{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,27]],"date-time":"2026-05-27T13:32:07Z","timestamp":1779888727354,"version":"3.53.1"},"reference-count":52,"publisher":"Association for Computing Machinery (ACM)","issue":"4","license":[{"start":{"date-parts":[[2014,7,27]],"date-time":"2014-07-27T00:00:00Z","timestamp":1406419200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"funder":[{"DOI":"10.13039\/501100000781","name":"European Research Council","doi-asserted-by":"publisher","award":["335545"],"award-info":[{"award-number":["335545"]}],"id":[{"id":"10.13039\/501100000781","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001659","name":"Deutsche Forschungsgemeinschaft","doi-asserted-by":"publisher","award":["GRK-1773"],"award-info":[{"award-number":["GRK-1773"]}],"id":[{"id":"10.13039\/501100001659","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100006112","name":"Microsoft Research","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100006112","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["ACM Trans. Graph."],"published-print":{"date-parts":[[2014,7,27]]},"abstract":"<jats:p>\n            We present a combined hardware and software solution for markerless reconstruction of non-rigidly deforming physical objects with arbitrary shape in\n            <jats:italic>real-time<\/jats:italic>\n            . Our system uses a single self-contained stereo camera unit built from off-the-shelf components and consumer graphics hardware to generate spatio-temporally coherent 3D models at 30 Hz. A new stereo matching algorithm estimates real-time RGB-D data. We start by scanning a smooth template model of the subject as they move rigidly. This geometric surface prior avoids strong scene assumptions, such as a kinematic human skeleton or a parametric shape model. Next, a novel GPU pipeline performs non-rigid registration of live RGB-D data to the smooth template using an extended non-linear as-rigid-as-possible (ARAP) framework. High-frequency details are fused onto the final mesh using a linear deformation model. The system is an order of magnitude faster than state-of-the-art methods, while matching the quality and robustness of many offline algorithms. We show precise real-time reconstructions of diverse scenes, including: large deformations of users' heads, hands, and upper bodies; fine-scale wrinkles and folds of skin and clothing; and non-rigid interactions performed by users on flexible objects such as toys. We demonstrate how acquired models can be used for many interactive scenarios, including re-texturing, online performance capture and preview, and real-time shape and motion re-targeting.\n          <\/jats:p>","DOI":"10.1145\/2601097.2601165","type":"journal-article","created":{"date-parts":[[2014,7,22]],"date-time":"2014-07-22T15:08:20Z","timestamp":1406041700000},"page":"1-12","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":319,"title":["Real-time non-rigid reconstruction using an RGB-D camera"],"prefix":"10.1145","volume":"33","author":[{"given":"Michael","family":"Zollh\u00f6fer","sequence":"first","affiliation":[{"name":"University of Erlangen-Nuremberg"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Matthias","family":"Nie\u00dfner","sequence":"additional","affiliation":[{"name":"Stanford University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shahram","family":"Izadi","sequence":"additional","affiliation":[{"name":"Microsoft Research"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Christoph","family":"Rehmann","sequence":"additional","affiliation":[{"name":"Microsoft Research"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Christopher","family":"Zach","sequence":"additional","affiliation":[{"name":"Microsoft Research"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Matthew","family":"Fisher","sequence":"additional","affiliation":[{"name":"Stanford