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ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 1
We present an optimization framework to help estimate on-the-fly both the motion and physical parameters of an articulated multibody system using uncalibrated monocular image sequences. The algorithm takes video images of a physical system as input and estimates the motion together with the physical system parameters, given only the underlying articulated model topology. A valid initial pose of the system is found using a sequential optimization framework and used to bootstrap the successivedoi:10.1115/dscc2011-6123 fatcat:ld7pvygpmffmlffbdgdlcgaziq