关键词: 视觉, 三维, 四维, 测量, 追踪, 匹配, 拓扑结构, 运动估计,

Abstract: The current study presents a novel framework to simultaneously and accurately measure the 3D shape and 3D motion of the dynamic deformable surface from calibrated stereo image sequences.The framework performs the measurement using the random gray triangle pattern marked on the object surface via the following steps.The triangles are detected in all the images by the proposed triangle detection method.The correspondences of the triangles between the first left and right frame in the stereo image sequences are achieved by the proposed triangle descriptor and triangle epipolar constraint.The spatio-temporal triangle correspondences in the subsequent frames are obtained by triangle tracking，and the tracking errors are detected and recovered by the local 3D topology.The performance and effectiveness are evaluated by simulated and real data experiments.

Key words: computer vision, 3D, 4D, measurement, tracking, matching, topology, topology