The Topology ToolKit

This system paper presents the Topology ToolKit (TTK), a software platform designed for topological data analysis in scientific visualization. TTK provides a unified, generic, efficient, and robust implementation of key algorithms for the topological analysis of scalar data, including: critical points, integral lines, persistence diagrams, persistence curves, merge trees, contour trees, Morse-Smale complexes, fiber surfaces, continuous scatterplots, Jacobi sets, Reeb spaces, and more. TTK is easily accessible to end users due to a tight integration with ParaView. It is also easily accessible to developers through a variety of bindings (Python, VTK/C++) for fast prototyping or through direct, dependence-free, C++, to ease integration into pre-existing complex systems. While developing TTK, we faced several algorithmic and software engineering challenges, which we document in this paper. In particular, we present an algorithm for the construction of a discrete gradient that complies to the critical points extracted in the piecewise-linear setting. This algorithm guarantees a combinatorial consistency across the topological abstractions supported by TTK, and importantly, a unified implementation of topological data simplification for multi-scale exploration and analysis. We also present a cached triangulation data structure, that supports time efficient and generic traversals, which self-adjusts its memory usage on demand for input simplicial meshes and which implicitly emulates a triangulation for regular grids with no memory overhead. Finally, we describe an original software architecture, which guarantees memory efficient and direct accesses to TTK features, while still allowing for researchers powerful and easy bindings and extensions. TTK is open source (BSD license) and its code, online documentation and video tutorials are available on TTK's website

InfiniTAM v3: A Framework for Large-Scale 3D Reconstruction with Loop Closure

Volumetric models have become a popular representation for 3D scenes in recent years. One breakthrough leading to their popularity was KinectFusion, which focuses on 3D reconstruction using RGB-D sensors. However, monocular SLAM has since also been tackled with very similar approaches. Representing the reconstruction volumetrically as a TSDF leads to most of the simplicity and efficiency that can be achieved with GPU implementations of these systems. However, this representation is memory-intensive and limits applicability to small-scale reconstructions. Several avenues have been explored to overcome this. With the aim of summarizing them and providing for a fast, flexible 3D reconstruction pipeline, we propose a new, unifying framework called InfiniTAM. The idea is that steps like camera tracking, scene representation and integration of new data can easily be replaced and adapted to the user's needs. This report describes the technical implementation details of InfiniTAM v3, the third version of our InfiniTAM system. We have added various new features, as well as making numerous enhancements to the low-level code that significantly improve our camera tracking performance. The new features that we expect to be of most interest are (i) a robust camera tracking module; (ii) an implementation of Glocker et al.'s keyframe-based random ferns camera relocaliser; (iii) a novel approach to globally-consistent TSDF-based reconstruction, based on dividing the scene into rigid submaps and optimising the relative poses between them; and (iv) an implementation of Keller et al.'s surfel-based reconstruction approach.Comment: This article largely supersedes arxiv:1410.0925 (it describes version 3 of the InfiniTAM framework

Multi-touch Detection and Semantic Response on Non-parametric Rear-projection Surfaces

The ability of human beings to physically touch our surroundings has had a profound impact on our daily lives. Young children learn to explore their world by touch; likewise, many simulation and training applications benefit from natural touch interactivity. As a result, modern interfaces supporting touch input are ubiquitous. Typically, such interfaces are implemented on integrated touch-display surfaces with simple geometry that can be mathematically parameterized, such as planar surfaces and spheres; for more complicated non-parametric surfaces, such parameterizations are not available. In this dissertation, we introduce a method for generalizable optical multi-touch detection and semantic response on uninstrumented non-parametric rear-projection surfaces using an infrared-light-based multi-camera multi-projector platform. In this paradigm, touch input allows users to manipulate complex virtual 3D content that is registered to and displayed on a physical 3D object. Detected touches trigger responses with specific semantic meaning in the context of the virtual content, such as animations or audio responses. The broad problem of touch detection and response can be decomposed into three major components: determining if a touch has occurred, determining where a detected touch has occurred, and determining how to respond to a detected touch. Our fundamental contribution is the design and implementation of a relational lookup table architecture that addresses these challenges through the encoding of coordinate relationships among the cameras, the projectors, the physical surface, and the virtual content. Detecting the presence of touch input primarily involves distinguishing between touches (actual contact events) and hovers (near-contact proximity events). We present and evaluate two algorithms for touch detection and localization utilizing the lookup table architecture. One of the algorithms, a bounded plane sweep, is additionally able to estimate hover-surface distances, which we explore for interactions above surfaces. The proposed method is designed to operate with low latency and to be generalizable. We demonstrate touch-based interactions on several physical parametric and non-parametric surfaces, and we evaluate both system accuracy and the accuracy of typical users in touching desired targets on these surfaces. In a formative human-subject study, we examine how touch interactions are used in the context of healthcare and present an exploratory application of this method in patient simulation. A second study highlights the advantages of touch input on content-matched physical surfaces achieved by the proposed approach, such as decreases in induced cognitive load, increases in system usability, and increases in user touch performance. In this experiment, novice users were nearly as accurate when touching targets on a 3D head-shaped surface as when touching targets on a flat surface, and their self-perception of their accuracy was higher

vorgelegt von

Prof. Dr. N. NavabTo my familyAcknowledgements I am deeply grateful that I had the opportunity to write this thesis while working at the Chair for Pattern Recognition within the project B6 of the Sonderforschungsbereich 603 (funded by Deutsche Forschungsgemeinschaft). Many people contributed to this work and I want to express my gratitude to all of them

