Non-Rigid Metric Shape and Motion Recovery from Uncalibrated Images Using Priors
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
Nonrigid Structure-from-Motion: Estimating Shape and Motion with Hierarchical Priors
IEEE Transactions on Pattern Analysis and Machine Intelligence
Sequential non-rigid structure-from-motion with the 3D-implicit low-rank shape model
ECCV'10 Proceedings of the 11th European conference on Computer vision: Part II
Piecewise quadratic reconstruction of non-rigid surfaces from monocular sequences
ECCV'10 Proceedings of the 11th European conference on Computer vision: Part IV
Deformable object tracking using the boundary element method
CVPR'03 Proceedings of the 2003 IEEE computer society conference on Computer vision and pattern recognition
Inverse Depth Parametrization for Monocular SLAM
IEEE Transactions on Robotics
Finite Element based sequential Bayesian Non-Rigid Structure from Motion
CVPR '12 Proceedings of the 2012 IEEE Conference on Computer Vision and Pattern Recognition (CVPR)
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We present a new FEM (Finite Element Method) model for the 3D reconstruction of a deforming scene using as sole input a calibrated video sequence. Our approach extends the recently proposed 2D thin-plate FEM+EKF (Extended Kalman Filter) combination. Thin-plate FEM is an approximation that models a deforming 3D thin solid as a surface, and then discretizes the surface as a mesh of planar triangles. In contrast, we propose a full-fledged 3D FEM formulation where the deforming 3D solid is discretized as a mesh of 3D wedge elements. The new 3D FEM formulation provides better conditioning for the rank analysis stage necessary to remove the rigid boundary points from the formulation. We show how the proposed formulation accurately estimates deformable scenes from real imagery even for strong deformations. Crucially we also show, for the first time to the best of our knowledge, NRSfM (Non-Rigid Structure from Motion) at 30Hz real-time over real imagery. Real-time can be achieved for our 3D FEM formulation combined with an EKF resulting in accurate estimates even for small size maps.