RGBD Scene Flow Estimation with Global Nonrigid and Local Rigid Assumption

Dense Semi-rigid Scene Flow Estimation from RGBD Images

Scene flow is defined as the motion field in 3D space, and can be computed from a single view when using an RGBD sensor. We propose a new scene flow approach that exploits the local and piecewise rigidity of real world scenes. By modeling the motion as a field of twists, our method encourages piecewise smooth solutions of rigid body motions. We give a general formulation to solve for local and ...

Multiframe Scene Flow with Piecewise Rigid Motion

We introduce a novel multiframe scene flow approach that jointly optimizes the consistency of the patch appearances and their local rigid motions from RGB-D image sequences. In contrast to the competing methods, we take advantage of an oversegmentation of the reference frame and robust optimization techniques. We formulate scene flow recovery as a global non-linear least squares problem which i...

Rigid and Nonrigid Achirality

Nonrigid Surface Registration and Completion from RGBD Images

Nonrigid surface registration is a challenging problem that suffers from many ambiguities. Existing methods typically assume the availability of full volumetric data, or require a global model of the surface of interest. In this paper, we introduce an approach to nonrigid registration that performs on relatively low-quality RGBD images and does not assume prior knowledge of the global surface s...

Scene Flow Estimation: A Survey

This paper is the first to review the scene flow estimation field to the best of our knowledge, which analyzes and compares methods, technical challenges, evaluation methodologies and performance of scene flow estimation. Existing algorithms are categorized in terms of scene representation, data source, and calculation scheme, and the pros and cons in each category are compared briefly. The dat...