Depth sensing is useful for a variety of applications that range from augmented reality to robotics. Time-of-flight (TOF) cameras are appealing because they obtain dense depth measurements with low latency. However, for reasons ranging from power constraints to multi-camera interference, the frequency at which accurate depth measurements can be obtained is reduced. To address this, we propose an algorithm that uses concurrently collected images to estimate the depth of non-rigid objects without using the TOF camera. Our technique models non-rigid objects as locally rigid and uses previous depth measurements along with the optical flow of the images to estimate depth. In particular, we show how we exploit the previous depth measurements to directly estimate pose and how we integrate this with our model to estimate the depth of non-rigid objects by finding the solution to a sparse linear system. We evaluate our technique on a RGB-D dataset of deformable objects, where we estimate depth with a mean relative error of 0.37% and outperform other adapted techniques.
Inspired by locally rigid assumption, recently, Noraky et al. REF proposed a method that uses optical flow and depth prior to estimate pose and 3D reconstruction of a deformable object.
Depth Estimation of Non-Rigid Objects for Time-Of-Flight Imaging
2018 25th IEEE International Conference on Image Processing (ICIP)
2018 25th IEEE International Conference on Image Processing (ICIP)
Computer Science