Kinematic Tree

A kinematic tree is a hierarchical model representing the interconnected joints and links of an articulated system, such as a robot arm or the human skeleton. Current research focuses on improving the accuracy and efficiency of kinematic tree-based methods for tasks like 3D human pose estimation, robot calibration, and dynamic simulation. This involves developing novel algorithms, like those based on optimized recursive computations or decision trees, to efficiently calculate relevant matrices (e.g., the Delassus matrix) and refine estimations using multiple data sources (e.g., 2D keypoints and RGB-D video). These advancements have significant implications for robotics, computer vision, and biomechanics, enabling more accurate and robust control, modeling, and analysis of complex articulated systems.