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Recovery of piece-wise planar and piece-wise rigid models from nonrigid motion

We present a framework for estimating 3D relative structure (shape) and motion given objects undergoing non-rigid deformation as observed from a fixed camera, under perspective projection. Deforming surfaces are approximated as piece-wise planar, and piece-wise rigid. Robust registration methods allow tracking of corresponding image patches from view to view and recovery of 3D shape despite occlusions, discontinuities, and varying illumination conditions. Many relatively small planar/rigid image patch trackers are scattered throughout the image; resulting estimates of structure and motion at each patch are combined over local neighborhoods via an oriented particle systems formulation. Preliminary experiments have been conducted on real image sequences of deforming objects and on synthetic sequences where ground truth is known.