Um ambiente para desevonvoimento de algoritmos de amostragem e remoção de ruído

In the context of Monte Carlo rendering, although many sampling and denoising techniques have been proposed in the last few years, the case for which one should be used for a specific scene is still to be made. Moreover, developing a new technique has required selecting a particular rendering system, which makes the technique tightly coupled to the chosen renderer and limits the amount of scenes it can be tested on. In this work, we propose a renderer-agnostic framework for developing and benchmarking sampling and denoising techniques for Monte Carlo rendering. It decouples techniques from rendering systems by hiding the renderer details behind a general API. This improves productivity and allows for direct comparisons among techniques using scenes from different rendering systems. The proposed framework contains two main parts: a software development kit that helps users to develop and and test their techniques locally, and an online system that allows users to submit their techniques and have them automatically benchmarked on our servers. We demonstrate its effectiveness by using our API to instrument four rendering systems and a variety of Monte Carlo denoising techniques — including recent learning-based ones — and performing a benchmark across different rendering systems.No contexto de Monte Carlo rendering, apesar de diversas técnicas de amostragem e remoção de ruído tenham sido propostas nos últimos anos, aportar qual técnica deve ser usada para uma cena específica ainda é uma tarefa difícil. Além disso, desenvolver uma nova técnica requer escolher um renderizador em particular, o que torna a técnica dependente do renderizador escolhido e limita a quantidade de cenas disponíveis para testar a técnica. Neste trabalho, um framework para desenvolvimento e avaliação de técnicas de amostragem e remoção de ruído para Monte Carlo rendering é proposto. Ele permite desacoplar as técnicas dos renderizadores por meio de uma API genérica, promovendo a reprodutibilidade e permitindo comparações entre técnicas utilizando-se cenas de diferentes renderizadores. O sistema proposto contém duas partes principais: um kit de desenvolvimento de software que ajuda os usuários a desenvolver e testar suas técnicas localmente, e um sistema online que permite que usuários submetam técnicas para que as mesmas sejam automaticamente avaliadas no nosso servidor. Para demonstramos a efetividade do ambiante proposto, modificamos quatro renderizadores e várias técnicas de remoção de ruído — incluindo técnicas recentes baseadas em aprendizado de máquina — e efetuamos uma avaliação utilizando cenas de diferentes renderizadores

