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Figure 2 Our approach: Adding image constraints to inverse kinematics.

In this paper, we present how to add image constraints to inverse kinematics in order to estimate human motion.

Table 1 summarizes the results that shows how the inverse kinematics with image constraints has less error.

(c) And (d) arm estimation applying inverse kinematics with image constraints using one and two views respectively.

In next section, current inverse kinematics approach is reviewed in order to introduce in Section 3 the image constraints.

Finally, the third test compares the evaluation of the inverse kinematics approach, with and without image constraints, by using HumanEva dataset [14].

Right column, sequence applying inverse kinematics with image constraint.

Left column, sequence applying inverse kinematics without image constraint.

We apply the inverse kinematics approach, from the initial configuration, with and without image constraint.

According to [4], the image constraint at with Taylor series can be expressed as. (1).

It is straightforward to extend to more tasks when the image constraint has low priority.