Real-time voxel rendering algorithm based on screen space billboard voxel buffer with sparse lookup textures

In this paper, we present a novel approach to efficient real-time rendering of numerous high-resolution voxelized objects. We present a voxel rendering algorithm based on triangle rasterization pipeline with screen space rendering computational complexity. In order to limit the number of vertex shader invocations, voxel filtering algorithm with fixed size voxel data buffer was developed. Voxelized objects are represented by sparse voxel octree (SVO) structure. Using sparse texture available in modern graphics APIs, we create a 3D lookup table for voxel ids. Voxel filtering algorithm is based on 3D sparse texture ray marching approach. Screen Space Billboard Voxel Buffer is filled by voxels from visible voxels point cloud. Thanks to using 3D sparse textures, we are able to store high-resolution objects in VRAM memory. Moreover, sparse texture mipmaps can be used to control object level of detail (LOD). The geometry of a voxelized object is represented by a collection of points extracted from object SVO. Each point is defined by position, normal vector and texture coordinates. We also show how to take advantage of programmable geometry shaders in order to store voxel objects with extremely low memory requirements and to perform real-time visualization. Moreover, geometry shaders are used to generate billboard quads from the point cloud and to perform fast face culling. As a result, we obtained comparable or even better performance results in comparison to SVO ray tracing approach. The number of rendered voxels is limited to defined Screen Space Billboard Voxel Buffer resolution. Last but not least, thanks to graphics card adapter support, developed algorithm can be easily integrated with any graphics engine using triangle rasterization pipeline

Rzsweep: A New Volume-Rendering Technique for Uniform Rectilinear Datasets

A great challenge in the volume-rendering field is to achieve high-quality images in an acceptable amount of time. In the area of volume rendering, there is always a trade-off between speed and quality. Applications where only high-quality images are acceptable often use the ray-casting algorithm, but this method is computationally expensive and typically achieves low frame rates. The work presented here is RZSweep, a new volume-rendering algorithm for uniform rectilinear datasets, that gives high-quality images in a reasonable amount of time. In this algorithm a plane sweeps the vertices of the implicit grid of regular datasets in depth order, projecting all the implicit faces incident on each vertex. This algorithm uses the inherent properties of a rectilinear datasets. RZSweep is an object-order, back-toront, direct volume rendering, face projection algorithm for rectilinear datasets using the cell approach. It is a single processor serial algorithm. The simplicity of the algorithm allows the use of the graphics pipeline for hardware-assisted projection, and also, with minimum modification, a version of the algorithm that is graphics-hardware independent. Lighting, color and various opacity transfer functions are implemented for giving realism to the final resulting images. Finally, an image comparison is done between RZSweep and a 3D texture-based method for volume rendering using standard image metrics like Euclidian and geometric differences

Three architectures for volume rendering

Volume rendering is a key technique in scientific visualization that lends itself to significant exploitable parallelism. The high computational demands of real-time volume rendering and continued technological advances in the area of VLSI give impetus to the development of special-purpose volume rendering architectures. This paper presents and characterizes three recently developed volume rendering engines which are based on the ray-casting method. A taxonomy of the algorithmic variants of ray-casting and details of each ray-casting architecture are discussed. The paper then compares the machine features and provides an outlook on future developments in the area of volume rendering hardware

Fast Color Space Transformations Using Minimax Approximations

Color space transformations are frequently used in image processing, graphics, and visualization applications. In many cases, these transformations are complex nonlinear functions, which prohibits their use in time-critical applications. In this paper, we present a new approach called Minimax Approximations for Color-space Transformations (MACT).We demonstrate MACT on three commonly used color space transformations. Extensive experiments on a large and diverse image set and comparisons with well-known multidimensional lookup table interpolation methods show that MACT achieves an excellent balance among four criteria: ease of implementation, memory usage, accuracy, and computational speed

Doctor of Philosophy

dissertationThis dissertation explores three key facets of software algorithms for custom hardware ray tracing: primitive intersection, shading, and acceleration structure construction. For the first, primitive intersection, we show how nearly all of the existing direct three-dimensional (3D) ray-triangle intersection tests are mathematically equivalent. Based on this, a genetic algorithm can automatically tune a ray-triangle intersection test for maximum speed on a particular architecture. We also analyze the components of the intersection test to determine how much floating point precision is required and design a numerically robust intersection algorithm. Next, for shading, we deconstruct Perlin noise into its basic parts and show how these can be modified to produce a gradient noise algorithm that improves the visual appearance. This improved algorithm serves as the basis for a hardware noise unit. Lastly, we show how an existing bounding volume hierarchy can be postprocessed using tree rotations to further reduce the expected cost to traverse a ray through it. This postprocessing also serves as the basis for an efficient update algorithm for animated geometry. Together, these contributions should improve the efficiency of both software- and hardware-based ray tracers