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IntroductionAlgorithms
Experiments
Skeleton Based As-Rigid-As-PossibleVolume Modeling
Shaoting Zhang, Andrew Nealen and Dimitris Metaxas
Computer Science Department, Rutgers University
Shaoting Zhang, Andrew Nealen and Dimitris Metaxas Skeleton Based As-Rigid-As-Possible Volume Modeling
IntroductionAlgorithms
Experiments
Introduction
As-rigid-as-possible (ARAP) shapemodeling is a popular technique toobtain natural deformations. Therehave been many excellent methods.
We are interested in the volumepreservation.
VGL is a good approach. However,we do not want to break themanifoldness of ARAP surfacemodeling or sacrificing the speed.
We do it by leveraging the skeletoninformation.
Olga Sorkine, et al,: Laplacian Surface Editing. SGP2004
Olga Sorkine and Marc Alexa: As-Rigid-As-Possible Surface Modeling. Eurographics SGP2007Kun Zhou, et al,: Large mesh deformation using the volumetric graph Laplacian. SIGGRAPH 2005
Shaoting Zhang, Andrew Nealen and Dimitris Metaxas Skeleton Based As-Rigid-As-Possible Volume Modeling
IntroductionAlgorithms
Experiments
Introduction
As-rigid-as-possible (ARAP) shapemodeling is a popular technique toobtain natural deformations. Therehave been many excellent methods.
We are interested in the volumepreservation.
VGL is a good approach. However,we do not want to break themanifoldness of ARAP surfacemodeling or sacrificing the speed.
We do it by leveraging the skeletoninformation.
Olga Sorkine, et al,: Laplacian Surface Editing. SGP2004Olga Sorkine and Marc Alexa: As-Rigid-As-Possible Surface Modeling. Eurographics SGP2007
Kun Zhou, et al,: Large mesh deformation using the volumetric graph Laplacian. SIGGRAPH 2005
Shaoting Zhang, Andrew Nealen and Dimitris Metaxas Skeleton Based As-Rigid-As-Possible Volume Modeling
IntroductionAlgorithms
Experiments
Introduction
As-rigid-as-possible (ARAP) shapemodeling is a popular technique toobtain natural deformations. Therehave been many excellent methods.
We are interested in the volumepreservation.
VGL is a good approach. However,we do not want to break themanifoldness of ARAP surfacemodeling or sacrificing the speed.
We do it by leveraging the skeletoninformation.
Olga Sorkine, et al,: Laplacian Surface Editing. SGP2004Olga Sorkine and Marc Alexa: As-Rigid-As-Possible Surface Modeling. Eurographics SGP2007
Kun Zhou, et al,: Large mesh deformation using the volumetric graph Laplacian. SIGGRAPH 2005
Shaoting Zhang, Andrew Nealen and Dimitris Metaxas Skeleton Based As-Rigid-As-Possible Volume Modeling
IntroductionAlgorithms
Experiments
Introduction
As-rigid-as-possible (ARAP) shapemodeling is a popular technique toobtain natural deformations. Therehave been many excellent methods.
We are interested in the volumepreservation.
VGL is a good approach. However,we do not want to break themanifoldness of ARAP surfacemodeling or sacrificing the speed.
We do it by leveraging the skeletoninformation.
Olga Sorkine, et al,: Laplacian Surface Editing. SGP2004Olga Sorkine and Marc Alexa: As-Rigid-As-Possible Surface Modeling. Eurographics SGP2007Kun Zhou, et al,: Large mesh deformation using the volumetric graph Laplacian. SIGGRAPH 2005
Shaoting Zhang, Andrew Nealen and Dimitris Metaxas Skeleton Based As-Rigid-As-Possible Volume Modeling
IntroductionAlgorithms
Experiments
Introduction
As-rigid-as-possible (ARAP) shapemodeling is a popular technique toobtain natural deformations. Therehave been many excellent methods.
We are interested in the volumepreservation.
VGL is a good approach. However,we do not want to break themanifoldness of ARAP surfacemodeling or sacrificing the speed.
We do it by leveraging the skeletoninformation.
Olga Sorkine, et al,: Laplacian Surface Editing. SGP2004Olga Sorkine and Marc Alexa: As-Rigid-As-Possible Surface Modeling. Eurographics SGP2007Kun Zhou, et al,: Large mesh deformation using the volumetric graph Laplacian. SIGGRAPH 2005
Shaoting Zhang, Andrew Nealen and Dimitris Metaxas Skeleton Based As-Rigid-As-Possible Volume Modeling
IntroductionAlgorithms
Experiments
Linear LSERotation and edge length constraintsSkeleton and volume constraints
Linear LSE with C 0 continuity
Laplacian coordinates representeach point as the weighteddifference between such point andits neighborhoods.
