RT Conference Proceedings
T1 Real-time Human Motion Analysis for  Human-Robot Interaction
A1 Molina-Tanco, Luis
A1 Bandera-Rubio, Juan Pedro
A1 Marfil-Robles, Rebeca
A1 Sandoval-Hernández, Francisco
K1 Autómotas
K1 Interacción hombre-ordenador
K1 Mecánica humana
AB This paper introduces a novel real-time human motion analysis system based on hierarchical tracking and inverse kinematics. This work constitutes a first step towards our goal of implementing a mechanism of human-machine interaction that allows a robot to provide feedback to a teacher in an imitation learning framework. In particular, we have developed a computer-vision based, upper-body motion analysis system that works without special devices or markers. Since such system is unstable and can only acquire partial information because of self-occlusions and depth ambiguity, we have employed a model-based pose estimation method based on inverse kinematics. The resulting system can estimate upper body human postures with limited perceptual cues, such as centroid coordinates and disparity of head and hands.
PB IEEE
YR 2005
FD 2005
LK https://hdl.handle.net/10630/34490
UL https://hdl.handle.net/10630/34490
LA eng
NO Molina-Tanco, L., Bandera, J.P., Marfil, R., Sandoval, F., REAL-TIME HUMAN MOTION ANALYSIS FOR HUMAN-ROBOT INTERACTION.   IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2005). pp. 1808 - 1813
NO Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech.This work has been partially granted by the Spanish Ministerio de Educación y Ciencia (MEC) and FEDER funds, Project no. TIN2004-05961
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 4 mar 2026