Version 1
: Received: 26 March 2024 / Approved: 27 March 2024 / Online: 27 March 2024 (14:11:39 CET)
How to cite:
Zhao, M.; Yu, X.; Xu, L. PatchFusion: Patch-based Nonrigid Tracking and Reconstruction of Deformable Objects using a Single RGB-D Sensor. Preprints2024, 2024031670. https://doi.org/10.20944/preprints202403.1670.v1
Zhao, M.; Yu, X.; Xu, L. PatchFusion: Patch-based Nonrigid Tracking and Reconstruction of Deformable Objects using a Single RGB-D Sensor. Preprints 2024, 2024031670. https://doi.org/10.20944/preprints202403.1670.v1
Zhao, M.; Yu, X.; Xu, L. PatchFusion: Patch-based Nonrigid Tracking and Reconstruction of Deformable Objects using a Single RGB-D Sensor. Preprints2024, 2024031670. https://doi.org/10.20944/preprints202403.1670.v1
APA Style
Zhao, M., Yu, X., & Xu, L. (2024). PatchFusion: Patch-based Nonrigid Tracking and Reconstruction of Deformable Objects using a Single RGB-D Sensor. Preprints. https://doi.org/10.20944/preprints202403.1670.v1
Chicago/Turabian Style
Zhao, M., Xuexin Yu and Long Xu. 2024 "PatchFusion: Patch-based Nonrigid Tracking and Reconstruction of Deformable Objects using a Single RGB-D Sensor" Preprints. https://doi.org/10.20944/preprints202403.1670.v1
Abstract
This paper introduces PatchFusion, an innovative approach for nonrigid tracking and reconstruction of deformable objects using a single RGB-D sensor. Existing methods face challenges in accurately capturing the rapid deformations of soft and flexible objects, thereby limiting their utility in diverse scenarios. Our approach overcomes this challenge by employing a dynamic patch-based framework that adapts to rapid inter-frame motions. Firstly, patch-wise rigid transformation fields for non-overlapping patches are solved via Iterative Closest Point (ICP) by incorporating geometric features as additional similarity constraints, thereby enhancing robustness and accuracy. Secondly, deformation optimization based on a nonrigid solver is applied to refine the coarse transformation fields. In order to enable simultaneous tracking and reconstruction of deformable objects, the patch-based rigid solver is designed to run in parallel with the nonrigid solver, serving as a plug-and-play module requiring minimal modifications for integration while enabling real-time performance. Following a comprehensive evaluation, PatchFusion showcases superior performance in effectively dealing with rapid inter-frame deformations when compared to existing techniques, rendering it a promising solution with broad applicability across domains such as robotics, computer vision, and human-computer interaction.
Computer Science and Mathematics, Computer Vision and Graphics
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