Given original coordinates V , theconnectivity, and m control points,the reconstructed object V ′ can beobtained by minimizing:‖LV ′ − δ‖2
2 + Σmi=1‖v ′
ci− vci‖2
2[LIc
]V ′ =
[δVc
]When rotations are large, thedeformation may not be natural.
Shaoting Zhang, Andrew Nealen and Dimitris Metaxas Skeleton Based As-Rigid-As-Possible Volume Modeling
IntroductionAlgorithms
Experiments
Linear LSERotation and edge length constraintsSkeleton and volume constraints
Linear LSE with C 0 continuity
Laplacian coordinates representeach point as the weighteddifference between such point andits neighborhoods.
Given original coordinates V , theconnectivity, and m control points,the reconstructed object V ′ can beobtained by minimizing:‖LV ′ − δ‖2
2 + Σmi=1‖v ′
ci− vci‖2
2
[LIc
]V ′ =
[δVc
]When rotations are large, thedeformation may not be natural.
Shaoting Zhang, Andrew Nealen and Dimitris Metaxas Skeleton Based As-Rigid-As-Possible Volume Modeling
IntroductionAlgorithms
Experiments
Linear LSERotation and edge length constraintsSkeleton and volume constraints
Linear LSE with C 0 continuity
Laplacian coordinates representeach point as the weighteddifference between such point andits neighborhoods.
Given original coordinates V , theconnectivity, and m control points,the reconstructed object V ′ can beobtained by minimizing:‖LV ′ − δ‖2
2 + Σmi=1‖v ′
ci− vci‖2
2[LIc
]V ′ =
[δVc
]
When rotations are large, thedeformation may not be natural.
Shaoting Zhang, Andrew Nealen and Dimitris Metaxas Skeleton Based As-Rigid-As-Possible Volume Modeling
IntroductionAlgorithms
Experiments
Linear LSERotation and edge length constraintsSkeleton and volume constraints
Linear LSE with C 0 continuity
Laplacian coordinates representeach point as the weighteddifference between such point andits neighborhoods.
Given original coordinates V , theconnectivity, and m control points,the reconstructed object V ′ can beobtained by minimizing:‖LV ′ − δ‖2
2 + Σmi=1‖v ′
ci− vci‖2
2[LIc
]V ′ =
[δVc
]When rotations are large, thedeformation may not be natural.
Shaoting Zhang, Andrew Nealen and Dimitris Metaxas Skeleton Based As-Rigid-As-Possible Volume Modeling
IntroductionAlgorithms
Experiments
Linear LSERotation and edge length constraintsSkeleton and volume constraints
Linear LSE with C 0 continuity
Laplacian coordinates representeach point as the weighteddifference between such point andits neighborhoods.
Given original coordinates V , theconnectivity, and m control points,the reconstructed object V ′ can beobtained by minimizing:‖LV ′ − δ‖2
2 + Σmi=1‖v ′
ci− vci‖2
2[LIc
]V ′ =
[δVc
]When rotations are large, thedeformation may not be natural.
Shaoting Zhang, Andrew Nealen and Dimitris Metaxas Skeleton Based As-Rigid-As-Possible Volume Modeling
IntroductionAlgorithms
Experiments
Linear LSERotation and edge length constraintsSkeleton and volume constraints
Rotation and edge length constraints
Iterate two steps to recoverrotations:
Step1: Initial guess from solvingnaive LSE.
Step2: Find optimal rotations, thenupdate the linear system (edgelength preserving).
Robustness, simplicity, efficiency.
However, there is no volumepreserving constraint.
Olga Sorkine and Marc Alexa: As-Rigid-As-Possible Surface Modeling. Eurographics SGP2007Olga Sorkine: Least-Squares Rigid Motion Using SVD
Shaoting Zhang, Andrew Nealen and Dimitris Metaxas Skeleton Based As-Rigid-As-Possible Volume Modeling
IntroductionAlgorithms
Experiments
Linear LSERotation and edge length constraintsSkeleton and volume constraints
Rotation and edge length constraints
Iterate two steps to recoverrotations:
Step1: Initial guess from solvingnaive LSE.
Step2: Find optimal rotations, thenupdate the linear system (edgelength preserving).
Robustness, simplicity, efficiency.
However, there is no volumepreserving constraint.
Olga Sorkine and Marc Alexa: As-Rigid-As-Possible Surface Modeling. Eurographics SGP2007Olga Sorkine: Least-Squares Rigid Motion Using SVD
Shaoting Zhang, Andrew Nealen and Dimitris Metaxas Skeleton Based As-Rigid-As-Possible Volume Modeling
IntroductionAlgorithms
Experiments
Linear LSERotation and edge length constraintsSkeleton and volume constraints
Rotation and edge length constraints
Iterate two steps to recoverrotations:
Step1: Initial guess from solvingnaive LSE.
