  We propose an algorithm that uses energy mini- mization to estimate the
current configuration of a non-rigid object. Our approach utilizes an RGBD
image to calculate corresponding SURF features, depth, and boundary informa-
tion. We do not use predetermined features, thus enabling our system to operate
on unmodified objects. Our approach relies on a 3D nonlinear energy
minimization framework to solve for the configuration using a semi-implicit
scheme. Results show various scenarios of dynamic posters and shirts in
different configurations to illustrate the performance of the method. In
particular, we show that our method is able to estimate the configuration of a
textureless nonrigid object with no correspondences available.
