Neo: Virtual Object Modeling using Commodity Hardware

Recent developments in augmented reality technology have paved way for newapplications in a wide range of areas. These include the commercial markets,medicine applications, military applications and education. The technology pro-vides immersive images to enhance our perception of the world. Augmentedreality addresses challenges related to problem-solving by seamlessly integrat-ing digital images into real-world images.In the context of construction and maintenance industry, project inspections canbe time-consuming and tedious. These inspections involve usages of expensiveand specialized hardware. Some inspections even use physical blueprints anddrawings along with standardized measurement tools. This approach can posepractical challenges and be prone to errors.In this thesis we present Neo, a surface reconstruction system on commodityhardware. It utilizes augmented reality technology by scanning physical sur-roundings and reconstructs them as virtual objects. They are displayed on topof the camera’s live preview of the real world. By using a pipeline architecturewe model the physical surroundings in terms of their shapes and visual appear-ances. Cyber-physical information about the reconstructed virtual models areannotated in real-time. Evaluations of the system show us potentials to createrealistic copies of physical object

Projector-Based Augmentation

Projector-based augmentation approaches hold the potential of combining the advantages of well-establishes spatial virtual reality and spatial augmented reality. Immersive, semi-immersive and augmented visualizations can be realized in everyday environments – without the need for special projection screens and dedicated display configurations. Limitations of mobile devices, such as low resolution and small field of view, focus constrains, and ergonomic issues can be overcome in many cases by the utilization of projection technology. Thus, applications that do not require mobility can benefit from efficient spatial augmentations. Examples range from edutainment in museums (such as storytelling projections onto natural stone walls in historical buildings) to architectural visualizations (such as augmentations of complex illumination simulations or modified surface materials in real building structures). This chapter describes projector-camera methods and multi-projector techniques that aim at correcting geometric aberrations, compensating local and global radiometric effects, and improving focus properties of images projected onto everyday surfaces

Fast, Scalable, and Interactive Software for Landau-de Gennes Numerical Modeling of Nematic Topological Defects

Numerical modeling of nematic liquid crystals using the tensorial Landau-de Gennes (LdG) theory provides detailed insights into the structure and energetics of the enormous variety of possible topological defect configurations that may arise when the liquid crystal is in contact with colloidal inclusions or structured boundaries. However, these methods can be computationally expensive, making it challenging to predict (meta)stable configurations involving several colloidal particles, and they are often restricted to system sizes well below the experimental scale. Here we present an open-source software package that exploits the embarrassingly parallel structure of the lattice discretization of the LdG approach. Our implementation, combining CUDA/C++ and OpenMPI, allows users to accelerate simulations using both CPU and GPU resources in either single- or multiple-core configurations. We make use of an efficient minimization algorithm, the Fast Inertial Relaxation Engine (FIRE) method, that is well-suited to large-scale parallelization, requiring little additional memory or computational cost while offering performance competitive with other commonly used methods. In multi-core operation we are able to scale simulations up to supra-micron length scales of experimental relevance, and in single-core operation the simulation package includes a user-friendly GUI environment for rapid prototyping of interfacial features and the multifarious defect states they can promote. To demonstrate this software package, we examine in detail the competition between curvilinear disclinations and point-like hedgehog defects as size scale, material properties, and geometric features are varied. We also study the effects of an interface patterned with an array of topological point-defects.Comment: 16 pages, 6 figures, 1 youtube link. The full catastroph

Innovative Techniques for Digitizing and Restoring Deteriorated Historical Documents

Recent large-scale document digitization initiatives have created new modes of access to modern library collections with the development of new hardware and software technologies. Most commonly, these digitization projects focus on accurately scanning bound texts, some reaching an efficiency of more than one million volumes per year. While vast digital collections are changing the way users access texts, current scanning paradigms can not handle many non-standard materials. Documentation forms such as manuscripts, scrolls, codices, deteriorated film, epigraphy, and rock art all hold a wealth of human knowledge in physical forms not accessible by standard book scanning technologies. This great omission motivates the development of new technology, presented by this thesis, that is not-only effective with deteriorated bound works, damaged manuscripts, and disintegrating photonegatives but also easily utilized by non-technical staff. First, a novel point light source calibration technique is presented that can be performed by library staff. Then, a photometric correction technique which uses known illumination and surface properties to remove shading distortions in deteriorated document images can be automatically applied. To complete the restoration process, a geometric correction is applied. Also unique to this work is the development of an image-based uncalibrated document scanner that utilizes the transmissivity of document substrates. This scanner extracts intrinsic document color information from one or both sides of a document. Simultaneously, the document shape is estimated to obtain distortion information. Lastly, this thesis provides a restoration framework for damaged photographic negatives that corrects photometric and geometric distortions. Current restoration techniques for the discussed form of negatives require physical manipulation to the photograph. The novel acquisition and restoration system presented here provides the first known solution to digitize and restore deteriorated photographic negatives without damaging the original negative in any way. This thesis work develops new methods of document scanning and restoration suitable for wide-scale deployment. By creating easy to access technologies, library staff can implement their own scanning initiatives and large-scale scanning projects can expand their current document-sets

Mapping three-dimensional geological features from remotely-sensed images and digital elevation models.