Step2: Find optimal rotations, thenupdate the linear system (edgelength preserving).
Robustness, simplicity, efficiency.
However, there is no volumepreserving constraint.
Olga Sorkine and Marc Alexa: As-Rigid-As-Possible Surface Modeling. Eurographics SGP2007Olga Sorkine: Least-Squares Rigid Motion Using SVD
Shaoting Zhang, Andrew Nealen and Dimitris Metaxas Skeleton Based As-Rigid-As-Possible Volume Modeling
IntroductionAlgorithms
Experiments
Linear LSERotation and edge length constraintsSkeleton and volume constraints
Rotation and edge length constraints
Iterate two steps to recoverrotations:
Step1: Initial guess from solvingnaive LSE.
Step2: Find optimal rotations, thenupdate the linear system (edgelength preserving).
Robustness, simplicity, efficiency.
However, there is no volumepreserving constraint.
Olga Sorkine and Marc Alexa: As-Rigid-As-Possible Surface Modeling. Eurographics SGP2007Olga Sorkine: Least-Squares Rigid Motion Using SVD
Shaoting Zhang, Andrew Nealen and Dimitris Metaxas Skeleton Based As-Rigid-As-Possible Volume Modeling
IntroductionAlgorithms
Experiments
Linear LSERotation and edge length constraintsSkeleton and volume constraints
Rotation and edge length constraints
Iterate two steps to recoverrotations:
Step1: Initial guess from solvingnaive LSE.
Step2: Find optimal rotations, thenupdate the linear system (edgelength preserving).
Robustness, simplicity, efficiency.
However, there is no volumepreserving constraint.
Olga Sorkine and Marc Alexa: As-Rigid-As-Possible Surface Modeling. Eurographics SGP2007Olga Sorkine: Least-Squares Rigid Motion Using SVD
Shaoting Zhang, Andrew Nealen and Dimitris Metaxas Skeleton Based As-Rigid-As-Possible Volume Modeling
IntroductionAlgorithms
Experiments
Linear LSERotation and edge length constraintsSkeleton and volume constraints
Skeleton and volume constraints
Use volumetric mesh? Manifoldness,computational complexity, etc.
Use both the skeleton and edge lengthconstraint to roughly preserve the volume,without breaking the manifoldness ofARAP or increasing the computationcomplexity. L | 0
Ic | 0Ls
[V ′
V ′s
]=
δVc
δs
One-way coupling property.
Shaoting Zhang, Andrew Nealen and Dimitris Metaxas Skeleton Based As-Rigid-As-Possible Volume Modeling
IntroductionAlgorithms
Experiments
Linear LSERotation and edge length constraintsSkeleton and volume constraints
Skeleton and volume constraints
Use volumetric mesh? Manifoldness,computational complexity, etc.
Use both the skeleton and edge lengthconstraint to roughly preserve the volume,without breaking the manifoldness ofARAP or increasing the computationcomplexity.
L | 0Ic | 0
Ls
[V ′
V ′s
]=
δVc
δs
One-way coupling property.
α
β
Wij
Shaoting Zhang, Andrew Nealen and Dimitris Metaxas Skeleton Based As-Rigid-As-Possible Volume Modeling
IntroductionAlgorithms
Experiments
Linear LSERotation and edge length constraintsSkeleton and volume constraints
Skeleton and volume constraints
Use volumetric mesh? Manifoldness,computational complexity, etc.
Use both the skeleton and edge lengthconstraint to roughly preserve the volume,without breaking the manifoldness ofARAP or increasing the computationcomplexity. L | 0
Ic | 0Ls
[V ′
V ′s
]=
δVc
δs
One-way coupling property.
α
β
Wij
Shaoting Zhang, Andrew Nealen and Dimitris Metaxas Skeleton Based As-Rigid-As-Possible Volume Modeling
IntroductionAlgorithms
Experiments
Linear LSERotation and edge length constraintsSkeleton and volume constraints
Skeleton and volume constraints
Use volumetric mesh? Manifoldness,computational complexity, etc.
Use both the skeleton and edge lengthconstraint to roughly preserve the volume,without breaking the manifoldness ofARAP or increasing the computationcomplexity. L | 0
Ic | 0Ls
[V ′
V ′s
]=
δVc
δs
One-way coupling property.
α
β
Wij
Shaoting Zhang, Andrew Nealen and Dimitris Metaxas Skeleton Based As-Rigid-As-Possible Volume Modeling
IntroductionAlgorithms
Experiments
Linear LSERotation and edge length constraintsSkeleton and volume constraints
Mesh editing framework
Manually define theskeleton.
