An Adaptive Approach to Real-Time 3D Non-Rigid Registration

3D non-rigid registration is fundamental for tracking or reconstruction of 3D deformable shapes. Fast methods for 3D non-rigid registration are particularly interesting for markerless augmented reality applications, in which the object being used as a natural marker may undergo a non-rigid user interaction. Here, we present a multi-frame adaptive algorithm for 3D non-rigid registration implemented on GPU where the 3D data is captured from an RGB-D camera. In this work, adaptivity is used in three stages of the process. First, to guide the distribution of regions of influence based on the deformation intensity on some region of the shape. Second, during the selection of constraints, where the sampling done over the object for the optimization is based on the current deformation. Third, to apply the algorithm in a multi-frame manner only when the rigid tracking error is above a pre-defined threshold. The results obtained show that the proposed algorithm is capable to achieve real-time performance with an approach as accurate as the ones proposed in the literature. Keywords-Adaptive Algorithms; Augmented Reality; NonRigid Registration;