Global registration of dynamic range scans for articulated model reconstruction
Abstract
We present the articulated global registration algorithm to reconstruct articulated 3D models from dynamic range scan sequences. This new algorithm aligns multiple range scans simultaneously to reconstruct a full 3D model from the geometry of these scans. Unlike other methods, we express the surface motion in terms of a reduced deformable model and solve for joints and skinning weights. This allows a user to interactively manipulate the reconstructed 3D model to create new animations. We express the global registration as an optimization of both the alignment of the range scans and the articulated structure of the model. We employ a graph-based representation for the skinning weights that successfully handles difficult topological cases well. Joints between parts are estimated automatically and are used in the optimization to preserve the connectivity between parts. The algorithm also robustly handles difficult cases where parts suddenly disappear or reappear in the range scans. The global registration produces a more accurate registration compared to a sequential registration approach, because it estimates the articulated structure based on the motion observed in all input frames. We show that we can automatically reconstruct a variety of articulated models without the use of markers, user-placed correspondences, segmentation, or template model.
Integrity signals
Registry
Cites
Statistics
Claims the paper makes
Claims other papers make about this one
Each is checked against this paper’s own text: does it say what the citing paper says it does?
Recent space-time registrations focus on reducing the dimension of the deformation by constructing a low-dimensional representation, such as skeletons, bones and joints.
“Recent space-time registrations focus on reducing the dimension of the deformation (alleviating the over-fitting problem) by constructing a lowdimensional representation (e.g.skeletons [5], bones and joints [26]).”
From Registration of 3D Point Clouds and Meshes: A Survey from Rigid to Nonrigid (2013) · cites this paper as [26]
Cites
A Method for Registration of 3-D Shapes
Besl, P., & Mckay, N. D. (1992) · IEEE Transactions on Pattern Analysis and Machine Intelligence · doi:10.1109/34.121791 · Cited by 22,163 · see citing works
Fast approximate energy minimization via graph cuts
Boykov, Y., Veksler, O., & Zabih, R. (2001) · IEEE Transactions on Pattern Analysis and Machine Intelligence · doi:10.1109/34.969114 · Cited by 6,988 · see citing works
An experimental comparison of min-cut/max- flow algorithms for energy minimization in vision
Boykov, Y., & Kolmogorov, V. (2004) · IEEE Transactions on Pattern Analysis and Machine Intelligence · doi:10.1109/tpami.2004.60 · Cited by 4,577 · see citing works
What energy functions can be minimized via graph cuts?
Kolmogorov, V., & Zabih, R. (2004) · IEEE Transactions on Pattern Analysis and Machine Intelligence · doi:10.1109/tpami.2004.1262177 · Cited by 3,127 · see citing works
2016 IEEE Conference on Computer Vision and Pattern Recognition (CVPR)
(2016) · doi:10.1109/cvpr33180.2016 · Cited by 1,569 · see citing works
SCAPE: shape completion and animation of people
Anguelov, D., Srinivasan, P., Koller, D., Thrun, S., Rodgers, J., & Davis, J. (2005) · ACM Transactions on Graphics · doi:10.1145/1073204.1073207 · Cited by 1,489 · see citing works
The space of human body shapes: reconstruction and parameterization from range scans
Allen, B., Curless, B., & Popović, Z. (2003) · ACM SIGGRAPH 2003 Papers · doi:10.1145/1201775.882311 · Cited by 913 · see citing works
Articulated mesh animation from multi-view silhouettes
