Paper Shape Tracking System Using Point Cloud and Physical Model

This study introduces a novel paper shape tracking system that utilizes multiple depth cameras and a physical model. The system accomplishes stable paper shape tracking by capturing the paper’s shape as point cloud data from five depth cameras and compensating for any missing data points. We have devised a real-time point cloud registration method to accurately represent the folded state of the paper based on elasto-plastic deformation, enabling precise paper shape tracking. In our experiments, we successfully demonstrated the tracking of the paper’s shape using origami paper.