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A Volumetric Approach for Merging Range Images of Semi-Rigid Objects Captured at Different Time Instances

This paper presents an algorithm for registering range images of semi-rigid objects obtained by a single stereoscopic camera at different time instances. The stereo camera is intrinsically calibrated but its external position needs not to be tracked. In the preprocessing step, the input stereoscopic sequence is used to compute depth range images for all frames, as well as sparse 3D features that provide both temporal and spatial correspondences. Segmentation is also performed to separate the rigid and non-rigid moving parts of the object under modeling. To reconstruct the surface model under any given instant t, we developed a novel volumetric distance field warping function so that range images from different time, even if there are non-rigid deformations, can be mapped to time t and then merged together. Experiment results demonstrate that the presented algorithm is capable of merging range images for semirigid objects. As a result, a complete dynamic model of a semi-rigid object can be obtained from a single stereoscopic sequence, as long as the video observes all sides of the moving object.