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Green Image
Issue No. 07 - July (1991 vol. 13)
ISSN: 0162-8828
pp: 730-742
<p>The authors introduce a physically correct model of elastic nonrigid motion. This model is based on the finite element method, but decouples the degrees of freedom by breaking down object motion into rigid and nonrigid vibration or deformation modes. The result is an accurate representation for both rigid and nonrigid motion that has greatly reduced dimensionality, capturing the intuition that nonrigid motion is normally coherent and not chaotic. Because of the small number of parameters involved, this representation is used to obtain accurate overstrained estimates of both rigid and nonrigid global motion. It is also shown that these estimates can be integrated over time by use of an extended Kalman filter, resulting in stable and accurate estimates of both three-dimensional shape and three-dimensional velocity. The formulation is then extended to include constrained nonrigid motion. Examples of tracking single nonrigid objects and multiple constrained objects are presented.</p>
nonrigid motion recovery; 3D shape; nonrigid structure recovery; 3D velocity; picture processing; finite element method; deformation modes; Kalman filter; filtering and prediction theory; finite element analysis; Kalman filters; picture processing

A. Pentland and B. Horowitz, "Recovery of Nonrigid Motion and Structure," in IEEE Transactions on Pattern Analysis & Machine Intelligence, vol. 13, no. , pp. 730-742, 1991.
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