Accurate mapping of geological structures is important in numerous applications, ranging from mineral exploration through to hydrogeological modelling. Remotely sensed data can provide synoptic views of study areas enabling mapping of geological units within the area. Structural information may be derived from such data using standard manual photo-geologic interpretation techniques, although these are often inaccurate and incomplete. The aim of this thesis is, therefore, to compile a suite of automated and interactive computer-based analysis routines, designed to help a the user map geological structure. These are examined and integrated in the context of an expert system. The data used in this study include Digital Elevation Model (DEM) and Airborne Thematic Mapper images, both with a spatial resolution of 5m, for a 5 x 5 km area surrounding Llyn Cow lyd, Snowdonia, North Wales. The geology of this area comprises folded and faulted Ordo vician sediments intruded throughout by dolerite sills, providing a stringent test for the automated and semi-automated procedures. The DEM is used to highlight geomorphological features which may represent surface expressions of the sub-surface geology. The DEM is created from digitized contours, for which kriging is found to provide the best interpolation routine, based on a number of quantitative measures. Lambertian shading and the creation of slope and change of slope datasets are shown to provide the most successful enhancement of DEMs, in terms of highlighting a range of key geomorphological features. The digital image data are used to identify rock outcrops as well as lithologically controlled features in the land cover. To this end, a series of standard spectral enhancements of the images is examined. In this respect, the least correlated 3 band composite and a principal component composite are shown to give the best visual discrimination of geological and vegetation cover types. Automatic edge detection (followed by line thinning and extraction) and manual interpretation techniques are used to identify a set of 'geological primitives' (linear or arc features representing lithological boundaries) within these data. Inclusion of the DEM data provides the three-dimensional co-ordinates of these primitives enabling a least-squares fit to be employed to calculate dip and strike values, based, initially, on the assumption of a simple, linearly dipping structural model. A very large number of scene 'primitives' is identified using these procedures, only some of which have geological significance. Knowledge-based rules are therefore used to identify the relevant. For example, rules are developed to identify lake edges, forest boundaries, forest tracks, rock-vegetation boundaries, and areas of geomorphological interest. Confidence in the geological significance of some of the geological primitives is increased where they are found independently in both the DEM and remotely sensed data. The dip and strike values derived in this way are compared to information taken from the published geological map for this area, as well as measurements taken in the field. Many results are shown to correspond closely to those taken from the map and in the field, with an error of < 1°. These data and rules are incorporated into an expert system which, initially, produces a simple model of the geological structure. The system also provides a graphical user interface for manual control and interpretation, where necessary. Although the system currently only allows a relatively simple structural model (linearly dipping with faulting), in the future it will be possible to extend the system to model more complex features, such as anticlines, synclines, thrusts, nappes, and igneous intrusions

Scalable Realtime Rendering and Interaction with Digital Surface Models of Landscapes and Cities

Interactive, realistic rendering of landscapes and cities differs substantially from classical terrain rendering. Due to the sheer size and detail of the data which need to be processed, realtime rendering (i.e. more than 25 images per second) is only feasible with level of detail (LOD) models. Even the design and implementation of efficient, automatic LOD generation is ambitious for such out-of-core datasets considering the large number of scales that are covered in a single view and the necessity to maintain screen-space accuracy for realistic representation. Moreover, users want to interact with the model based on semantic information which needs to be linked to the LOD model. In this thesis I present LOD schemes for the efficient rendering of 2.5d digital surface models (DSMs) and 3d point-clouds, a method for the automatic derivation of city models from raw DSMs, and an approach allowing semantic interaction with complex LOD models. The hierarchical LOD model for digital surface models is based on a quadtree of precomputed, simplified triangle mesh approximations. The rendering of the proposed model is proved to allow real-time rendering of very large and complex models with pixel-accurate details. Moreover, the necessary preprocessing is scalable and fast. For 3d point clouds, I introduce an LOD scheme based on an octree of hybrid plane-polygon representations. For each LOD, the algorithm detects planar regions in an adequately subsampled point cloud and models them as textured rectangles. The rendering of the resulting hybrid model is an order of magnitude faster than comparable point-based LOD schemes. To automatically derive a city model from a DSM, I propose a constrained mesh simplification. Apart from the geometric distance between simplified and original model, it evaluates constraints based on detected planar structures and their mutual topological relations. The resulting models are much less complex than the original DSM but still represent the characteristic building structures faithfully. Finally, I present a method to combine semantic information with complex geometric models. My approach links the semantic entities to the geometric entities on-the-fly via coarser proxy geometries which carry the semantic information. Thus, semantic information can be layered on top of complex LOD models without an explicit attribution step. All findings are supported by experimental results which demonstrate the practical applicability and efficiency of the methods