University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Chenglei","family":"Wu","sequence":"additional","affiliation":[{"name":"Max Planck Institute for Informatics"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Andrew","family":"Fitzgibbon","sequence":"additional","affiliation":[{"name":"Microsoft Research"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Charles","family":"Loop","sequence":"additional","affiliation":[{"name":"Microsoft Research"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Christian","family":"Theobalt","sequence":"additional","affiliation":[{"name":"Max Planck Institute for Informatics"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Marc","family":"Stamminger","sequence":"additional","affiliation":[{"name":"University of Erlangen-Nuremberg"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"320","published-online":{"date-parts":[[2014,7,27]]},"reference":[{"key":"e_1_2_2_1_1","doi-asserted-by":"publisher","DOI":"10.1145\/2010324.1964970"},{"key":"e_1_2_2_2_1","doi-asserted-by":"publisher","DOI":"10.1145\/311535.311556"},{"key":"e_1_2_2_3_1","first-page":"1","article-title":"Patchmatch stereo: Stereo matching with slanted support windows","volume":"11","author":"Bleyer M.","year":"2011","unstructured":"Bleyer , M. , Rhemann , C. , and Rother , C. 2011 . Patchmatch stereo: Stereo matching with slanted support windows . In Proc. BMVC , vol. 11 , 1 -- 11 . Bleyer, M., Rhemann, C., and Rother, C. 2011. Patchmatch stereo: Stereo matching with slanted support windows. In Proc. BMVC, vol. 11, 1--11.","journal-title":"Proc. BMVC"},{"key":"e_1_2_2_4_1","doi-asserted-by":"publisher","DOI":"10.1145\/2185520.2185549"},{"key":"e_1_2_2_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/TVCG.2007.1054"},{"key":"e_1_2_2_6_1","doi-asserted-by":"publisher","DOI":"10.1145\/1360612.1360698"},{"key":"e_1_2_2_7_1","doi-asserted-by":"publisher","DOI":"10.1145\/1276377.1276404"},{"key":"e_1_2_2_8_1","volume-title":"Proc. CVPR.","author":"Cagniart C.","unstructured":"Cagniart , C. , Boyer , E. , and Ilic , S . 2010. Free-form mesh tracking: a patch-based approach . In Proc. CVPR. Cagniart, C., Boyer, E., and Ilic, S. 2010. Free-form mesh tracking: a patch-based approach. In Proc. CVPR."},{"key":"e_1_2_2_9_1","doi-asserted-by":"publisher","DOI":"10.1145\/2461912.2462012"},{"key":"e_1_2_2_10_1","doi-asserted-by":"publisher","DOI":"10.1145\/2380116.2380171"},{"key":"e_1_2_2_11_1","doi-asserted-by":"publisher","DOI":"10.1145\/1360612.1360697"},{"key":"e_1_2_2_12_1","volume-title":"-M","author":"Dou M.","year":"2013","unstructured":"Dou , M. , Fuchs , H. , and Frahm , J . -M . 2013 . Scanning and tracking dynamic objects with commodity depth cameras. In Proc. ISMAR , 99--106. Dou, M., Fuchs, H., and Frahm, J.-M. 2013. Scanning and tracking dynamic objects with commodity depth cameras. In Proc. ISMAR, 99--106."},{"key":"e_1_2_2_13_1","volume-title":"-P","author":"Gall J.","year":"2009","unstructured":"Gall , J. , Stoll , C. , De Aguiar , E. , Theobalt , C. , Rosenhahn , B. , and Seidel , H . -P . 2009 . Motion capture using joint skeleton tracking and surface estimation. In Proc. CVPR , 1746--1753. Gall, J., Stoll, C., De Aguiar, E., Theobalt, C., Rosenhahn, B., and Seidel, H.-P. 2009. Motion capture using joint skeleton tracking and surface estimation. In Proc. CVPR, 1746--1753."},{"key":"e_1_2_2_14_1","doi-asserted-by":"publisher","DOI":"10.1145\/2508363.2508380"},{"key":"e_1_2_2_15_1","doi-asserted-by":"publisher","DOI":"10.1109\/3DV.2013.44"},{"key":"e_1_2_2_16_1","volume-title":"Proc. ICCV, 1--8.","author":"Hern\u00e1ndez C.","unstructured":"Hern\u00e1ndez , C. , Vogiatzis , G. , Brostow , G. J. , Stenger , B. , and Cipolla , R . 2007. Non-rigid photometric stereo with colored lights . In Proc. ICCV, 1--8. Hern\u00e1ndez, C., Vogiatzis, G., Brostow, G. J., Stenger, B., and Cipolla, R. 2007. Non-rigid photometric stereo with colored lights. In Proc. ICCV, 1--8."