FORTH 3D Human Body Tracking

Brief description

We present results of our work on a method for tracking a 3D skeletal model of the human body based on markerless observations acquired by a single RGBD camera. The proposed approach has a number of attractive properties, such as:

  • It tracks a skeletal model of the human body (torso, arms, legs) plus the fingers of hands
  • It tolerates differences in biometrics, clothing, distance of observation, illumination variations
  • It handles occlusions (e.g., body occluded by objects, partial body views)
  • It performs automatic initialization / re-initialization, automatic recovery from tracking failures
  • It provides information on limbs depending on confidence
  • It operates with a potentially moving camera
  • It performs in real time (20-30 fps) on a conventional processor (single CPU, no GPGPU).

Sample results

FHBT in operation

FHBT in support of robot teleoperation

FHBT in support of clinical applications


Relevant publications

  • D. Michel and A.A. Argyros, "Apparatuses, methods and systems for recovering a 3-dimensional skeletal model of the human body", United States Patent No 20160086350, Filed: 22/09/2015, Published: 24/03/2016.
  • D. Michel, A. Qammaz and A.A. Argyros, "Markerless 3D human pose estimation and tracking based on RGBD cameras: an experimental evaluation", In International Conference on Pervasive Technologies Related to Assistive Environments (PETRA 2017) (to appear), ACM, Rhodes, Greece, June 2017.
  • P. Panteleris and A.A. Argyros, "Monitoring and interpreting human motion to support clinical applications of a smart walker", In Workshop on Human Motion Analysis for Healthcare Applications (HMAHA 2016), IET, London, UK, May 2016
  • M. Foukarakis, I. Adami, D. Ioannidi, A. Leonidis, D. Michel, A. Qammaz, K. Papoutsakis, M. Antona and A.A. Argyros, "A robot-based application for physical exercise training", In International Conference on Information and Communication Technologies for Ageing Well and e-Health (ICT4AWE 2016), Scitepress, pp. 45-52, Rome, Italy, April 2016.

The electronic versions of the above publications can be downloaded from my publications page.