Mariano Jaimez

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This paper presents the first method to compute dense scene flow in real-time for RGB-D cameras. It is based on a variational formulation where brightness constancy and geometric consistency are imposed. Accounting for the depth data provided by RGB-D cameras, regularization of the flow field is imposed on the 3D surface (or set of surfaces) of the observed(More)
This paper presents a new dense method to compute the odometry of a free-flying range sensor in real time. The method applies the range flow constraint equation to sensed points in the temporal flow to derive the linear and angular velocity of the sensor in a rigid environment. Although this approach is applicable to any range sensor, we particularize its(More)
We propose a novel joint registration and segmentation approach to estimate scene flow from RGB-D images. Instead of assuming the scene to be composed of a number of independent rigidly-moving parts, we use non-binary labels to capture non-rigid deformations at transitions between the rigid parts of the scene. Thus, the velocity of any point can be computed(More)
In this paper we propose an efficient solution to jointly estimate the camera motion and a piecewise-rigid scene flow from an RGB-D sequence. The key idea is to perform a two-fold segmentation of the scene, dividing it into geometric clusters that are, in turn, classified as static or moving elements. Representing the dynamic scene as a set of rigid(More)
In this paper we present a fast and precise method to estimate the planar motion of a lidar from consecutive range scans. For every scanned point we formulate the range flow constraint equation in terms of the sensor velocity, and minimize a robust function of the resulting geometric constraints to obtain the motion estimate. Conversely to traditional(More)
We present a novel strategy to shrink and constrain a 3D model, represented as a smooth spline-like surface, within the visual hull of an object observed from one or multiple views. This new ‘background’ or ‘silhouette’ term combines the efficiency of previous approaches based on an imageplane distance transform with the accuracy of formulations based on(More)
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