Gappy POD and Temporal Correspondence for Lizard Motion Estimation

With the maturity of conventional industrial robots, there has been increasing interest in designing robots that emulate realistic animal motions. This discipline requires careful and systematic investigation of a wide range of animal motions from biped, to quadruped, and even to serpentine motion of centipedes, millipedes, and snakes. Collecting optical motion capture data of such complex animal motions can be complicated for several reasons. Often there is the need to use many high-quality cameras for detailed subject tracking, and self-occlusion, loss of focus, and contrast variations challenge any imaging experiment. The problem of self-occlusion is especially pronounced for animals. In this thesis, we walk through the process of collecting motion capture data of a running lizard. In our collected raw video footage, it is difficult to make temporal correspondences using interpolation methods because of prolonged blurriness, occlusion, or the limited field of vision of our cameras. To work around this, we first make a model data set by making our best guess of the points' locations through these corruptions. Then, we randomly eclipse the data, use Gappy POD to repair the data and then see how closely it resembles the initial set, culminating in a test case where we simulate the actual corruptions we see in the raw video footage.

Name thesis:degree_name

Master of Science

Level thesis:degree_level

masters

Discipline thesis:degree_discipline

Mathematics

Department dc:contributor.department

Mathematics

Grantor dc:publisher

Virginia Tech

Year dc:date.issued

2018

Author dc:creator

• Kurdila, Hannah Robertshaw

Chair dc:contributor.committeechair

• Borggaard, Jeffrey T.

Committee members dc:contributor.committeemember

• Gugercin, Serkan
• Zietsman, Lizette

• Gappy proper orthogonal decomposition
• lizard locomotion
• motion capture
• occlusion
• pose estimation
• temporal correspondence
• tracking

Statement dc:rights

• In Copyright

Licence dc:rights.uri

• http://rightsstatements.org/vocab/InC/1.0/

Dc Identifier Other

vt_gsexam:15350

OAI identifier oai:identifier

oai:vtechworks.lib.vt.edu:10919/83603