Real-time markerless human body tracking using colored voxels and 3D blobs

This paper presents a robust method for real-time visual human body tracking. We perform a hierarchical 3D reconstruction from multiple camera views as a basis for tracking. Blobs attached to a kinematic model are then used to reliably track individual body parts with both volume and color information. We describe how the blob-model is dynamically adjusted to accommodate different body configurations. In tests, our system has proved robust in presence of noisy data and self-occlusions.