Convex Optimisation for Inverse Kinematics

Understand

We consider the problem of inverse kinematics (IK), where one wants to find the parameters of a given kinematic skeleton that best explain a set of observed 3D joint locations.

• The kinematic skeleton has a tree structure, where each node is a joint that has an associated geometric transformation that is propagated to all its child nodes.
• The IK problem has various applications in vision and graphics, for example for tracking or reconstructing articulated objects, such as human hands or bodies.
• Most commonly, the IK problem is tackled using local optimisation methods.