Stochastic optimisation for high-dimensional tracking in dense range maps
The main challenge of tracking articulated structures like hands is their many degrees of freedom (DOFs). A realistic 3-D model of the human hand has at least 26 DOFs. The arsenal of tracking approaches that can track such structures fast and reliably is still very small. This paper proposes a tracker based on stochastic meta-descent (SMD) for optimisations in such high-dimensional state spaces. This new algorithm is based on a gradient descent approach with adaptive and parameter-specific step sizes. The SMD tracker facilitates the integration of constraints, and combined with a stochastic sampling technique, can get out of spurious local minima. Furthermore, the integration of a deformable hand model based on linear blend skinning and anthropometrical measurements reinforces the robustness of the tracker. Experiments show the efficiency of the SMD algorithm in comparison with common optimisation methods.