Vlasic, D., Baran, I., Matusik, W., & Popović, J. (2008) · ACM Transactions on Graphics · doi:10.1145/1360612.1360696 · Cited by 618 · see citing works
Zhang, L., Snavely, N., Curless, B., & Seitz, S. M. (2004) · ACM Transactions on Graphics · doi:10.1145/1015706.1015759 · Cited by 493 · see citing works
Embedded deformation for shape manipulation
Sumner, R. W., Schmid, J., & Pauly, M. V. (2007) · ACM SIGGRAPH Conference (SIGGRAPH) · doi:10.1145/1275808.1276478 · Cited by 459 · see citing works
Anguelov, D., Srinivasan, P., Koller, D., Thrun, S., Rodgers, J., & Davis, J. (2005) · ACM SIGGRAPH Conference (SIGGRAPH) · doi:10.1145/1186822.1073207 · Cited by 410 · see citing works
Global Correspondence Optimization for Non‐Rigid Registration of Depth Scans
Li, H., Sumner, R. W., & Pauly, M. V. (2008) · Computer Graphics Forum · doi:10.1111/j.1467-8659.2008.01282.x · Cited by 401 · see citing works
Geometric skinning with approximate dual quaternion blending
Kavan, L., Collins, S., Žára, J., et al. (2008) · ACM Transactions on Graphics · doi:10.1145/1409625.1409627 · Cited by 385 · see citing works
James, D. L., & Twigg, C. D. (2005) · ACM Transactions on Graphics · doi:10.1145/1073204.1073206 · Cited by 361 · see citing works
Robust single-view geometry and motion reconstruction
Li, H., Adams, B., Guibas, L. J., & Pauly, M. (2009) · ACM Transactions on Graphics · doi:10.1145/1618452.1618521 · Cited by 334 · see citing works
Cheung, K. M., Baker, S. J., & Kanade, T. (2003) · IEEE Computer Society Conference on Computer Vision and Pattern Recognition/Proceedings - IEEE Computer Society Conference on Computer Vision and Pattern Recognition/Proceedings · doi:10.1109/cvpr.2003.1211340 · Cited by 333 · see citing works
Fast 3D Scanning with Automatic Motion Compensation
Weise, T., Leibe, B., & Gool, L. V. (2007) · IEEE Computer Society Conference on Computer Vision and Pattern Recognition/Proceedings - IEEE Computer Society Conference on Computer Vision and Pattern Recognition/Proceedings · doi:10.1109/cvpr.2007.383291 · Cited by 290 · see citing works
Non‐Rigid Registration Under Isometric Deformations
Huang, Q., Adams, B., Wicke, M., & Guibas, L. J. (2008) · Computer Graphics Forum · doi:10.1111/j.1467-8659.2008.01285.x · Cited by 279 · see citing works
Example-Based 3D Scan Completion
Pauly, M. V., Mitra, N. J., Giesen, J., Groß, M. H., & Guibas, L. (2005) · doi:10.2312/sgp/sgp05/023-032 · Cited by 233 · see citing works
Capturing and animating skin deformation in human motion
Park, S. I., & Hodgins, J. K. (2006) · ACM Transactions on Graphics · doi:10.1145/1141911.1141970 · Cited by 202 · see citing works
The Correlated Correspondence Algorithm for Unsupervised Registration of Nonrigid Surfaces
Anguelov, D., Srinivasan, P., Pang, H.-C., Koller, D., Thrun, S., & Davis, J. (2004) · Cited by 197 · see citing works
Weise, T., Li, H., Gool, L. V., & Pauly, M. V. (2009) · ACM SIGGRAPH/Eurographics Symposium on Computer Animation (SCA) · doi:10.1145/1599470.1599472 · Cited by 194 · see citing works
Articulated mesh animation from multi-view silhouettes
Vlasic, D., Baran, I., Matusik, W., & Popović, J. (2008) · ACM SIGGRAPH Conference (SIGGRAPH) · doi:10.1145/1399504.1360696 · Cited by 188 · see citing works
Articulated body deformation from range scan data
Allen, B., Curless, B., & Popović, Z. (2002) · ACM Transactions on Graphics · doi:10.1145/566654.566626 · Cited by 179 · see citing works
Spectrally optimal sampling for distribution ray tracing
Mitchell, D. P. (1991) · ACM SIGGRAPH Annual Conference on Computer Graphics and Interactive Techniques (SIGGRAPH) · doi:10.1145/122718.122736 · Cited by 170 · see citing works
Efficient reconstruction of nonrigid shape and motion from real-time 3D scanner data
