{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T10:09:29Z","timestamp":1777716569516,"version":"3.51.4"},"reference-count":43,"publisher":"SAGE Publications","issue":"1-3","license":[{"start":{"date-parts":[[2015,10,27]],"date-time":"2015-10-27T00:00:00Z","timestamp":1445904000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2016,1]]},"abstract":"<jats:p>We describe an algorithm to estimate the pose of a generic articulated object. Our algorithm takes as input a description of the object and a potentially incomplete series of observations; it outputs an on-line estimate of the object\u2019s configuration. This task is challenging because: (1) the distribution of object states is often multi-modal; (2) the object is not assumed to be under our control, limiting our ability to predict its motion; and (3) rotational joints make the state space highly non-linear. The proposed method represents three principal contributions to address these challenges. First, we use a particle filter implementation which is unique in that it does not require a reliable state transition model. Instead, the method relies primarily on observations during particle proposal, using the state transition model only at singularities. Second, our particle filter formulation explicitly handles missing observations via a novel proposal mechanism. Although existing particle filters can handle missing observations, they do so only by relying on good state transition models. Finally, our method evaluates noise in the observation space, rather than state space. This reduces the variability in performance due to choice of parametrization and effectively handles non-linearities caused by rotational joints. We compare our method to a baseline implementation without these techniques and demonstrate, for a fixed error, more than an order-of-magnitude reduction in the number of required particles, an increase in the number of effective particles, and an increase in frame rate. We examine the effects of errors in the kinematic model and demonstrate a reduced dependence on state parametrization. The novel use of a precision matrix allows observations which do not provide complete 6-DOF pose information to be processed. Source code for the method is available at http:\/\/rvsn.csail.mit.edu\/articulated .<\/jats:p>","DOI":"10.1177\/0278364915598850","type":"journal-article","created":{"date-parts":[[2015,10,27]],"date-time":"2015-10-27T22:36:41Z","timestamp":1445985401000},"page":"5-29","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":7,"title":["Articulated pose estimation using tangent space           approximations"],"prefix":"10.1177","volume":"35","author":[{"given":"Jonathan","family":"Brookshire","sequence":"first","affiliation":[{"name":"Computer Science and Artificial Intelligence Laboratory,\r          MIT, Cambridge, MA, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Seth","family":"Teller","sequence":"additional","affiliation":[{"name":"Computer Science and Artificial Intelligence Laboratory,\r          MIT, Cambridge, MA, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2015,10,27]]},"reference":[{"key":"bibr1-0278364915598850","volume-title":"Nonlinear Programming","author":"Bertsekas DP","year":"1999"},{"key":"bibr2-0278364915598850","unstructured":"Bouguet J-Y (2013) Camera Calibration Toolbox for             Matlab. Available at: http:\/\/www.vision.caltech.edu\/bouguetj\/calib_doc\/"},{"key":"bibr3-0278364915598850","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511804441"},{"key":"bibr4-0278364915598850","volume-title":"Articulated pose estimation via over-parametrization and noise projection","author":"Brookshire J","year":"2013"},{"key":"bibr5-0278364915598850","author":"Brookshire J","year":"2012","journal-title":"Robotics science and systems"},{"key":"bibr6-0278364915598850","author":"Brookshire J","year":"2014","journal-title":"Robotics science and systems"},{"key":"bibr7-0278364915598850","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2003.1242011"},{"key":"bibr8-0278364915598850","first-page":"244","volume":"2","author":"Cham T-J","year":"1999","journal-title":"Computer vision and pattern recognition"},{"key":"bibr9-0278364915598850","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980245"},{"key":"bibr10-0278364915598850","doi-asserted-by":"publisher","DOI":"10.1016\/j.imavis.2005.10.005"},{"key":"bibr11-0278364915598850","doi-asserted-by":"publisher","DOI":"10.1111\/j.2517-6161.1977.tb01600.x"},{"key":"bibr12-0278364915598850","first-page":"126","author":"Deutscher J","year":"2000","journal-title":"Computer