3D shape recovery using a deformable model

Abstract This paper describes a method for recovering the 3D shape of a moving object from a sequence of images. While following the motion of the object a 3D surface model, initialized to be spherical, progressively deforms under the action of simulated external forces driving its profile towards the object profile extracted from the image. Internal forces coupled to the model encourage the surface to be smooth and to deform smoothly at each time step. The model is aligned with the object in 3D by rotating on the ground plane to orientate parallel to the back-projected motion trajectory and translating to minimize the distance between the model profile and the object profile. Experimental results are presented for the recovery of shape models of vehicles.

[1]  Jiang Yu Zheng,et al.  Acquiring 3-D Models from Sequences of Contours , 1994, IEEE Trans. Pattern Anal. Mach. Intell..

[2]  David C. Hogg,et al.  Learning Flexible Models from Image Sequences , 1994, ECCV.

[3]  Jan-Olof Eklundh,et al.  Computer Vision — ECCV '94 , 1994, Lecture Notes in Computer Science.

[4]  Ramesh C. Jain,et al.  Three-dimensional object recognition , 1985, CSUR.

[5]  R. Courant,et al.  Methods of Mathematical Physics , 1962 .

[6]  Charles R. Dyer,et al.  Model-based recognition in robot vision , 1986, CSUR.

[7]  Debra Charnley,et al.  Surface reconstruction from outdoor image sequences , 1989, Image Vis. Comput..

[8]  Demetri Terzopoulos,et al.  Physically based models with rigid and deformable components , 1988, IEEE Computer Graphics and Applications.

[9]  J. K. Aggarwal,et al.  VOLUME/SURFACE OCTREE REPRESENTATION. , 1984 .

[10]  David C. Hogg.  Shape in machine vision , 1993, Image Vis. Comput..

[11]  Demetri Terzopoulos,et al.  Constraints on Deformable Models: Recovering 3D Shape and Nonrigid Motion , 1988, Artif. Intell..

[12]  Alex Pentland,et al.  Perceptual Organization and the Representation of Natural Form , 1986, Artif. Intell..

[13]  J.L. Chen,et al.  Recovering and tracking pose of curved 3D objects from 2D images , 1993, Proceedings of IEEE Conference on Computer Vision and Pattern Recognition.

[14]  Richard Szeliski,et al.  Recovering 3D shape and motion from image streams using nonlinear least squares , 1993, Proceedings of IEEE Conference on Computer Vision and Pattern Recognition.

[15]  Alex Pentland,et al.  Recovery of Nonrigid Motion and Structure , 1991, IEEE Trans. Pattern Anal. Mach. Intell..

[16]  Hans-Hellmut Nagel,et al.  Toward the derivation of three-dimensional descriptions from image sequences for nonconvex moving objects , 1986, Comput. Vis. Graph. Image Process..

[17]  David G. Lowe,et al.  Fitting Parameterized Three-Dimensional Models to Images , 1991, IEEE Trans. Pattern Anal. Mach. Intell..

[18]  Dimitris N. Metaxas,et al.  Dynamic 3D models with local and global deformations: deformable superquadrics , 1990, [1990] Proceedings Third International Conference on Computer Vision.

[19]  Xinquan Shen,et al.  Shape Models from Image Sequences , 1994, ECCV.

[20]  Ian D. Reid,et al.  Recursive Affine Structure and Motion from Image Sequences , 1994, ECCV.

[21]  John C. Platt,et al.  Elastically deformable models , 1987, SIGGRAPH.