Abstract
In this paper, we address the problem of simultaneous tracking and reconstruction of non-planar templates in real-time. Classical approaches to template tracking assume planarity and do not attempt to recover the shape of an object. Structure from motion approaches use feature points to recover camera pose and reconstruct the scene from those features, but do not produce dense 3D surface models. Finally, deformable surface tracking approaches assume a static camera and impose strong deformation priors to recover dense 3D shapes.
The proposed method simultaneously recovers the camera motion and deforms the template such that an approximation of the underlying 3D structure is recovered. Spatial smoothing is not explicitly imposed, thus templates of smooth and non-smooth objects can be equally handled. The problem is formalized as an energy minimization based on image intensity differences. Quantitative and qualitative evaluation on both real and synthetic data is presented, we compare the proposed approach to related methods and demonstrate that the recovered camera pose is close to the ground truth even in presence of strong blur and low texture.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Baker, S., Matthews, I.: Lucas-kanade 20 years on: A unifying framework. IJCV 56(3), 221–255 (2004)
Bartoli, A., Zisserman, A.: Direct estimation of non-rigid registrations. In: BMVC (2004)
Benhimane, S., Malis, E.: Homography-based 2d visual tracking and servoing. Special Joint Issue IJCV/IJRR on Robot and Vision. Published in The International Journal of Robotics Research 26(7), 661–676 (2007)
Benhimane, S., Malis, E.: Integration of euclidean constraints in template based visual tracking of piecewise-planar scenes. In: IROS (2006)
Datta, A., Sheikh, Y., Kanade, T.: Linear motion estimation for systems of articulated planes. In: CVPR (2008)
Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: MonoSLAM: Real-time single camera SLAM. PAMI 26(6), 1052–1067 (2007)
Gay-Bellile, V., Bartoli, A., Sayd, P.: Direct estimation of non-rigid registrations with image-based self-occlusion reasoning. PAMI 32, 87–104 (2009)
Hilsmann, A., Schneider, D.C., Eisert, P.: Realistic cloth augmentation in single view under occlusion. Computers & Graphics (2010)
Jurie, F., Dhome, M.: Hyperplane approximation for template matching. PAMI 24, 996–1000 (2002)
Klein, G., Murray, D.: Parallel tracking and mapping for small AR workspaces. In: ISMAR (2007)
Lieberknecht, S., Benhimane, S., Meier, P., Navab, N.: A dataset and evaluation methodology for template-based tracking algorithms. In: ISMAR (2009)
Lucas, B., Kanade, T.: An Iterative Image Registration Technique with an Application to Stereo Vision. In: IJCAI (1981)
Newcombe, R., Davison, A.: Live dense reconstruction with a single moving camera. In: CVPR (2010)
Pilet, J., Lepetit, V., Fua, P.: Fast non-rigid surface detection, registration and realistic augmentation. IJCV 76(2), 109–112 (2008)
Salzmann, M., Fua, P.: Reconstructing sharply folding surfaces: A convex formulation. In: CVPR (2009)
Salzmann, M., Urtasun, R., Fua, P.: Local deformation models for monocular 3d shape recovery. In: CVPR (2008)
Silveira, G., Malis, E.: Unified direct visual tracking of rigid and deformable surfaces under generic illumination changes in grayscale and color images. IJCV 89(1), 84–105 (2010)
Triggs, B., Mclauchlan, P.F., Hartley, R.I., Fitzgibbon, A.W.: Bundle adjustment – a modern synthesis. In: Proceedings of the International Workshop on Vision Algorithms: Theory and Practice (2000)
Varol, A., Salzmann, M., Tola, E., Fua, P.: Template-free monocular reconstruction of deformable surfaces. In: ICCV (2009)
Wedel, A., Pock, T., Zach, C., Bischof, H., Cremers, D.: An Improved Algorithm for TV-L1 Optical Flow. In: Cremers, D., Rosenhahn, B., Yuille, A.L., Schmidt, F.R. (eds.) Statistical and Geometrical Approaches to Visual Motion Analysis. LNCS, vol. 5604, pp. 23–45. Springer, Heidelberg (2009)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2011 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Lieberknecht, S., Benhimane, S., Ilic, S. (2011). Simultaneous Reconstruction and Tracking of Non-planar Templates. In: Mester, R., Felsberg, M. (eds) Pattern Recognition. DAGM 2011. Lecture Notes in Computer Science, vol 6835. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-23123-0_40
Download citation
DOI: https://doi.org/10.1007/978-3-642-23123-0_40
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-23122-3
Online ISBN: 978-3-642-23123-0
eBook Packages: Computer ScienceComputer Science (R0)