In this paper we present a system for the motion segmentation of a human arm and the determination of its internal joint characteristics (position and degrees of freedom). In particular, we are interested in the segmentation of a set of 3D points lying over a pair of non-rigid bodies (arm and forearm) connected through a rotational joint (elbow). The complexity of the problem resides in the non-rigidity of the motion given by the human articulations and the soft tissues of the body (e.g. skin and muscles). In this work we address the aspects of 3D reconstruction by multi-stereo vision, frame-by-frame matching of the feature points, motion segmentation and the joint characteristics determination.
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