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A Shape Completion Component for Monocular Non-Rigid SLAM

Yongzhi Su; Vladislav Golyanik; Nareg Minaskan Karabid; Sk Aziz Ali; Didier Stricker
In: Proceedings of the 18th IEEE ISMAR. IEEE International Symposium on Mixed and Augmented Reality (ISMAR-2019), October 14-18, Beijing, China, IEEE, 2019.


We propose a finite element method (FEM) based approach for surface stitching which can be integrated into existing SLAM and NRSfM pipelines for AR applications. Given individual reconstructions and camera poses at different time stamps, our stitching method incrementally completes the surface with a smooth transition between the hidden and the observed parts, so that all the observed parts can be stitched into a single surface. Thanks to the physical modelling, deformations from the observed parts are propagated to the hidden parts enabling an overall high-fidelity and realistic estimate. To keep the computational time in bounds, deformations near the observed parts are computed with FEM, and the remaining region is approximated by Laplacian deformation. We assume that no force is applied to the hidden parts. To evaluate the algorithm, we generate a synthetic dataset with ground truth. In our dataset, the camera observes only a part of the target surface in each frame and moves until the whole target surface is covered. The dataset which will be made publicly available includes the ground truth cam-era poses and geometries of the whole surface at each time frame. An experimental evaluation of the stitching method with accuracy metrics rounds out the draft.