Sequential non-rigid structure from motion using physical priors

We propose a new approach to simultaneously recover camera pose and 3D shape of non-rigid and potentially extensible surfaces from a monocular image sequence. For this purpose, we make use of the Extended Kalman Filter based Simultaneous Localization And Mapping (EKF-SLAM) formulation, a Bayesian op...

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Detalles Bibliográficos
Autores: Agudo Martínez, Antonio, Moreno-Noguer, Francesc, Calvo, Begoña, Montiel, J. M. M.
Tipo de recurso: artículo
Estado:Versión aceptada para publicación
Fecha de publicación:2016
País:España
Institución:Consejo Superior de Investigaciones Científicas (CSIC)
Repositorio:DIGITAL.CSIC. Repositorio Institucional del CSIC
OAI Identifier:oai:digital.csic.es:10261/132926
Acceso en línea:http://hdl.handle.net/10261/132926
Access Level:acceso abierto
Palabra clave:Finite element method
Tracking
Extended kalman filter
Non-rigid structure from motion
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spelling Sequential non-rigid structure from motion using physical priorsAgudo Martínez, AntonioMoreno-Noguer, FrancescCalvo, BegoñaMontiel, J. M. M.Finite element methodTrackingExtended kalman filterNon-rigid structure from motionWe propose a new approach to simultaneously recover camera pose and 3D shape of non-rigid and potentially extensible surfaces from a monocular image sequence. For this purpose, we make use of the Extended Kalman Filter based Simultaneous Localization And Mapping (EKF-SLAM) formulation, a Bayesian optimization framework traditionally used in mobile robotics for estimating camera pose and reconstructing rigid scenarios. In order to extend the problem to a deformable domain we represent the object's surface mechanics by means of Navier's equations, which are solved using a Finite Element Method (FEM). With these main ingredients, we can further model the material's stretching, allowing us to go a step further than most of current techniques, typically constrained to surfaces undergoing isometric deformations. We extensively validate our approach in both real and synthetic experiments, and demonstrate its advantages with respect to competing methods. More specifically, we show that besides simultaneously retrieving camera pose and non-rigid shape, our approach is adequate for both isometric and extensible surfaces, does not require neither batch processing all the frames nor tracking points over the whole sequence and runs at several frames per second.This work was partly funded by the MINECO projects Abdomesh DPI2011-27939-C02-01, RobInstruct TIN2014-58178-R and SVMap DPI2012-32168; by the ERA-net CHISTERA project VISEN PCIN-2013-047; and by a scholarship FPU12/04886 from the Spanish MECD.Peer ReviewedInstitute of Electrical and Electronics EngineersMinisterio de Educación, Cultura y Deporte (España)Ministerio de Economía y Competitividad (España)Consejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]2016201620162016info:eu-repo/semantics/articlehttp://purl.org/coar/resource_type/c_6501Postprintinfo:eu-repo/semantics/acceptedVersionhttp://hdl.handle.net/10261/132926reponame:DIGITAL.CSIC. Repositorio Institucional del CSICinstname:Consejo Superior de Investigaciones Científicas (CSIC)Inglés#PLACEHOLDER_PARENT_METADATA_VALUE##PLACEHOLDER_PARENT_METADATA_VALUE#info:eu-repo/grantAgreement/MINECO/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/TIN2014-58178-Rinfo:eu-repo/grantAgreement/MINECO/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/PCIN-2013-047http://dx.doi.org/10.1109/TPAMI.2015.2469293Síinfo:eu-repo/semantics/openAccessoai:digital.csic.es:10261/1329262026-05-22T06:33:51Z
dc.title.none.fl_str_mv Sequential non-rigid structure from motion using physical priors
title Sequential non-rigid structure from motion using physical priors
spellingShingle Sequential non-rigid structure from motion using physical priors
Agudo Martínez, Antonio
Finite element method
Tracking
Extended kalman filter
Non-rigid structure from motion
title_short Sequential non-rigid structure from motion using physical priors
title_full Sequential non-rigid structure from motion using physical priors
title_fullStr Sequential non-rigid structure from motion using physical priors
title_full_unstemmed Sequential non-rigid structure from motion using physical priors
title_sort Sequential non-rigid structure from motion using physical priors
dc.creator.none.fl_str_mv Agudo Martínez, Antonio
Moreno-Noguer, Francesc
Calvo, Begoña
Montiel, J. M. M.
author Agudo Martínez, Antonio
author_facet Agudo Martínez, Antonio
Moreno-Noguer, Francesc
Calvo, Begoña
Montiel, J. M. M.
author_role author
author2 Moreno-Noguer, Francesc
Calvo, Begoña
Montiel, J. M. M.
author2_role author
author
author
dc.contributor.none.fl_str_mv Ministerio de Educación, Cultura y Deporte (España)
Ministerio de Economía y Competitividad (España)
Consejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]
dc.subject.none.fl_str_mv Finite element method
Tracking
Extended kalman filter
Non-rigid structure from motion
topic Finite element method
Tracking
Extended kalman filter
Non-rigid structure from motion
description We propose a new approach to simultaneously recover camera pose and 3D shape of non-rigid and potentially extensible surfaces from a monocular image sequence. For this purpose, we make use of the Extended Kalman Filter based Simultaneous Localization And Mapping (EKF-SLAM) formulation, a Bayesian optimization framework traditionally used in mobile robotics for estimating camera pose and reconstructing rigid scenarios. In order to extend the problem to a deformable domain we represent the object's surface mechanics by means of Navier's equations, which are solved using a Finite Element Method (FEM). With these main ingredients, we can further model the material's stretching, allowing us to go a step further than most of current techniques, typically constrained to surfaces undergoing isometric deformations. We extensively validate our approach in both real and synthetic experiments, and demonstrate its advantages with respect to competing methods. More specifically, we show that besides simultaneously retrieving camera pose and non-rigid shape, our approach is adequate for both isometric and extensible surfaces, does not require neither batch processing all the frames nor tracking points over the whole sequence and runs at several frames per second.
publishDate 2016
dc.date.none.fl_str_mv 2016
2016
2016
2016
dc.type.none.fl_str_mv info:eu-repo/semantics/article
http://purl.org/coar/resource_type/c_6501
Postprint
info:eu-repo/semantics/acceptedVersion
format article
status_str acceptedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/10261/132926
url http://hdl.handle.net/10261/132926
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv #PLACEHOLDER_PARENT_METADATA_VALUE#
#PLACEHOLDER_PARENT_METADATA_VALUE#
info:eu-repo/grantAgreement/MINECO/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/TIN2014-58178-R
info:eu-repo/grantAgreement/MINECO/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/PCIN-2013-047
http://dx.doi.org/10.1109/TPAMI.2015.2469293
Sí
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
dc.source.none.fl_str_mv reponame:DIGITAL.CSIC. Repositorio Institucional del CSIC
instname:Consejo Superior de Investigaciones Científicas (CSIC)
instname_str Consejo Superior de Investigaciones Científicas (CSIC)
reponame_str DIGITAL.CSIC. Repositorio Institucional del CSIC
collection DIGITAL.CSIC. Repositorio Institucional del CSIC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15.812429

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