Wand, M., Adams, B., Ovsjanikov, M., Berner, A., Bokeloh, M., Jenke, P., Guibas, L., Seidel, H.-P., & Schilling, A. (2009) · ACM Transactions on Graphics · doi:10.1145/1516522.1516526 · Cited by 136 · cited 1× · see citing works
“This optimization included joint constraints that preserves the connectivity between parts and automatically handled cases when parts are disappear or [Wand et al. 2009] Our Method”
MethodPerformance capture from sparse multi-view video
de Aguiar, E., Stoll, C., Theobalt, C., Ahmed, N., Seidel, H., & Thrun, S. (2008) · ACM SIGGRAPH Conference (SIGGRAPH) · doi:10.1145/1399504.1360697 · Cited by 136 · see citing works
Zhang, L., Snavely, N., Curless, B., & Seitz, S. M. (2004) · ACM SIGGRAPH Conference (SIGGRAPH) · doi:10.1145/1186562.1015759 · Cited by 123 · see citing works
Automatic Conversion of Mesh Animations into Skeleton‐based Animations
de Aguiar, E., Theobalt, C., Thrun, S., et al. (2008) · Computer Graphics Forum · doi:10.1111/j.1467-8659.2008.01136.x · Cited by 115 · see citing works
Streaming Surface Reconstruction Using Wavelets
Manson, J., Petrova, G., & Schaefer, S. (2008) · Computer Graphics Forum · doi:10.1111/j.1467-8659.2008.01281.x · Cited by 115 · see citing works
Articulated Object Reconstruction and Markerless Motion Capture from Depth Video
Pekelny, Y., & Gotsman, C. (2008) · Computer Graphics Forum · doi:10.1111/j.1467-8659.2008.01137.x · Cited by 114 · see citing works
Neugebauer, P. J. (1997) · International Journal of Shape Modeling · doi:10.1142/s0218654397000070 · Cited by 110 · see citing works
Robust Simultaneous Registration of Multiple Range Images
Nishino, K., & Ikeuchi, K. (2008) · Springer eBooks · doi:10.1007/978-0-387-75807_5 · Cited by 108 · see citing works
Automatic Registration for Articulated Shapes
Chang, W., & Zwicker, M. (2008) · Computer Graphics Forum · doi:10.1111/j.1467-8659.2008.01286.x · Cited by 107 · see citing works
Self-citationData-driven modeling of skin and muscle deformation
Park, S. I., & Hodgins, J. K. (2008) · ACM Transactions on Graphics · doi:10.1145/1360612.1360695 · Cited by 102 · see citing works
Mitra, N. J., Flöry, S., Ovsjanikov, M., Gelfand, N., Guibas, L. J., & Pottmann, H. (2007) · doi:10.5555/1281991.1282015 · Cited by 101 · see citing works
(2007) · doi:10.5555/1281991.1282013 · Cited by 88 · see citing works
Reconstructing Animated Meshes from Time‐Varying Point Clouds
Süßmuth, J., Winter, M., & Greiner, G. (2008) · Computer Graphics Forum · doi:10.1111/j.1467-8659.2008.01287.x · Cited by 81 · see citing works
Recovering articulated object models from 3D range data
(2012) · arXiv (Cornell University) · doi:10.5555/1036843.1036846 · Cited by 79 · see citing works
Motion capture using joint skeleton tracking and surface estimation
Gall, J., Stoll, C., de Aguiar, E., et al. (2009) · IEEE Computer Society Conference on Computer Vision and Pattern Recognition/Proceedings - IEEE Computer Society Conference on Computer Vision and Pattern Recognition/Proceedings · doi:10.1109/cvprw.2009.5206755 · Cited by 76 · see citing works
Robust single-view geometry and motion reconstruction
Li, H., Adams, B., Guibas, L. J., & Pauly, M. V. (2009) · ACM SIGGRAPH Conference and Exhibition on Computer Graphics and Interactive Techniques in Asia (SIGGRAPH Asia) · doi:10.1145/1661412.1618521 · Cited by 76 · see citing works
Space-time surface reconstruction using incompressible flow
Sharf, A., Alcantara, D. A., Lewiner, T., Greif, C., Sheffer, A., Amenta, N., & Cohen‐Or, D. (2008) · ACM Transactions on Graphics · doi:10.1145/1409060.1409063 · Cited by 73 · see citing works
James, D. L., & Twigg, C. D. (2005) · ACM SIGGRAPH Conference Papers (SIGGRAPH) · doi:10.1145/1186822.1073206 · Cited by 72 · see citing works
