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Articulated human motion tracking with HPSO

Articulated human motion tracking with HPSO

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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  • Vijay John
  • Spela Ivekovic
  • Emanuele Trucco

Research units


Original languageEnglish
Title of host publicationVisapp 2009: Proceedings of The Fourth International Conference on Computer Vision Theory and Applications, VOL 1
EditorsA Ranchordas, H Araujo
Place of PublicationSetubal
PublisherInstitute for Systems and Technologies of Information, Control and Communication
Number of pages8
ISBN (Print)978-989-8111-69-2
StatePublished - 2009
Event4th International Conference on Computer Vision Theory and Applications - Lisbon, Portugal


Conference4th International Conference on Computer Vision Theory and Applications
Abbreviated titleVISAPP 2009
Internet address


In this paper, we address full-body articulated human motion tracking from multi-view video sequences acquired in a studio environment. The tracking is formulated as a multi-dimensional nonlinear optimisation and solved using particle swarm optimisation (PSO), a swarm-intelligence algorithm which has gained popularity in recent years due to its ability to solve difficult nonlinear optimisation problems. Our tracking approach is designed to address the limits of particle filtering approaches: it initialises automatically, removes the need for a sequence-specific motion model and recovers from temporary tracking divergence through the use of a powerful hierarchical search algorithm (HPSO). We quantitatively compare the performance of HPSO with that of the particle filter (PF) and annealed particle filter (APF). Our test results, obtained using the framework proposed by (Balan et al., 2005) to compare articulated body tracking algorithms, show that HPSO's pose estimation accuracy and consistency is better than PF and compares favourably with the APF, outperforming it in sequences with sudden and fast motion.

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