This paper introduces an efficient procedure to localize user-defined points on the surface of deformable objects and track their positions in 3D space over time. To cope with a deformable object's infinite number of DOF, we propose a discretized deformation field, which is estimated during runtime using a multi-step non-linear solver pipeline. The resulting high-dimensional energy minimization problem describes the deviation between an offline-defined reference model and a pre-processed camera image. An additional regularization term allows for assumptions about the object's hidden areas and increases the solver's numerical stability. Our approach is capable of solving the localization problem online in a data-parallel manner, making it ideally suitable for the perception of non-rigid objects in industrial manufacturing processes.

翻译：本文引入了一个高效的程序, 将可变形物体表面的用户定义点本地化, 并跟踪它们长期在 3D 空间的位置。 为了应对可变形物体无限数量的DOF, 我们提议了一个独立化的变形场, 在运行期间使用多步非线性解析器管道进行估算。 由此产生的高维能最小化问题描述了离线定义参考模型和预处理的相机图像之间的偏差。 另外一个身份正规化术语允许对天体的隐藏区域进行假设, 并增加解析器的数字稳定性。 我们的方法能够以数据平行的方式解决在线的本地化问题, 使得它更适合在工业制造过程中对非硬化物体的感知。