Evenly generate skeletonpoints, and connect themwith surface verticesautomatically.
Manually select anchorpoints (bottom) and controlpoints (top).
Interactively deform theshape.
Shaoting Zhang, Andrew Nealen and Dimitris Metaxas Skeleton Based As-Rigid-As-Possible Volume Modeling
IntroductionAlgorithms
Experiments
Linear LSERotation and edge length constraintsSkeleton and volume constraints
Mesh editing framework
Manually define theskeleton.
Evenly generate skeletonpoints, and connect themwith surface verticesautomatically.
Manually select anchorpoints (bottom) and controlpoints (top).
Interactively deform theshape.
Shaoting Zhang, Andrew Nealen and Dimitris Metaxas Skeleton Based As-Rigid-As-Possible Volume Modeling
IntroductionAlgorithms
Experiments
Linear LSERotation and edge length constraintsSkeleton and volume constraints
Mesh editing framework
Manually define theskeleton.
Evenly generate skeletonpoints, and connect themwith surface verticesautomatically.
Manually select anchorpoints (bottom) and controlpoints (top).
Interactively deform theshape.
Shaoting Zhang, Andrew Nealen and Dimitris Metaxas Skeleton Based As-Rigid-As-Possible Volume Modeling
IntroductionAlgorithms
Experiments
Linear LSERotation and edge length constraintsSkeleton and volume constraints
Mesh editing framework
Manually define theskeleton.
Evenly generate skeletonpoints, and connect themwith surface verticesautomatically.
Manually select anchorpoints (bottom) and controlpoints (top).
Interactively deform theshape.
Shaoting Zhang, Andrew Nealen and Dimitris Metaxas Skeleton Based As-Rigid-As-Possible Volume Modeling
IntroductionAlgorithms
Experiments
Linear LSERotation and edge length constraintsSkeleton and volume constraints
Mesh editing framework
Manually define theskeleton.
Evenly generate skeletonpoints, and connect themwith surface verticesautomatically.
Manually select anchorpoints (bottom) and controlpoints (top).
Interactively deform theshape.
Shaoting Zhang, Andrew Nealen and Dimitris Metaxas Skeleton Based As-Rigid-As-Possible Volume Modeling
IntroductionAlgorithms
Experiments
Linear LSERotation and edge length constraintsSkeleton and volume constraints
Mesh editing framework
Manually define theskeleton.
Evenly generate skeletonpoints, and connect themwith surface verticesautomatically.
Manually select anchorpoints (bottom) and controlpoints (top).
Interactively deform theshape.
Shaoting Zhang, Andrew Nealen and Dimitris Metaxas Skeleton Based As-Rigid-As-Possible Volume Modeling
IntroductionAlgorithms
Experiments
Experimental settingsResults
Experimental settings
The C++ implementation was run on a Intel Core2 Quad 2.40GHzCPU with 8G RAM.
We compare the linear LSE, ARAP surface modeling and ourmethod.
We tested on the cactus model (620 vertices, 1, 236 polygons) andthe horse model (2, 482 vertices, 4, 960 polygons).
The relative root mean square errors of edge lengths and volumemagnitudes are reported.
Shaoting Zhang, Andrew Nealen and Dimitris Metaxas Skeleton Based As-Rigid-As-Possible Volume Modeling
IntroductionAlgorithms
Experiments
Experimental settingsResults
Results
Model RRMS-E RE-V Times
(b) 0.126 0.453 0.017(c) 0.074 0.131 0.024(d) 0.075 0.056 0.025
Shaoting Zhang, Andrew Nealen and Dimitris Metaxas Skeleton Based As-Rigid-As-Possible Volume Modeling
IntroductionAlgorithms
Experiments
Experimental settingsResults
Results
Model RRMS-E RE-V Times
(b) 0.068 0.356 0.117(c) 0.040 0.125 0.121
Shaoting Zhang, Andrew Nealen and Dimitris Metaxas Skeleton Based As-Rigid-As-Possible Volume Modeling
IntroductionAlgorithms
Experiments
Experimental settingsResults
Conclusions
We proposed an approach to approximately preserve thevolume without breaking the manifoldness of traditionalARAP or increasing the computational complexity.
Our method is easy-to-implement and may be useful tosystems relying on ARAP techniques.
Limitations: Skeleton generation; complex skeletons; selfintersection.
Shaoting Zhang, Andrew Nealen and Dimitris Metaxas Skeleton Based As-Rigid-As-Possible Volume Modeling
IntroductionAlgorithms
Experiments
Experimental settingsResults
Thanks for listening.
Shaoting Zhang, Andrew Nealen and Dimitris Metaxas Skeleton Based As-Rigid-As-Possible Volume Modeling