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

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

© . This manuscript version is made available under the CC-BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc-nd/4.0/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 mapsPeer ReviewedPostprint (author's final draft

Carbon Kuznets Curves: Long-run Structural Dynamics and Policy Events

We study the structural differences among climate change leading ‘factors’ - Northern EU members -, and lagging actors - southern EU countries and the ‘Umbrella group’ - with regard to long run carbon-income relationships. Homogeneous and heterogeneous panel models show that the groups of countries less in favour of stringent climate policy have yet to experience a Kuznets curve, though they show relative delinking. Northern EU instead robustly shows bell shapes. Exogenous policy events such as the 1992 climate change convention appear to be relevant in shaping the EKC of Northern EU. In addition, other events such as the second oil price shock appear to have also impacted in shaping the long run emission/GDP dynamics.Carbon Kuznets Curve, Panel Cointegration, Heterogeneous Panels, Cross-Section Correlation, Kyoto Framework, Bayesian Models, Policy Events, Long Run Dynamics

Variational Methods in Shape Space

This dissertation deals with the application of variational methods in spaces of geometric shapes. In particular, the treated topics include shape averaging, principal component analysis in shape space, computation of geodesic paths in shape space, as well as shape optimisation. Chapter 1 provides a brief overview over the employed models of shape space. Geometric shapes are identified with two- or three-dimensional, deformable objects. Deformations will be described via physical models; in particular, the objects will be interpreted as consisting of either a hyperelastic solid or a viscous liquid material. Furthermore, the description of shapes via phase fields or level sets is briefly introduced. Chapter 2 reviews different and related approaches to shape space modelling. References to related topics in image segmentation and registration are also provided. Finally, the relevant shape optimisation literature is introduced. Chapter 3 recapitulates the employed concepts from continuum mechanics and phase field modelling and states basic theoretical results needed for the later analysis. Chapter 4 addresses the computation of shape averages, based on a hyperelastic notion of shape dissimilarity: The dissimilarity between two shapes is measured as the minimum deformation energy required to deform the first into the second shape. A corresponding phase-field model is introduced, analysed, and finally implemented numerically via finite elements. A principal component analysis of shapes, which is consistent with the previously introduced average, is considered in Chapter 5. Elastic boundary stresses on the average shape are used as representatives of the input shapes in a linear vector space. On these linear representatives, a standard principal component analysis can be performed, where the employed covariance metric should be properly chosen to depend on the input shapes. Chapter 6 interprets shapes as belonging to objects made of a viscous liquid and correspondingly defines geodesic paths between shapes. The energy of a path is given as the total physical dissipation during the deformation of an object along the path. A rigid body motion invariant time discretisation is achieved by approximating the dissipation along a path segment by the deformation energy of a small solid deformation. The numerical implementation is based on level sets. Chapter 7 is concerned with the optimisation of the geometry and topology of solid structures that are subject to a mechanical load. Given the load configuration, the structure rigidity, its volume, and its surface area shall be optimally balanced. A phase field model is devised and analysed for this purpose. In this context, the use of nonlinear elasticity allows to detect buckling phenomena which would be ignored in linearised elasticity

Detection of Electromagnetic Inclusions using Topological Sensitivity

In this article a topological sensitivity framework for far field detection of a diametrically small electromagnetic inclusion is established. The cases of single and multiple measurements of the electric far field scattering amplitude at a fixed frequency are taken into account. The performance of the algorithm is analyzed theoretically in terms of its resolution and sensitivity for locating an inclusion. The stability of the framework with respect to measurement and medium noises is discussed. Moreover, the quantitative results for signal-to-noise ratio are presented. A few numerical results are presented to illustrate the detection capabilities of the proposed framework with single and multiple measurements.Comment: 31 pages, 5 figure

Why Do Asset Prices Not Follow Random Walks?

This paper analyzes the e¤ect of non-constant elasticity of the pricing kernel on asset return characteristics in a rational expectations model. It is shown that declining elasticity of the pricing kernel can lead to predictability of asset returns and high and persistent volatility. Also, declining elasticity helps to motivate technical analysis and to explain stock market crashes. Moreover, based on a general characterization of the pricing kernel, we propose analytical asset price processes which can be tested empirically. The numerical analysis reveals strong deviations from the geometric Brownian motion which are caused by declining elasticity of the pricing kernel.Pricing Kernel, Viable asset price processes, Serial correlation, Heteroskedasticity, Stock market crashes

Spatial Growth Volatility and Age-structured Human Capital Dynamics in Europe.

In a semi-parametric spatial vector autoregressive setting this paper investigates the role of age-structured human capital on output comovements in Europe. Using the proportion of age-structured human capital growth and its degree of appropriations in output production as twin measures of distance, we find significant positive spatial growth volatility/persistence.Spatial growth volatility, Non-linear growth, Age-structured human capital, Semi-parametric VAR.

Topological Sensitivity Based Far-Field Detection of Elastic Inclusions

The aim of this article is to present and rigorously analyze topological sensitivity based algorithms for detection of diametrically small inclusions in an isotropic homogeneous elastic formation using single and multiple measurements of the far-field scattering amplitudes. A $L^2-$cost functional is considered and a location indicator is constructed from its topological derivative. The performance of the indicator is analyzed in terms of the topological sensitivity for location detection and stability with respect to measurement and medium noises. It is established that the location indicator does not guarantee inclusion detection and achieves only a low resolution when there is mode-conversion in an elastic formation. Accordingly, a weighted location indicator is designed to tackle the mode-conversion phenomenon. It is substantiated that the weighted function renders the location of an inclusion stably with resolution as per Rayleigh criterion.Comment: 31 pages, 1 figur