},{"key":"e_1_2_2_17_1","doi-asserted-by":"publisher","DOI":"10.1145\/2047196.2047270"},{"key":"e_1_2_2_18_1","volume-title":"Proc. Eurographics State-of-the-art Reports, 119--134","author":"Kolb A.","unstructured":"Kolb , A. , Barth , E. , Koch , R. , and Larsen , R . 2009. Time-of-flight sensors in computer graphics . In Proc. Eurographics State-of-the-art Reports, 119--134 . Kolb, A., Barth, E., Koch, R., and Larsen, R. 2009. Time-of-flight sensors in computer graphics. In Proc. Eurographics State-of-the-art Reports, 119--134."},{"key":"e_1_2_2_19_1","volume-title":"Proc. SGP, Eurographics Association, 1421--1430","author":"Li H.","unstructured":"Li , H. , Sumner , R. W. , and Pauly , M . 2008. Global correspondence optimization for non-rigid registration of depth scans . In Proc. SGP, Eurographics Association, 1421--1430 . Li, H., Sumner, R. W., and Pauly, M. 2008. Global correspondence optimization for non-rigid registration of depth scans. In Proc. SGP, Eurographics Association, 1421--1430."},{"key":"e_1_2_2_20_1","doi-asserted-by":"publisher","DOI":"10.1145\/1618452.1618521"},{"key":"e_1_2_2_21_1","doi-asserted-by":"publisher","DOI":"10.1145\/2508363.2508407"},{"key":"e_1_2_2_22_1","doi-asserted-by":"publisher","DOI":"10.1145\/2461912.2462019"},{"key":"e_1_2_2_23_1","volume-title":"Proc. ICCV, 167--174","author":"Liao M.","unstructured":"Liao , M. , Zhang , Q. , Wang , H. , Yang , R. , and Gong , M . 2009. Modeling deformable objects from a single depth camera . In Proc. ICCV, 167--174 . Liao, M., Zhang, Q., Wang, H., Yang, R., and Gong, M. 2009. Modeling deformable objects from a single depth camera. In Proc. ICCV, 167--174."},{"key":"e_1_2_2_24_1","volume-title":"Proc. SGP, 173--182","author":"Mitra N. J.","unstructured":"Mitra , N. J. , Fl\u00f6ry , S. , Ovsjanikov , M. , Gelfand , N. , Guibas , L. J. , and Pottmann , H . 2007. Dynamic geometry registration . In Proc. SGP, 173--182 . Mitra, N. J., Fl\u00f6ry, S., Ovsjanikov, M., Gelfand, N., Guibas, L. J., and Pottmann, H. 2007. Dynamic geometry registration. In Proc. SGP, 173--182."},{"key":"e_1_2_2_25_1","doi-asserted-by":"publisher","DOI":"10.1109\/ISMAR.2011.6092378"},{"key":"e_1_2_2_26_1","doi-asserted-by":"publisher","DOI":"10.1145\/2508363.2508374"},{"key":"e_1_2_2_27_1","volume-title":"Proc. BMVC, 1--11","author":"Oikonomidis I.","unstructured":"Oikonomidis , I. , Kyriazis , N. , and Argyros , A. A . 2011. Efficient model-based 3D tracking of hand articulations using Kinect . In Proc. BMVC, 1--11 . Oikonomidis, I., Kyriazis, N., and Argyros, A. A. 2011. Efficient model-based 3D tracking of hand articulations using Kinect. In Proc. BMVC, 1--11."},{"key":"e_1_2_2_28_1","volume-title":"Proc. ISMAR, 83--88","author":"Pradeep V.","unstructured":"Pradeep , V. , Rhemann , C. , Izadi , S. , Zach , C. , Bleyer , M. , and Bathiche , S . 2013. MonoFusion: Real-time 3D reconstruction of small scenes with a single web camera . In Proc. ISMAR, 83--88 . Pradeep, V., Rhemann, C., Izadi, S., Zach, C., Bleyer, M., and Bathiche, S. 2013. MonoFusion: Real-time 3D reconstruction of small scenes with a single web camera. In Proc. ISMAR, 83--88."},{"key":"e_1_2_2_29_1","volume-title":"Proc. SGP, 109--116","author":"Sorkine O.","unstructured":"Sorkine , O. , and Alexa , M . 2007. As-rigid-as-possible surface modeling . In Proc. SGP, 109--116 . Sorkine, O., and Alexa, M. 2007. As-rigid-as-possible surface modeling. In Proc. SGP, 109--116."},{"key":"e_1_2_2_30_1","doi-asserted-by":"publisher","DOI":"10.1109\/MCG.2007.68"},{"key":"e_1_2_2_31_1","doi-asserted-by":"publisher","DOI":"10.1145\/1186562.1015736"},{"key":"e_1_2_2_32_1","doi-asserted-by":"publisher","DOI":"10.1145\/1276377.1276478"},{"key":"e_1_2_2_33_1","volume-title":"Proc. CVPR, 103--110","author":"Taylor J.","unstructured":"Taylor , J. , Shotton , J. , Sharp , T. , and Fitzgibbon , A . 