Range Scan Registration Using Reduced Deformable Models
Chang, W., & Zwicker, M. (2009) · Computer Graphics Forum · doi:10.1111/j.1467-8659.2009.01384.x · Cited by 69 · see citing works
Self-citationSumner, R. W., Zwicker, M., Gotsman, C., et al. (2005) · ACM SIGGRAPH Conference Papers (SIGGRAPH) · doi:10.1145/1186822.1073218 · Cited by 68 · see citing works
Self-citationAhmed, N., Theobalt, C., Dobrev, P., Seidel, H., & Thrun, S. (2008) · IEEE Computer Society Conference on Computer Vision and Pattern Recognition/Proceedings - IEEE Computer Society Conference on Computer Vision and Pattern Recognition/Proceedings · doi:10.1109/cvpr.2008.4587696 · Cited by 54 · see citing works
Bradley, D., Popa, T., Sheffer, A., Heidrich, W., & Boubekeur, T. (2008) · ACM SIGGRAPH Conference (SIGGRAPH) · doi:10.1145/1399504.1360698 · Cited by 52 · see citing works
Globally Consistent Space‐Time Reconstruction
Popa, T., South‐Dickinson, I., Bradley, D., Sheffer, A., & Heidrich, W. (2010) · Computer Graphics Forum · doi:10.1111/j.1467-8659.2010.01772.x · Cited by 47 · see citing works
Knoop, S., Vacek, S., & Dillmann, R. (2006) · IEEE-RAS International Conference on Humanoid Robots (Humanoids) · doi:10.1109/ichr.2005.1573548 · Cited by 38 · see citing works
Capturing and animating skin deformation in human motion
Park, S. I., & Hodgins, J. K. (2006) · ACM SIGGRAPH Conference (SIGGRAPH) · doi:10.1145/1179352.1141970 · Cited by 30 · see citing works
Data-driven modeling of skin and muscle deformation
Park, S. I., & Hodgins, J. K. (2008) · ACM SIGGRAPH Conference Papers (SIGGRAPH) · doi:10.1145/1399504.1360695 · Cited by 29 · see citing works
Space-time surface reconstruction using incompressible flow
Sharf, A., Alcantara, D. A., Lewiner, T., Greif, C., Sheffer, A., Amenta, N., & Cohen‐Or, D. (2008) · ACM SIGGRAPH Conference and Exhibition on Computer Graphics and Interactive Techniques in Asia (SIGGRAPH Asia) · doi:10.1145/1457515.1409063 · Cited by 23 · see citing works
Flagged first, then by citations
Cited by
Sorted by citations
Registration of 3D Point Clouds and Meshes: A Survey from Rigid to Nonrigid
Tam, G. K. L., Cheng, Z.-Q., Lai, Y.-K., Langbein, F. C., Liu, Y., Marshall, D., Martin, R. R., Sun, X.-F., & Rosin, P. L. (2013) · IEEE Transactions on Visualization and Computer Graphics · doi:10.1109/tvcg.2012.310 · Cited by 679 · see citing works
- Authors
- Chang, W., & Zwicker, M.
- Affiliations
- University of California San Diego (US)
- University of Bern (CH)
- ORCID
- Zwicker, Matthias
- Venue
- ACM Transactions on Graphics
- Published
- 2011-05
- Volume
- 30
- Issue
- 3
- Pages
- 1-15
- ISSN
- 0730-0301 (ISSN-L)
- 1557-7368
- OpenAlex
- W2124879470
- Cited by
- 87
- References
- 52
- Citations by year
- 2025: 1 · 2022: 3 · 2021: 5 · 2020: 3 · 2019: 3 · 2018: 7 · 2017: 4 · 2016: 10 · 2015: 8 · 2014: 15 · 2013: 16 · 2012: 11
- FWCI
- 13.52
- Type
- journal article
- Language
- en
- Open access
- closed
- Locations
- ACM Transactions on Graphics (publishedVersion)
- BORIS (University Library Bern) (submittedVersion)
- Funders
- University of California, San Diego
- Topics
- Physical Sciences › Engineering › Computational Mechanics › 3D Shape Modeling and Analysis
- Physical Sciences › Computer Science › Computer Graphics and Computer-Aided Design › Computer Graphics and Visualization Techniques
- Physical Sciences › Computer Science › Computer Vision and Pattern Recognition › Advanced Vision and Imaging
- Keywords
- global registration, deformable models, skinning weights, simultaneous estimation, surface motion
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
What counts as a claim ›How we measure confidence ›How we check this ›
Are you an author, or do you see a problem with this page? Request a review
