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Real-time 3D reconstruction of non-rigid shapes with a single moving camera

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10.1016/j.cviu.2016.05.004
 
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hdl:2117/104455

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Agudo Martínez, AntonioMés informacióMés informació
Moreno-Noguer, FrancescMés informació
Calvo, Begoña
Martinez Montiel, José Maria
Document typeArticle
Defense date2016
Rights accessOpen Access
Attribution-NonCommercial-NoDerivs 3.0 Spain
Except where otherwise noted, content on this work is licensed under a Creative Commons license : Attribution-NonCommercial-NoDerivs 3.0 Spain
ProjectPOPCORN - Development of corneal biomechanical model. Dynamic topographical characterization based on 3D plenoptic imaging. (EC-FP7-606634)
Abstract
This paper describes a real-time sequential method to simultaneously recover the camera motion and the 3D shape of deformable objects from a calibrated monocular video. For this purpose, we consider the Navier-Cauchy equations used in 3D linear elasticity and solved by finite elements, to model the time-varying shape per frame. These equations are embedded in an extended Kalman filter, resulting in sequential Bayesian estimation approach. We represent the shape, with unknown material properties, as a combination of elastic elements whose nodal points correspond to salient points in the image. The global rigidity of the shape is encoded by a stiffness matrix, computed after assembling each of these elements. With this piecewise model, we can linearly relate the 3D displacements with the 3D acting forces that cause the object deformation, assumed to be normally distributed. While standard finite-element-method techniques require imposing boundary conditions to solve the resulting linear system, in this work we eliminate this requirement by modeling the compliance matrix with a generalized pseudoinverse that enforces a pre-fixed rank. Our framework also ensures surface continuity without the need for a post-processing step to stitch all the piecewise reconstructions into a global smooth shape. We present experimental results using both synthetic and real videos for different scenarios ranging from isometric to elastic deformations. We also show the consistency of the estimation with respect to 3D ground truth data, include several experiments assessing robustness against artifacts and finally, provide an experimental validation of our performance in real time at frame rate for small maps
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© <year>. This manuscript version is made available under the CC-BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc-nd/4.0/
CitationAgudo, A., Moreno-Noguer, F., Calvo, B., Montiel, J.M.M. Real-time 3D reconstruction of non-rigid shapes with a single moving camera. "Computer vision and image understanding", 2016, vol. 153, núm. 12, p. 37-54. 
URIhttp://hdl.handle.net/2117/104455
DOI10.1016/j.cviu.2016.05.004
ISSN1077-3142
Publisher versionhttp://www.sciencedirect.com/science/article/pii/S1077314216300522
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  • ROBiri - Grup de Robòtica de l'IRI - Articles de revista [146]
  • IRI - Institut de Robòtica i Informàtica Industrial, CSIC-UPC - Articles de revista [290]
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