Simultaneous Pose Estimation and Augmentation of Elastic Surfaces from a Moving Monocular Camera - Inria - Institut national de recherche en sciences et technologies du numérique Accéder directement au contenu
Communication Dans Un Congrès Année : 2016

Simultaneous Pose Estimation and Augmentation of Elastic Surfaces from a Moving Monocular Camera

Résumé

We present in this paper an original method to estimate the pose of a monocular camera while simultaneously modeling and capturing the elastic deformation of the object to be augmented. Our method tackles a challenging problem where ambiguities between rigid motion and non-rigid deformation are present. This issue represents a major lock for the establishment of an efficient surgical augmented reality where endoscopic camera moves and organs deform. Using an underlying physical model to estimate the low stressed regions our algorithm separates the rigid body motion from the elastic deformations using polar decomposition of the strain tensor. Following this decomposition, a constrained minimization, that encodes both the optical and the physical constraints, is resolved at each frame. Results on real and simulated data are exposed to show the effectiveness of our approach.
Fichier principal
Vignette du fichier
haouchine_ISMAR2016.pdf (3.21 Mo) Télécharger le fichier
Vignette du fichier
im.jpg (5.81 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Format : Figure, Image
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-01353189 , version 1 (10-08-2016)

Identifiants

  • HAL Id : hal-01353189 , version 1

Citer

Nazim Haouchine, Marie-Odile Berger, Stephane Cotin. Simultaneous Pose Estimation and Augmentation of Elastic Surfaces from a Moving Monocular Camera. International Symposium on Mixed and Augmented Reality, Sep 2016, Merida, Mexico. ⟨hal-01353189⟩
430 Consultations
404 Téléchargements

Partager

Gmail Facebook X LinkedIn More