Towards Predictive Rendering in Virtual Reality

The strive for generating predictive images, i.e., images representing radiometrically correct renditions of reality, has been a longstanding problem in computer graphics. The exactness of such images is extremely important for Virtual Reality applications like Virtual Prototyping, where users need to make decisions impacting large investments based on the simulated images. Unfortunately, generation of predictive imagery is still an unsolved problem due to manifold reasons, especially if real-time restrictions apply. First, existing scenes used for rendering are not modeled accurately enough to create predictive images. Second, even with huge computational efforts existing rendering algorithms are not able to produce radiometrically correct images. Third, current display devices need to convert rendered images into some low-dimensional color space, which prohibits display of radiometrically correct images. Overcoming these limitations is the focus of current state-of-the-art research. This thesis also contributes to this task. First, it briefly introduces the necessary background and identifies the steps required for real-time predictive image generation. Then, existing techniques targeting these steps are presented and their limitations are pointed out. To solve some of the remaining problems, novel techniques are proposed. They cover various steps in the predictive image generation process, ranging from accurate scene modeling over efficient data representation to high-quality, real-time rendering. A special focus of this thesis lays on real-time generation of predictive images using bidirectional texture functions (BTFs), i.e., very accurate representations for spatially varying surface materials. The techniques proposed by this thesis enable efficient handling of BTFs by compressing the huge amount of data contained in this material representation, applying them to geometric surfaces using texture and BTF synthesis techniques, and rendering BTF covered objects in real-time. Further approaches proposed in this thesis target inclusion of real-time global illumination effects or more efficient rendering using novel level-of-detail representations for geometric objects. Finally, this thesis assesses the rendering quality achievable with BTF materials, indicating a significant increase in realism but also confirming the remainder of problems to be solved to achieve truly predictive image generation

Acceleration Techniques for Photo Realistic Computer Generated Integral Images

The research work presented in this thesis has approached the task of accelerating the generation of photo-realistic integral images produced by integral ray tracing. Ray tracing algorithm is a computationally exhaustive algorithm, which spawns one ray or more through each pixel of the pixels forming the image, into the space containing the scene. Ray tracing integral images consumes more processing time than normal images. The unique characteristics of the 3D integral camera model has been analysed and it has been shown that different coherency aspects than normal ray tracing can be investigated in order to accelerate the generation of photo-realistic integral images. The image-space coherence has been analysed describing the relation between rays and projected shadows in the scene rendered. Shadow cache algorithm has been adapted in order to minimise shadow intersection tests in integral ray tracing. Shadow intersection tests make the majority of the intersection tests in ray tracing. Novel pixel-tracing styles are developed uniquely for integral ray tracing to improve the image-space coherence and the performance of the shadow cache algorithm. Acceleration of the photo-realistic integral images generation using the image-space coherence information between shadows and rays in integral ray tracing has been achieved with up to 41 % of time saving. Also, it has been proven that applying the new styles of pixel-tracing does not affect of the scalability of integral ray tracing running over parallel computers. The novel integral reprojection algorithm has been developed uniquely through geometrical analysis of the generation of integral image in order to use the tempo-spatial coherence information within the integral frames. A new derivation of integral projection matrix for projecting points through an axial model of a lenticular lens has been established. Rapid generation of 3D photo-realistic integral frames has been achieved with a speed four times faster than the normal generation

Doctor of Philosophy

dissertationWhile boundary representations, such as nonuniform rational B-spline (NURBS) surfaces, have traditionally well served the needs of the modeling community, they have not seen widespread adoption among the wider engineering discipline. There is a common perception that NURBS are slow to evaluate and complex to implement. Whereas computer-aided design commonly deals with surfaces, the engineering community must deal with materials that have thickness. Traditional visualization techniques have avoided NURBS, and there has been little cross-talk between the rich spline approximation community and the larger engineering field. Recently there has been a strong desire to marry the modeling and analysis phases of the iterative design cycle, be it in car design, turbulent flow simulation around an airfoil, or lighting design. Research has demonstrated that employing a single representation throughout the cycle has key advantages. Furthermore, novel manufacturing techniques employing heterogeneous materials require the introduction of volumetric modeling representations. There is little question that fields such as scientific visualization and mechanical engineering could benefit from the powerful approximation properties of splines. In this dissertation, we remove several hurdles to the application of NURBS to problems in engineering and demonstrate how their unique properties can be leveraged to solve problems of interest

MonoSLAM: Real-time single camera SLAM

Published versio