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dc.contributor.authorMoreno-Noguer, Francesc
dc.contributor.authorPorta Pleite, Josep Maria
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.identifier.citationMoreno, F.; Porta, J.M. Probabilistic simultaneous pose and non-rigid shape recovery. A: IEEE Conference on Computer Vision and Pattern Recognition. "Proceedings of the 2011 IEEE Computer Society Conference on Computer Vision and Pattern Recognition". Colorado Springs: 2011, p. 1289-1296.
dc.description.abstractWe present an algorithm to simultaneously recover non-rigid shape and camera poses from point correspondences between a reference shape and a sequence of input images. The key novel contribution of our approach is in bringing the tools of the probabilistic SLAM methodology from a rigid to a deformable domain. Under the assumption that the shape may be represented as a weighted sum of deformation modes, we show that the problem of estimating the modal weights along with the camera poses, may be probabilistically formulated as a maximum a posterior estimate and solved using an iterative least squares optimization. An extensive evaluation on synthetic and real data, shows that our approach has several significant advantages over current approaches, such as performing robustly under large amounts of noise and outliers, and neither requiring to track points over the whole sequence nor initializations close from the ground truth solution.
dc.format.extent8 p.
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.subjectÀrees temàtiques de la UPC::Enginyeria de la telecomunicació::Processament del senyal::Processament de la imatge i del senyal vídeo
dc.subject.lcshImage processing
dc.subject.othercomputer vision
dc.titleProbabilistic simultaneous pose and non-rigid shape recovery
dc.typeConference report
dc.subject.lemacImatges -- Processament
dc.contributor.groupUniversitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
dc.contributor.groupUniversitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents
dc.subject.inspecClassificació INSPEC::Pattern recognition::Image recognition::Pose estimation
dc.rights.accessOpen Access
dc.description.versionPostprint (author’s final draft)
dc.relation.projectidinfo:eu-repo/grantAgreement/EC/FP7/247947/EU/Gardening with a Cognitive System/GARNICS
local.citation.authorMoreno, F.; Porta, J.M.
local.citation.contributorIEEE Conference on Computer Vision and Pattern Recognition
local.citation.pubplaceColorado Springs
local.citation.publicationNameProceedings of the 2011 IEEE Computer Society Conference on Computer Vision and Pattern Recognition

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