An optimization method for overdetermined kinematic problems formulated with natural coordinates

In this paper, we present an optimization method for solving the nonlinear constrained optimization problem arising from a motion reconstruction problem formulated with natural coordinates. A motion reconstruction problem consists in a kinematic analysis of a rigid multibody system whose motion is usually overdetermined by an excess of data. The method has been applied to the analysis of human motion which is a typical case of an overdetermined kinematic problem as a large number of markers are usually placed on a subject to capture its movement. The efficiency of the method has been tested both with computer-simulated and real experimental data using models that include open and closed kinematic loops.