4,041 research outputs found
Scene-level Tracking and Reconstruction without Object Priors
We present the first real-time system capable of tracking and reconstructing,
individually, every visible object in a given scene, without any form of prior
on the rigidness of the objects, texture existence, or object category. In
contrast with previous methods such as Co-Fusion and MaskFusion that first
segment the scene into individual objects and then process each object
independently, the proposed method dynamically segments the non-rigid scene as
part of the tracking and reconstruction process. When new measurements indicate
topology change, reconstructed models are updated in real-time to reflect that
change. Our proposed system can provide the live geometry and deformation of
all visible objects in a novel scene in real-time, which makes it possible to
be integrated seamlessly into numerous existing robotics applications that rely
on object models for grasping and manipulation. The capabilities of the
proposed system are demonstrated in challenging scenes that contain multiple
rigid and non-rigid objects.Comment: Accepted by IROS202
A Combinatorial Solution to Non-Rigid 3D Shape-to-Image Matching
We propose a combinatorial solution for the problem of non-rigidly matching a
3D shape to 3D image data. To this end, we model the shape as a triangular mesh
and allow each triangle of this mesh to be rigidly transformed to achieve a
suitable matching to the image. By penalising the distance and the relative
rotation between neighbouring triangles our matching compromises between image
and shape information. In this paper, we resolve two major challenges: Firstly,
we address the resulting large and NP-hard combinatorial problem with a
suitable graph-theoretic approach. Secondly, we propose an efficient
discretisation of the unbounded 6-dimensional Lie group SE(3). To our knowledge
this is the first combinatorial formulation for non-rigid 3D shape-to-image
matching. In contrast to existing local (gradient descent) optimisation
methods, we obtain solutions that do not require a good initialisation and that
are within a bound of the optimal solution. We evaluate the proposed method on
the two problems of non-rigid 3D shape-to-shape and non-rigid 3D shape-to-image
registration and demonstrate that it provides promising results.Comment: 10 pages, 7 figure
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