Sequential non-rigid structure from motion using physical priors

© 20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.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.Peer ReviewedPostprint (author's final draft

Modelling the forming mechanics of engineering fabrics using a mutually constrained pantographic beam and membrane mesh

A method of combining 1-d and 2-d structural finite elements to capture the fundamental mechanical properties of engineering fabrics subject to finite strains is introduced. A mutually constrained pantographic beam and membrane mesh is presented and simple homogenisation theory is developed to relate the macro-scale properties of the mesh to the properties of the elements within the mesh. The theory shows that each of the macro-scale properties of the mesh can be independently controlled. An investigation into the performance of the technique is conducted using tensile, cantilever bending and uniaxial bias extension shear simulations. The simulations are first used to verify the accuracy of the homogenisation theory and then used to demonstrate the ability of the modelling approach in accurately predicting the shear force, shear kinematics and out-of-plane wrinkling behaviour of engineering fabrics

Multi-resolution isotropic strain limiting

In this paper we describe a fast strain-limiting method that allows stiff, incompliant materials to be simulated efficiently. Unlike prior approaches, which act on springs or individual strain components, this method acts on the strain tensors in a coordinate-invariant fashion allowing isotropic behavior. Our method applies to both two-and three-dimensional strains, and only requires computing the singular value decomposition of the deformation gradient, either a small 2x2 or 3x3 matrix, for each element. We demonstrate its use with triangular and tetrahedral linear-basis elements. For triangulated surfaces in three-dimensional space, we also describe a complementary edge-angle-limiting method to limit out-of-plane bending. All of the limits are enforced through an iterative, non-linear, Gauss-Seidel-like constraint procedure. To accelerate convergence, we propose a novel multi-resolution algorithm that enforces fitted limits at each level of a non-conforming hierarchy. Compared with other constraint-based techniques, our isotropic multi-resolution strain-limiting method is straightforward to implement, efficient to use, and applicable to a wide range of shell and solid materials. © 2010 ACM

Real-Time Numerical Simulation for Accurate Soft Tissues Modeling during Haptic Interaction

The simulation of fabrics physics and its interaction with the human body has been largely studied in recent years to provide realistic-looking garments and wears specifically in the entertainment business. When the purpose of the simulation is to obtain scientific measures and detailed mechanical properties of the interaction, the underlying physical models should be enhanced to obtain better simulation accuracy increasing the modeling complexity and relaxing the simulation timing constraints to properly solve the set of equations under analysis. However, in the specific field of haptic interaction, the desiderata are to have both physical consistency and high frame rate to display stable and coherent stimuli as feedback to the user requiring a tradeoff between accuracy and real-time interaction. This work introduces a haptic system for the evaluation of the fabric hand of specific garments either existing or yet to be produced in a virtual reality simulation. The modeling is based on the co-rotational Finite Element approach that allows for large displacements but the small deformation of the elements. The proposed system can be beneficial for the fabrics industry both in the design phase or in the presentation phase, where a virtual fabric portfolio can be shown to customers around the world. Results exhibit the feasibility of high-frequency real-time simulation for haptic interaction with virtual garments employing realistic mechanical properties of the fabric materials

Computer graphics techniques for modeling page turning

Turning the page is a mechanical part of the cognitive act of reading that we do literally unthinkingly. Interest in realistic book models for digital libraries and other online documents is growing. Yet actually producing a computer graphics implementation for modeling page turning is a challenging undertaking. There are many possible foundations: two-dimensional models that use reflection and rotation; geometrical models using cylinders or cones; mass-spring models that simulate the mechanical properties of paper at varying degrees of fidelity; finite-element models that directly compute the actual forces within a piece of paper. Even the simplest methods are not trivial, and the more sophisticated ones involve detailed physical and mathematical models. The variety, intricacy and complexity of possible ways of simulating this fundamental act of reading is virtually unknown. This paper surveys computer graphics models for page turning. It combines a tutorial introduction that covers the range of possibilities and complexities with a mathematical synopsis of each model in sufficient detail to serve as a basis for implementation. Illustrations are included that are generated by our implementations of each model. The techniques presented include geometric methods (both two- and three-dimensional), mass-spring models with varying degrees of accuracy and complexity, and finite-element models. We include a detailed comparison of experimentally-determined computation time and subjective visual fidelity for all methods discussed. The simpler techniques support convincing real-time implementations on ordinary workstations

A spring force formulation for elastically deformable models

Cataloged from PDF version of article.Continuous deformable models are generally represented using a grid of control points. The elastic properties are then modeled using the interactions between these points. The formulations based on elasticity theory express these interactions using stiffness matrices. These matrices store the elastic properties of the models and they should be evolved in time according to changing elastic properties of the models. However, forming the stiffness matrices at any step of an animation is very difficult and sometimes the differential equations that should be solved to produce animation become ill-conditioned. Instead of modeling the elasticities using stiffness matrices, the interactions between model points could be expressed in terms of external spring forces. In this paper, a spring force formulation for animating elastically deformable models is presented. In this formulation, elastic properties of the materials are represented as external spring forces as opposed to forming complicated stiffness matrices. (C) 1997 Elsevier Science Ltd