vision and pattern recognition"},{"key":"bibr13-0278364915598850","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008935410038"},{"key":"bibr14-0278364915598850","doi-asserted-by":"publisher","DOI":"10.1007\/s001380050048"},{"key":"bibr15-0278364915598850","author":"Felzenszwalb P","year":"2008","journal-title":"Computer vision and pattern recognition"},{"key":"bibr16-0278364915598850","author":"Govindu V","year":"2004","journal-title":"Computer vision and pattern recognition"},{"key":"bibr17-0278364915598850","author":"Grisetti G","year":"2007","journal-title":"Intelligent robots and systems"},{"key":"bibr18-0278364915598850","volume-title":"Proceedings of the IEEE international conference on robotics and automation (ICRA)","author":"Grisetti G","year":"2005"},{"key":"bibr19-0278364915598850","doi-asserted-by":"publisher","DOI":"10.1016\/j.inffus.2011.08.003"},{"key":"bibr20-0278364915598850","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008078328650"},{"key":"bibr21-0278364915598850","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509445"},{"key":"bibr22-0278364915598850","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2002.1025369"},{"key":"bibr23-0278364915598850","doi-asserted-by":"publisher","DOI":"10.1109\/ICPR.2010.675"},{"key":"bibr24-0278364915598850","volume-title":"Proceedings of the first international congress of IFAC","author":"Kalman RE","year":"1961"},{"key":"bibr25-0278364915598850","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-61275-6"},{"key":"bibr26-0278364915598850","volume-title":"Interactive Segmentation, Tracking, and Kinematic Modeling of Unknown Articulated Objects","author":"Katz D","year":"2012"},{"key":"bibr27-0278364915598850","doi-asserted-by":"publisher","DOI":"10.1145\/1409625.1409627"},{"key":"bibr28-0278364915598850","volume-title":"Probabilistic Graphical Models: Principles and Techniques","author":"Koller D","year":"2009"},{"key":"bibr29-0278364915598850","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2010.5539789"},{"key":"bibr30-0278364915598850","volume-title":"An introduction to theoretical kinematics","author":"McCarthy J","year":"1990"},{"key":"bibr31-0278364915598850","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509556"},{"key":"bibr32-0278364915598850","doi-asserted-by":"publisher","DOI":"10.1109\/ICASSP.2008.4517713"},{"key":"bibr33-0278364915598850","doi-asserted-by":"publisher","DOI":"10.1109\/TIP.2007.899619"},{"key":"bibr34-0278364915598850","author":"Rehg JM","year":"1995","journal-title":"Computer vision and pattern recognition"},{"key":"bibr35-0278364915598850","doi-asserted-by":"publisher","DOI":"10.1177\/0278364903022006004"},{"key":"bibr36-0278364915598850","unstructured":"RITCHIESpecs (2013) CATERPILLAR 322BL\n            Hydraulic Excavator. Available at: http:\/\/www.ritchiespecs.com\/specification?category=Hydraulic%20Excavator&make=CATERPILLAR&model=322bl&modelid=104005"},{"key":"bibr37-0278364915598850","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6224929"},{"key":"bibr38-0278364915598850","doi-asserted-by":"publisher","DOI":"10.1613\/jair.3229"},{"key":"bibr39-0278364915598850","volume-title":"Probabilistic Robotics (Intelligent Robotics and Autonomous Agents)","author":"Thrun S","year":"2005"},{"key":"bibr40-0278364915598850","first-page":"238","author":"Urtasun R","year":"2006","journal-title":"Computer vision and pattern recognition"},{"key":"bibr41-0278364915598850","volume-title":"Advances in Neural Information Processing Systems","volume":"13","author":"van der Merwe R","year":"2000"},{"key":"bibr42-0278364915598850","unstructured":"Willow Garage (2013) Unified Robot\n            Description Format (URDF). Available at: http:\/\/wiki.ros.org\/urdf"},{"key":"bibr43-0278364915598850","first-page":"774","author":"Ziegler J","year":"2006","journal-title":"Computer vision and pattern recognition"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364915598850","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/0278364915598850","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364915598850","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:18:56Z","timestamp":1777457936000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364915598850"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2015,10,27]]},"references-count":43,"journal-issue":{"issue":"1-3","published-print":{"date-parts":[[2016,1]]}},"alternative-id":["10.1177\/0278364915598850"],"URL":"https:\/\/doi.org\/10.1177\/0278364915598850","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2015,10,27]]}}}