2021/05/19 by Sven Dittus, Dittus, Sven, Benjamin Alt +9
Earth and Planetary Sciences · Engineering · #3D Shape Modeling and Analysis #3D Surveying and Cultural Heritage #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Robotics (cs.RO) #Robotics and Sensor-Based Localization
paper · pdf · doi:10.48550/arxiv.2105.09067
openalex publication_date 2021/05/19 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
This paper introduces an efficient procedure to localize user-defined points on the surface of deformable objects and track their positions in 3D space over time. To cope with a deformable object's infinite number of DOF, we propose a discretized deformation field, which is estimated during runtime using a multi-step non-linear solver pipeline. The resulting high-dimensional energy minimization problem describes the deviation between an offline-defined reference model and a pre-processed camera image. An additional regularization term allows for assumptions about the object's hidden areas and increases the solver's numerical stability. Our approach is capable of solving the localization problem online in a data-parallel manner, making it ideally suitable for the perception of non-rigid objects in industrial manufacturing processes.