DynamicFusion: Reconstruction and Tracking of Non-rigid Scenes in Real-Time 的理解

2 DynamicFusion Overview

three core algorithmic components：
1.Estimation of the volumetric model-to-frame warp
field parameters
2.Fusion of the live frame depth map into the canonical
space via the estimated warp field
3.Adaptation of the warp-field structure to capture newly
added geometry

3 Technical Details

3.1 Dense Non-rigid Warp Field(介绍Wt即Warp field)

3.2 Dense Non-rigid Warp Field Fusion (介绍如何更新几何模型)

3.3 Estimating the Warp-field State Wt

3.3.1 Dense Non-Rigid ICP Data-term

3.3.2 Warp-field Regularization

3.3.3 Efficient Optimization

3.4. Extending theWarpfield