Differentiable world programs

L'intelligence artificielle (IA) moderne a ouvert de nouvelles perspectives prometteuses pour la création de robots intelligents. En particulier, les architectures d'apprentissage basées sur le gradient (réseaux neuronaux profonds) ont considérablement amélioré la compréhension des scènes 3D en termes de perception, de raisonnement et d'action. Cependant, ces progrès ont affaibli l'attrait de nombreuses techniques ``classiques'' développées au cours des dernières décennies. Nous postulons qu'un mélange de méthodes ``classiques'' et ``apprises'' est la voie la plus prometteuse pour développer des modèles du monde flexibles, interprétables et exploitables : une nécessité pour les agents intelligents incorporés. La question centrale de cette thèse est : ``Quelle est la manière idéale de combiner les techniques classiques avec des architectures d'apprentissage basées sur le gradient pour une compréhension riche du monde 3D ?''. Cette vision ouvre la voie à une multitude d'applications qui ont un impact fondamental sur la façon dont les agents physiques perçoivent et interagissent avec leur environnement. Cette thèse, appelée ``programmes différentiables pour modèler l'environnement'', unifie les efforts de plusieurs domaines étroitement liés mais actuellement disjoints, notamment la robotique, la vision par ordinateur, l'infographie et l'IA. Ma première contribution---gradSLAM--- est un système de localisation et de cartographie simultanées (SLAM) dense et entièrement différentiable. En permettant le calcul du gradient à travers des composants autrement non différentiables tels que l'optimisation non linéaire par moindres carrés, le raycasting, l'odométrie visuelle et la cartographie dense, gradSLAM ouvre de nouvelles voies pour intégrer la reconstruction 3D classique et l'apprentissage profond. Ma deuxième contribution - taskography - propose une sparsification conditionnée par la tâche de grandes scènes 3D encodées sous forme de graphes de scènes 3D. Cela permet aux planificateurs classiques d'égaler (et de surpasser) les planificateurs de pointe basés sur l'apprentissage en concentrant le calcul sur les attributs de la scène pertinents pour la tâche. Ma troisième et dernière contribution---gradSim--- est un simulateur entièrement différentiable qui combine des moteurs physiques et graphiques différentiables pour permettre l'estimation des paramètres physiques et le contrôle visuomoteur, uniquement à partir de vidéos ou d'une image fixe.Modern artificial intelligence (AI) has created exciting new opportunities for building intelligent robots. In particular, gradient-based learning architectures (deep neural networks) have tremendously improved 3D scene understanding in terms of perception, reasoning, and action. However, these advancements have undermined many ``classical'' techniques developed over the last few decades. We postulate that a blend of ``classical'' and ``learned'' methods is the most promising path to developing flexible, interpretable, and actionable models of the world: a necessity for intelligent embodied agents. ``What is the ideal way to combine classical techniques with gradient-based learning architectures for a rich understanding of the 3D world?'' is the central question in this dissertation. This understanding enables a multitude of applications that fundamentally impact how embodied agents perceive and interact with their environment. This dissertation, dubbed ``differentiable world programs'', unifies efforts from multiple closely-related but currently-disjoint fields including robotics, computer vision, computer graphics, and AI. Our first contribution---gradSLAM---is a fully differentiable dense simultaneous localization and mapping (SLAM) system. By enabling gradient computation through otherwise non-differentiable components such as nonlinear least squares optimization, ray casting, visual odometry, and dense mapping, gradSLAM opens up new avenues for integrating classical 3D reconstruction and deep learning. Our second contribution---taskography---proposes a task-conditioned sparsification of large 3D scenes encoded as 3D scene graphs. This enables classical planners to match (and surpass) state-of-the-art learning-based planners by focusing computation on task-relevant scene attributes. Our third and final contribution---gradSim---is a fully differentiable simulator that composes differentiable physics and graphics engines to enable physical parameter estimation and visuomotor control, solely from videos or a still image

Fortgeschrittene Entrauschungs-Verfahren und speicherlose Beschleunigungstechniken für realistische Bildsynthese

Stochastic ray tracing methods have become the industry's standard for today's realistic image synthesis thanks to their ability to achieve a supreme degree of realism by physically simulating various natural phenomena of light and cameras (e.g. global illumination, depth-of-field, or motion blur). Unfortunately, high computational cost for more complex scenes and image noise from insufficient simulations are major issues of these methods and, hence, acceleration and denoising are key components in stochastic ray tracing systems. In this thesis, we introduce two new filtering methods for advanced lighting and camera effects, as well as a novel approach for memoryless acceleration. In particular, we present an interactive filter for global illumination in the presence of depth-of-field, and a general and robust adaptive reconstruction framework for high-quality images with a wide range of rendering effects. To address complex scene geometry, we propose a novel concept which models the acceleration structure completely implicit, i.e. without any additional memory cost at all, while still allowing for interactive performance. Our contributions advance the state-of-the-art of denoising techniques for realistic image synthesis as well as the field of memoryless acceleration for ray tracing systems.Stochastische Ray-Tracing Methoden sind heutzutage der Industriestandard für realistische Bildsynthese, da sie einen hohen Grad an Realismus erzeugen können, indem sie verschiedene natürliche Phänomene (z.B. globale Beleuchtung, Tiefenunschärfe oder Bewegungsunschärfe) physikalisch korrekt simulieren. Offene Probleme dieser Verfahren sind hohe Rechenzeit für komplexere Szenen sowie Bildrauschen durch unzulängliche Simulationen. Demzufolge sind Beschleunigungstechniken und Entrauschungsverfahren essentielle Komponenten in stochastischen Ray-Tracing-Systemen. In dieser Arbeit stellen wir zwei neue Filter-Methoden für erweiterte Beleuchungs- und Kamera-Effekte sowie ein neuartiges Verfahren für eine speicherlose Beschleunigungsstruktur vor. Im Detail präsentieren wir einen interaktiven Filter für globale Beleuchtung in Kombination mit Tiefenunschärfe und einen generischen, robusten Ansatz für die adaptive Rekonstruktion von hoch-qualitativen Bildern mit einer großen Auswahl an Rendering-Effekten. Für das Problem hoher geometrischer Szenen-Komplexität demonstrieren wir ein neuartiges Konzept für die implizierte Modellierung der Beschleunigungsstruktur, welches keinen zusätzlichen Speicher verbraucht, aber weiterhin interaktive Laufzeiten ermöglicht. Unsere Beiträge verbessern sowohl den aktuellen Stand von Entrauschungs-Verfahren in der realistischen Bildsynthese als auch das Feld der speicherlosen Beschleunigungsstrukturen für Ray-Tracing-Systeme