2012. The vitruvian manifold: Inferring dense correspondences for one-shot human pose estimation . In Proc. CVPR, 103--110 . Taylor, J., Shotton, J., Sharp, T., and Fitzgibbon, A. 2012. The vitruvian manifold: Inferring dense correspondences for one-shot human pose estimation. In Proc. CVPR, 103--110."},{"key":"e_1_2_2_34_1","doi-asserted-by":"publisher","DOI":"10.1145\/2159516.2159517"},{"key":"e_1_2_2_35_1","doi-asserted-by":"crossref","unstructured":"Theobalt C. de Aguiar E. Stoll C. Seidel H.-P. and Thrun S. 2010. Performance capture from multi-view video. In Image and Geometry Processing for 3D-Cinematography R. Ronfard and G. Taubin Eds. Springer 127ff.  Theobalt C. de Aguiar E. Stoll C. Seidel H.-P. and Thrun S. 2010. Performance capture from multi-view video. In Image and Geometry Processing for 3D-Cinematography R. Ronfard and G. Taubin Eds. Springer 127ff.","DOI":"10.1007\/978-3-642-12392-4_6"},{"key":"e_1_2_2_36_1","doi-asserted-by":"publisher","DOI":"10.1109\/TVCG.2012.56"},{"key":"e_1_2_2_37_1","doi-asserted-by":"publisher","DOI":"10.1145\/2366145.2366206"},{"key":"e_1_2_2_38_1","doi-asserted-by":"publisher","DOI":"10.1145\/1399504.1360696"},{"key":"e_1_2_2_39_1","doi-asserted-by":"publisher","DOI":"10.1145\/1618452.1618520"},{"key":"e_1_2_2_40_1","doi-asserted-by":"publisher","DOI":"10.1145\/1516522.1516526"},{"key":"e_1_2_2_41_1","volume-title":"Proc. Pacific Graphics, 629--638","author":"Waschb\u00fcsch M.","unstructured":"Waschb\u00fcsch , M. , W\u00fcrmlin , S. , Cotting , D. , Sadlo , F. , and Gross , M . 2005. Scalable 3D video of dynamic scenes . In Proc. Pacific Graphics, 629--638 . Waschb\u00fcsch, M., W\u00fcrmlin, S., Cotting, D., Sadlo, F., and Gross, M. 2005. Scalable 3D video of dynamic scenes. In Proc. Pacific Graphics, 629--638."},{"key":"e_1_2_2_42_1","doi-asserted-by":"publisher","DOI":"10.1111\/j.1467-8659.2012.03227.x"},{"key":"e_1_2_2_43_1","doi-asserted-by":"publisher","DOI":"10.1145\/2366145.2366207"},{"key":"e_1_2_2_44_1","volume-title":"IEEE International Workshop on 3-D Digital Imaging and Modeling.","author":"Weise T.","unstructured":"Weise , T. , Wismer , T. , Leibe , B. , and Gool , L. V . 2009. In-hand scanning with online loop closure . In IEEE International Workshop on 3-D Digital Imaging and Modeling. Weise, T., Wismer, T., Leibe, B., and Gool, L. V. 2009. In-hand scanning with online loop closure. In IEEE International Workshop on 3-D Digital Imaging and Modeling."},{"key":"e_1_2_2_45_1","doi-asserted-by":"publisher","DOI":"10.1145\/1599470.1599472"},{"key":"e_1_2_2_46_1","doi-asserted-by":"publisher","DOI":"10.1145\/2010324.1964972"},{"key":"e_1_2_2_47_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2011.6126465"},{"key":"e_1_2_2_48_1","doi-asserted-by":"publisher","DOI":"10.1145\/1088149.1088195"},{"key":"e_1_2_2_49_1","doi-asserted-by":"publisher","DOI":"10.1109\/TNN.2010.2045657"},{"key":"e_1_2_2_50_1","doi-asserted-by":"publisher","DOI":"10.1145\/2508363.2508418"},{"key":"e_1_2_2_51_1","doi-asserted-by":"publisher","DOI":"10.5555\/2964398.2964460"},{"key":"e_1_2_2_52_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2013.26"}],"container-title":["ACM Transactions on Graphics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/2601097.2601165","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/2601097.2601165","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,18]],"date-time":"2025-06-18T07:19:11Z","timestamp":1750231151000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/2601097.2601165"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,7,27]]},"references-count":52,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2014,7,27]]}},"alternative-id":["10.1145\/2601097.2601165"],"URL":"https:\/\/doi.org\/10.1145\/2601097.2601165","relation":{},"ISSN":["0730-0301","1557-7368"],"issn-type":[{"value":"0730-0301","type":"print"},{"value":"1557-7368","type":"electronic"}],"subject":[],"published":{"date-parts":[[2014,7,27]]},"assertion":[{"value":"2014-07-27","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}