TY - JOUR
T1 - Estimating dynamics on-the-fly using monocular video for vision-based robotics
AU - Agarwal, Priyanshu
AU - Kumar, Suren
AU - Ryde, Julian
AU - Corso, Jason J.
AU - Krovi, Venkat N.
PY - 2014/8
Y1 - 2014/8
N2 - Estimating the physical parameters of articulated multibody systems (AMBSs) using an uncalibrated monocular camera poses significant challenges for vision-based robotics. Articulated multibody models, especially ones including dynamics, have shown good performance for pose tracking, but require good estimates of system parameters. In this paper, we first propose a technique for estimating parameters of a dynamically equivalent model (kinematic/geometric lengths as well as mass, inertia, damping coefficients) given only the underlying articulated model topology. The estimated dynamically equivalent model is then employed to help predict/filter/gap-fill the raw pose estimates, using an unscented Kalman filter. The framework is tested initially on videos of a relatively simple AMBS (double pendulum in a structured laboratory environment). The double pendulum not only served as a surrogate model for the human lower limb in flight phase, but also helped evaluate the role of model fidelity. The treatment is then extended to realize physically plausible pose-estimates of human lower-limb motions, in more-complex uncalibrated monocular videos (from the publicly available DARPA Mind's Eye Year 1 corpus). Beyond the immediate problem-at-hand, the presented work has applications in creation of low-order surrogate computational dynamics models for analysis, control, and tracking of many other articulated multibody robotic systems (e.g., manipulators, humanoids) using vision.
AB - Estimating the physical parameters of articulated multibody systems (AMBSs) using an uncalibrated monocular camera poses significant challenges for vision-based robotics. Articulated multibody models, especially ones including dynamics, have shown good performance for pose tracking, but require good estimates of system parameters. In this paper, we first propose a technique for estimating parameters of a dynamically equivalent model (kinematic/geometric lengths as well as mass, inertia, damping coefficients) given only the underlying articulated model topology. The estimated dynamically equivalent model is then employed to help predict/filter/gap-fill the raw pose estimates, using an unscented Kalman filter. The framework is tested initially on videos of a relatively simple AMBS (double pendulum in a structured laboratory environment). The double pendulum not only served as a surrogate model for the human lower limb in flight phase, but also helped evaluate the role of model fidelity. The treatment is then extended to realize physically plausible pose-estimates of human lower-limb motions, in more-complex uncalibrated monocular videos (from the publicly available DARPA Mind's Eye Year 1 corpus). Beyond the immediate problem-at-hand, the presented work has applications in creation of low-order surrogate computational dynamics models for analysis, control, and tracking of many other articulated multibody robotic systems (e.g., manipulators, humanoids) using vision.
KW - Articulated multibody dynamics
KW - estimation
KW - monocular video
KW - pose estimation
KW - system identification
UR - http://www.scopus.com/inward/record.url?scp=84900490097&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84900490097&partnerID=8YFLogxK
U2 - 10.1109/TMECH.2013.2284235
DO - 10.1109/TMECH.2013.2284235
M3 - Article
AN - SCOPUS:84900490097
SN - 1083-4435
VL - 19
SP - 1412
EP - 1423
JO - IEEE/ASME Transactions on Mechatronics
JF - IEEE/ASME Transactions on Mechatronics
IS - 4
M1 - 6642039
ER -