Kinematics of motion tracking using computer vision

TL;DR

This paper integrates computer vision techniques with multibody system dynamics to enable accurate motion tracking and inverse-dynamics simulations of rigid bodies using video data.

Contribution

It introduces a novel adaptation of computer vision methods and nomenclature for multibody dynamics, facilitating advanced motion analysis and simulation.

Findings

Adapted Zhang calibration method for multibody system context

Unified computer vision and multibody dynamics equations

Enabled inverse-dynamics simulations from video-based motion tracking

Abstract

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.