗仂亠, HMM 仍 亳亰仂弍舒亢亠仆亳亶 仗仂从舒 于 亟仂于仂仍仆仂 仄亠亟仍亠仆仆仂 亳亰-亰舒 仗仂仂亢亟舒ム亠亞仂 仗仂亟仂亟舒