Lin X, Casas J, Pardàs M. Time consistent estimation of End-effectors from RGB-D data. In Image and Video Technology: 7th Pacific-Rim Symposium, PSIVT 2015, Auckland, New Zealand, November 25-27, 2015, Revised Selected Papers. Cham: Springer International Publishing; 2015. pp. 529-543.  (2.22 MB)


End-effectors are usually related to the location of the free end of a kinematic chain. Each of them contains rich structure information about the entity. Hence, estimating stable end-effectors of different entities enables robust tracking as well as a generic representation. In this paper, we present a system for end-effector estimation from RGB-D stream data. Instead of relying on a specific pose or configuration for initialization, we exploit time coherence without making any assumption with respect to the prior knowledge. This makes the estimation process more robust in a predict-update framework. Qualitative and quantitative experiments are performed against the reference method with promising results.