Reference-based Dense Pose Estimation via Partial 3D Point Cloud Matching

Interacting with real-world objects is one of the fundamental tasks in multimedia. Despite its importance, existing object pose estimation targets only rigid objects. This demonstration proposes a novel application for non-rigid object pose estimation. Inspired by human dense pose estimation, we represent a pose of a non-rigid object as an indexed point cloud, where each index corresponds to that in a template. The correspondence is identified by a machine-learning-based 3D point cloud matching. Finding correspondence to the template point cloud enables a dense pose estimation with no object-specific learning processes. In the demonstration, we visualize the correspondence of points in observed depth images and the template. We also provide a demonstration of template point cloud reconstruction. Through these systems, onsite visitors can test our system with objects brought by themselves and have an experience with a state-of-the-art 3D point cloud matching method as well as this novel task.