Global 3D non-rigid registration of deformable objects using a single RGB-D camera

Yang, Jingyu, Guo, Daoliang, Li, Kun, Wu, Zhenchao and Lai, Yukun ORCID: https://orcid.org/0000-0002-2094-5680 2019. Global 3D non-rigid registration of deformable objects using a single RGB-D camera. IEEE Transactions on Image Processing 28 (10) , 4746 -4761. 10.1109/TIP.2019.2909197

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Abstract

We present a novel global non-rigid registration method for dynamic 3D objects. Our method allows objects to undergo large non-rigid deformations, and achieves high quality results even with substantial pose change or camera motion between views. In addition, our method does not require a template prior and uses less raw data than tracking based methods since only a sparse set of scans is needed. We compute the deformations of all the scans simultaneously by optimizing a global alignment problem to avoid the well-known loop closure problem, and use an as-rigid-as-possible constraint to eliminate the shrinkage problem of the deformed shapes, especially near open boundaries of scans. To cope with large-scale problems, we design a coarse-to-fine multi-resolution scheme, which also avoids the optimization being trapped into local minima. The proposed method is evaluated on public datasets and real datasets captured by an RGB-D sensor. Experimental results demonstrate that the proposed method obtains better results than several state-of-the-art methods.

Item Type:	Article
Date Type:	Publication
Status:	Published
Schools:	Computer Science & Informatics
Publisher:	Institute of Electrical and Electronics Engineers (IEEE)
ISSN:	1057-7149
Date of First Compliant Deposit:	5 April 2019
Date of Acceptance:	18 March 2019
Last Modified:	07 Nov 2023 17:15
URI:	https://orca.cardiff.ac.uk/id/eprint/121527

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