Registration Techniques for Deformable Objects
This addresses the challenge of 3D reconstruction and camera tracking for dynamic scenes, which is incremental as it builds on existing non-rigid registration techniques.
The paper tackles the problem of simultaneously mapping deforming objects and localizing cameras in dynamic environments, where scans undergo rigid motions and non-rigid deformations with partial overlaps and no prior templates or markers.
In general, the problem of non-rigid registration is about matching two different scans of a dynamic object taken at two different points in time. These scans can undergo both rigid motions and non-rigid deformations. Since new parts of the model may come into view and other parts get occluded in between two scans, the region of overlap is a subset of both scans. In the most general setting, no prior template shape is given and no markers or explicit feature point correspondences are available. So, this case is a partial matching problem that takes into account the assumption that consequent scans undergo small deformations while having a significant amount of overlapping area [28]. The problem which this thesis is addressing is mapping deforming objects and localizing cameras in the environment at the same time.