Filtering Techniques for Low-Noise Previews of Interactive Stochastic Ray Tracing

Progressive stochastic ray tracing is increasingly used in interactive applications. Examples of such applications are interactive design reviews and digital content creation. This dissertation aims at advancing this development. For one thing, two filtering techniques are presented, which can generate fast and reliable previews of global illumination solutions. For another thing, a system architecture is presented, which supports exchangeable rendering back-ends in distributed rendering systems

Efficient From-Point Visibility for Global Illumination in Virtual Scenes with Participating Media

Sichtbarkeitsbestimmung ist einer der fundamentalen Bausteine fotorealistischer Bildsynthese. Da die Berechnung der Sichtbarkeit allerdings äußerst kostspielig zu berechnen ist, wird nahezu die gesamte Berechnungszeit darauf verwendet. In dieser Arbeit stellen wir neue Methoden zur Speicherung, Berechnung und Approximation von Sichtbarkeit in Szenen mit streuenden Medien vor, die die Berechnung erheblich beschleunigen, dabei trotzdem qualitativ hochwertige und artefaktfreie Ergebnisse liefern

MVTN: Learning Multi-View Transformations for 3D Understanding

Multi-view projection techniques have shown themselves to be highly effective in achieving top-performing results in the recognition of 3D shapes. These methods involve learning how to combine information from multiple view-points. However, the camera view-points from which these views are obtained are often fixed for all shapes. To overcome the static nature of current multi-view techniques, we propose learning these view-points. Specifically, we introduce the Multi-View Transformation Network (MVTN), which uses differentiable rendering to determine optimal view-points for 3D shape recognition. As a result, MVTN can be trained end-to-end with any multi-view network for 3D shape classification. We integrate MVTN into a novel adaptive multi-view pipeline that is capable of rendering both 3D meshes and point clouds. Our approach demonstrates state-of-the-art performance in 3D classification and shape retrieval on several benchmarks (ModelNet40, ScanObjectNN, ShapeNet Core55). Further analysis indicates that our approach exhibits improved robustness to occlusion compared to other methods. We also investigate additional aspects of MVTN, such as 2D pretraining and its use for segmentation. To support further research in this area, we have released MVTorch, a PyTorch library for 3D understanding and generation using multi-view projections.Comment: under review journal extension for the ICCV 2021 paper arXiv:2011.1324

