Abstract

This paper addresses the problem of registering a 3D model, repre- sented as a cloud of points lying over a surface, to a set of 2D deforming image trajectories in the image plane. The proposed approach can adapt to a scenario where the 3D model to register is not an exact description of the measured image data. This results in finding the best 2D–3D registration, given the complexity of having both 2D deforming data and a coarse description of the image obser- vations. The method acts in two distinct phases. First, an affine step computes a factorization for both the 2D image data and the 3D model using a joint subspace decomposition. This initial solution is then upgraded by finding the best projec- tion to the image plane complying with the metric constraints given by a scaled orthographic camera. Both steps are computed efficiently in closed-form with the additional feature of being robust to degenerate motions which may possibly af- fect the 2D image data (i.e. lack of relevant rigid motion). Moreover, we present an extension of the approach for the case of missing image data. Synthetic and real experiments show the robustness of the method in registration tasks such as pose estimation of a talking face using a single 3D model.