Section: New Software and Platforms

RGBDTracking Plugin

Keywords: Simulation - RGBD data Processing - Object tracking - data fusion - Numerical simulations

Functional Description: RGBDTracking is a SOFA plugin to register and track deformable objects in real-time using an RGB-D sensor. This frame-by-frame system relies on a prior visual segmentation of the object in the RGB image. The resulting segmented point cloud is then used to register the object, first in a rigid manner, and then by non-rigidly fitting the known mesh, based on the Finite Element Method to model elasticity, and on vision-based external forces exerted on the mesh.

• Author: Antoine Petit

• Contact: antoine.a.petit@inria.fr