Fast and interactive ray-based rendering

This thesis was submitted for the award of Doctor of Philosophy and was awarded by Brunel University LondonDespite their age, ray-based rendering methods are still a very active field of research with many challenges when it comes to interactive visualization. In this thesis, we present our work on Guided High-Quality Rendering, Foveated Ray Tracing for Head Mounted Displays and Hash-based Hierarchical Caching and Layered Filtering. Our system for Guided High-Quality Rendering allows for guiding the sampling rate of ray-based rendering methods by a user-specified Region of Interest (RoI). We propose two interaction methods for setting such an RoI when using a large display system and a desktop display, respectively. This makes it possible to compute images with a heterogeneous sample distribution across the image plane. Using such a non-uniform sample distribution, the rendering performance inside the RoI can be significantly improved in order to judge specific image features. However, a modified scheduling method is required to achieve sufficient performance. To solve this issue, we developed a scheduling method based on sparse matrix compression, which has shown significant improvements in our benchmarks. By filtering the sparsely sampled image appropriately, large brightness variations in areas outside the RoI are avoided and the overall image brightness is similar to the ground truth early in the rendering process. When using ray-based methods in a VR environment on head-mounted display de vices, it is crucial to provide sufficient frame rates in order to reduce motion sickness. This is a challenging task when moving through highly complex environments and the full image has to be rendered for each frame. With our foveated rendering sys tem, we provide a perception-based method for adjusting the sample density to the user’s gaze, measured with an eye tracker integrated into the HMD. In order to avoid disturbances through visual artifacts from low sampling rates, we introduce a reprojection-based rendering pipeline that allows for fast rendering and temporal accumulation of the sparsely placed samples. In our user study, we analyse the im pact our system has on visual quality. We then take a closer look at the recorded eye tracking data in order to determine tracking accuracy and connections between different fixation modes and perceived quality, leading to surprising insights. For previewing global illumination of a scene interactively by allowing for free scene exploration, we present a hash-based caching system. Building upon the concept of linkless octrees, which allow for constant-time queries of spatial data, our frame work is suited for rendering such previews of static scenes. Non-diffuse surfaces are supported by our hybrid reconstruction approach that allows for the visualization of view-dependent effects. In addition to our caching and reconstruction technique, we introduce a novel layered filtering framework, acting as a hybrid method between path space and image space filtering, that allows for the high-quality denoising of non-diffuse materials. Also, being designed as a framework instead of a concrete filtering method, it is possible to adapt most available denoising methods to our layered approach instead of relying only on the filtering of primary hitpoints

Geospatial Computing: Architectures and Algorithms for Mapping Applications

Beginning with the MapTube website (1), which was launched in 2007 for crowd-sourcing maps, this project investigates approaches to exploratory Geographic Information Systems (GIS) using web-based mapping, or ‘web GIS’. Users can log in to upload their own maps and overlay different layers of GIS data sets. This work looks into the theory behind how web-based mapping systems function and whether their performance can be modelled and predicted. One of the important questions when dealing with different geospatial data sets is how they relate to one another. Internet data stores provide another source of information, which can be exploited if more generic geospatial data mining techniques are developed. The identification of similarities between thousands of maps is a GIS technique that can give structure to the overall fabric of the data, once the problems of scalability and comparisons between different geographies are solved. After running MapTube for nine years to crowd-source data, this would mark a natural progression from visualisation of individual maps to wider questions about what additional knowledge can be discovered from the data collected. In the new ‘data science’ age, the introduction of real-time data sets introduces a new challenge for web-based mapping applications. The mapping of real-time geospatial systems is technically challenging, but has the potential to show inter-dependencies as they emerge in the time series. Combined geospatial and temporal data mining of realtime sources can provide archives of transport and environmental data from which to accurately model the systems under investigation. By using techniques from machine learning, the models can be built directly from the real-time data stream. These models can then be used for analysis and experimentation, being derived directly from city data. This then leads to an analysis of the behaviours of the interacting systems. (1) The MapTube website: http://www.maptube.org

Accelerating Monte Carlo Renderers by Ray Histogram Fusion

This paper details the recently introduced Ray Histogram Fusion (RHF) filter for accelerating Monte Carlo renderers [M. Delbracio et al., Boosting Monte Carlo Rendering by Ray Histogram Fusion, ACM Transactions on Graphics, 33 (2014)]. In this filter, each pixel in the image is characterized by the colors of the rays that reach its surface. Pixels are compared using a statistical distance on the associated ray color distributions. Based on this distance, it decides whether two pixels can share their rays or not. The RHF filter is consistent: as the number of samples increases, more evidence is required to average two pixels. The algorithm provides a significant gain in PSNR, or equivalently accelerates the rendering process by using many fewer Monte Carlo samples without observable bias. Since the RHF filter depends only on the Monte Carlo samples color values, it can be naturally combined with all rendering effects