A collision detection algorithm for telerobotic arms

The telerobotic manipulator's collision detection algorithm is described. Its applied structural model of the world environment and template representation of objects is evaluated. Functional issues that are required for the manipulator to operate in a more complex and realistic environment are discussed

Path-tracing Monte Carlo Library for 3D Radiative Transfer in Highly Resolved Cloudy Atmospheres

Interactions between clouds and radiation are at the root of many difficulties in numerically predicting future weather and climate and in retrieving the state of the atmosphere from remote sensing observations. The large range of issues related to these interactions, and in particular to three-dimensional interactions, motivated the development of accurate radiative tools able to compute all types of radiative metrics, from monochromatic, local and directional observables, to integrated energetic quantities. In the continuity of this community effort, we propose here an open-source library for general use in Monte Carlo algorithms. This library is devoted to the acceleration of path-tracing in complex data, typically high-resolution large-domain grounds and clouds. The main algorithmic advances embedded in the library are those related to the construction and traversal of hierarchical grids accelerating the tracing of paths through heterogeneous fields in null-collision (maximum cross-section) algorithms. We show that with these hierarchical grids, the computing time is only weakly sensitivive to the refinement of the volumetric data. The library is tested with a rendering algorithm that produces synthetic images of cloud radiances. Two other examples are given as illustrations, that are respectively used to analyse the transmission of solar radiation under a cloud together with its sensitivity to an optical parameter, and to assess a parametrization of 3D radiative effects of clouds.Comment: Submitted to JAMES, revised and submitted again (this is v2

OctNetFusion: Learning Depth Fusion from Data

In this paper, we present a learning based approach to depth fusion, i.e., dense 3D reconstruction from multiple depth images. The most common approach to depth fusion is based on averaging truncated signed distance functions, which was originally proposed by Curless and Levoy in 1996. While this method is simple and provides great results, it is not able to reconstruct (partially) occluded surfaces and requires a large number frames to filter out sensor noise and outliers. Motivated by the availability of large 3D model repositories and recent advances in deep learning, we present a novel 3D CNN architecture that learns to predict an implicit surface representation from the input depth maps. Our learning based method significantly outperforms the traditional volumetric fusion approach in terms of noise reduction and outlier suppression. By learning the structure of real world 3D objects and scenes, our approach is further able to reconstruct occluded regions and to fill in gaps in the reconstruction. We demonstrate that our learning based approach outperforms both vanilla TSDF fusion as well as TV-L1 fusion on the task of volumetric fusion. Further, we demonstrate state-of-the-art 3D shape completion results.Comment: 3DV 2017, https://github.com/griegler/octnetfusio

View-dependent adaptive cloth simulation

This paper describes a method for view-dependent cloth simulation using dynamically adaptive mesh refinement and coarsening. Given a prescribed camera motion, the method adjusts the criteria controlling refinement to account for visibility and apparent size in the camera's view. Objectionable dynamic artifacts are avoided by anticipative refinement and smoothed coarsening. This approach preserves the appearance of detailed cloth throughout the animation while avoiding the wasted effort of simulating details that would not be discernible to the viewer. The computational savings realized by this method increase as scene complexity grows, producing a 2× speed-up for a single character and more than 4× for a small group

Sparse Volumetric Deformation

Volume rendering is becoming increasingly popular as applications require realistic solid shape representations with seamless texture mapping and accurate filtering. However rendering sparse volumetric data is difficult because of the limited memory and processing capabilities of current hardware. To address these limitations, the volumetric information can be stored at progressive resolutions in the hierarchical branches of a tree structure, and sampled according to the region of interest. This means that only a partial region of the full dataset is processed, and therefore massive volumetric scenes can be rendered efficiently. The problem with this approach is that it currently only supports static scenes. This is because it is difficult to accurately deform massive amounts of volume elements and reconstruct the scene hierarchy in real-time. Another problem is that deformation operations distort the shape where more than one volume element tries to occupy the same location, and similarly gaps occur where deformation stretches the elements further than one discrete location. It is also challenging to efficiently support sophisticated deformations at hierarchical resolutions, such as character skinning or physically based animation. These types of deformation are expensive and require a control structure (for example a cage or skeleton) that maps to a set of features to accelerate the deformation process. The problems with this technique are that the varying volume hierarchy reflects different feature sizes, and manipulating the features at the original resolution is too expensive; therefore the control structure must also hierarchically capture features according to the varying volumetric resolution. This thesis investigates the area of deforming and rendering massive amounts of dynamic volumetric content. The proposed approach efficiently deforms hierarchical volume elements without introducing artifacts and supports both ray casting and rasterization renderers. This enables light transport to be modeled both accurately and efficiently with applications in the fields of real-time rendering and computer animation. Sophisticated volumetric deformation, including character animation, is also supported in real-time. This is achieved by automatically generating a control skeleton which is mapped to the varying feature resolution of the volume hierarchy. The output deformations are demonstrated in massive dynamic volumetric scenes

Unsteady wake modelling for tidal current turbines

The authors present a numerical model for three-dimensional unsteady wake calculations for tidal turbines. Since wakes are characterised by the shedding of a vortex sheet from the rotor blades, the model is based on the vorticity transport equations. A vortex sheet may be considered a jump contact discontinuity in tangential velocity with, in inviscid hydrodynamic terms, certain kinematic and dynamic conditions across the sheet. The kinematic condition is that the sheet is a stream surface with zero normal fluid velocity; the dynamic condition is that the pressure is equal on either side of the sheet. The dynamic condition is explicitly satisfied at the trailing edge only, via an approximation of the Kutta condition. The shed vorticity is the span-wise derivative of bound circulation, and the trailed vorticity is the time derivative of bound circulation, and is convected downstream from the rotors using a finite-volume solution of vorticity transport equations thus satisfying the kinematic conditions. Owing to an absence in the literature of pressure data for marine turbines, results from the code are presented for the NREL-UAE Phase IV turbine. Axial flow cases show a close match in pressure coefficients at various spanwise stations; however, yawed flow cases demonstrate the shortcomings of a modelling strategy lacking viscosity

Binarized-octree generation for Cartesian adaptive mesh refinement around immersed geometries

We revisit the generation of balanced octrees for adaptive mesh refinement (AMR) of Cartesian domains with immersed complex geometries. In a recent short note (Hasbestan and Senocak, 2017) [42], we showed that the data locality of the Z-order curve in a hashed linear-octree generation method may not be perfect because of potential collisions in the hash table. Building on that observation, we propose a binarized-octree generation method that complies with the Z-order curve exactly. Similar to a hashed linear-octree generation method, we use Morton encoding to index the nodes of an octree, but use a red-black tree in place of the hash table. Red-black tree is a special kind of a binary tree, which we use for insertion and deletion of elements during mesh adaptation. By strictly working with the bitwise representation of an octree, we remove computer hardware limitations on the depth of adaptation on a single processor. Additionally, we introduce a geometry encoding technique for rapidly tagging a solid geometry for mesh refinement. Our results for several geometries with different levels of adaptations show that the binarized-octree generation method outperforms the linear-octree generation method in terms of runtime performance at the expense of only a slight increase in memory usage. The current AMR capability, rebl-AMR, is available as open-source software