Non-Rigid Shape From Water
Non-Rigid Shape From Water
复制标题
水的非刚性形状
DOI：
10.1109/tpami.2021.3075450
复制
发表时间：
2021
影响因子：
23.6
通讯作者：
Ko Nishino
中科院分区：
文献类型：
--
作者：
Meng-Yu Jennifer Kuo;Ryo Kawahara ;Shohei Nobuhara ;Ko Nishino
我们介绍了一种新的三维传感方法，用于恢复水中动态、非刚性物体的一致、密集的三维形状。该方法通过估计水下3D场景流并使用它来积分从两个近红外观测中恢复的每帧深度估计，在标准帧(例如，静止形状)中重建目标对象的完整(或更完整)3D表面，因为目标对象在帧之间自由变形和移动。在此全局非刚性形状恢复过程中，通过利用几何约束和辐射约束来细化重建形状。我们使用单个摄像机和一个光源来实现我们的方法，而不是在两者中的任何一个上都没有正交性假设，通过推导出一个实用的定标方法来估计相对于摄像机的点源位置。我们的重建方法也考虑了水的散射。我们制作了一个视频率成像系统的原型，并展示了真实世界水中一些静态、可变形和动态的物体和生物的3D形状重建结果。实验结果表明，该方法能够有效地恢复水中复杂的非刚性物体的完整形状，为亚米级水下三维传感的应用开辟了新的途径。
We introduce a novel 3D sensing method for recovering a consistent, dense 3D shape of a dynamic, non-rigid object in water. The method reconstructs a complete (or fuller) 3D surface of the target object in a canonical frame (e.g., rest shape) as it freely deforms and moves between frames by estimating underwater 3D scene flow and using it to integrate per-frame depth estimates recovered from two near-infrared observations. The reconstructed shape is refined in the course of this global non-rigid shape recovery by leveraging both geometric and radiometric constraints. We implement our method with a single camera and a light source without the orthographic assumption on either by deriving a practical calibration method that estimates the point source position with respect to the camera. Our reconstruction method also accounts for scattering by water. We prototype a video-rate imaging system and show 3D shape reconstruction results on a number of real-world static, deformable, and dynamic objects and creatures in real-world water. The results demonstrate the effectiveness of the method in recovering complete shapes of complex, non-rigid objects in water, which opens new avenues of application for underwater 3D sensing in the sub-meter range.