Total Denoising: Unsupervised Learning of 3D Point Cloud Cleaning

We show that denoising of 3D point clouds can be learned unsupervised, directly from noisy 3D point cloud data only. This is achieved by extending recent ideas from learning of unsupervised image denoisers to unstructured 3D point clouds. Unsupervised image denoisers operate under the assumption that a noisy pixel observation is a random realization of a distribution around a clean pixel value, which allows appropriate learning on this distribution to eventually converge to the correct value. Regrettably, this assumption is not valid for unstructured points: 3D point clouds are subject to total noise, i. e., deviations in all coordinates, with no reliable pixel grid. Thus, an observation can be the realization of an entire manifold of clean 3D points, which makes a na\"ive extension of unsupervised image denoisers to 3D point clouds impractical. Overcoming this, we introduce a spatial prior term, that steers converges to the unique closest out of the many possible modes on a manifold. Our results demonstrate unsupervised denoising performance similar to that of supervised learning with clean data when given enough training examples - whereby we do not need any pairs of noisy and clean training data.Comment: Proceedings of ICCV 201

All-optical image denoising using a diffractive visual processor

Image denoising, one of the essential inverse problems, targets to remove noise/artifacts from input images. In general, digital image denoising algorithms, executed on computers, present latency due to several iterations implemented in, e.g., graphics processing units (GPUs). While deep learning-enabled methods can operate non-iteratively, they also introduce latency and impose a significant computational burden, leading to increased power consumption. Here, we introduce an analog diffractive image denoiser to all-optically and non-iteratively clean various forms of noise and artifacts from input images - implemented at the speed of light propagation within a thin diffractive visual processor. This all-optical image denoiser comprises passive transmissive layers optimized using deep learning to physically scatter the optical modes that represent various noise features, causing them to miss the output image Field-of-View (FoV) while retaining the object features of interest. Our results show that these diffractive denoisers can efficiently remove salt and pepper noise and image rendering-related spatial artifacts from input phase or intensity images while achieving an output power efficiency of ~30-40%. We experimentally demonstrated the effectiveness of this analog denoiser architecture using a 3D-printed diffractive visual processor operating at the terahertz spectrum. Owing to their speed, power-efficiency, and minimal computational overhead, all-optical diffractive denoisers can be transformative for various image display and projection systems, including, e.g., holographic displays.Comment: 21 Pages, 7 Figure

Foveated Path Tracing with Fast Reconstruction and Efficient Sample Distribution

Polunseuranta on tietokonegrafiikan piirtotekniikka, jota on käytetty pääasiassa ei-reaaliaikaisen realistisen piirron tekemiseen. Polunseuranta tukee luonnostaan monia muilla tekniikoilla vaikeasti saavutettavia todellisen valon ilmiöitä kuten heijastuksia ja taittumista. Reaaliaikainen polunseuranta on hankalaa polunseurannan suuren laskentavaatimuksen takia. Siksi nykyiset reaaliaikaiset polunseurantasysteemi tuottavat erittäin kohinaisia kuvia, jotka tyypillisesti suodatetaan jälkikäsittelykohinanpoisto-suodattimilla. Erittäin immersiivisiä käyttäjäkokemuksia voitaisiin luoda polunseurannalla, joka täyttäisi laajennetun todellisuuden vaatimukset suuresta resoluutiosta riittävän matalassa vasteajassa. Yksi mahdollinen ratkaisu näiden vaatimusten täyttämiseen voisi olla katsekeskeinen polunseuranta, jossa piirron resoluutiota vähennetään katseen reunoilla. Tämän johdosta piirron laatu on katseen reunoilla sekä harvaa että kohinaista, mikä asettaa suuren roolin lopullisen kuvan koostavalle suodattimelle. Tässä työssä esitellään ensimmäinen reaaliajassa toimiva regressionsuodatin. Suodatin on suunniteltu kohinaisille kuville, joissa on yksi polunseurantanäyte pikseliä kohden. Nopea suoritus saavutetaan tiileissä käsittelemällä ja nopealla sovituksen toteutuksella. Lisäksi työssä esitellään Visual-Polar koordinaattiavaruus, joka jakaa polunseurantanäytteet siten, että niiden jakauma seuraa silmän herkkyysmallia. Visual-Polar-avaruuden etu muihin tekniikoiden nähden on että se vähentää työmäärää sekä polunseurannassa että suotimessa. Nämä tekniikat esittelevät toimivan prototyypin katsekeskeisestä polunseurannasta, ja saattavat toimia tienraivaajina laajamittaiselle realistisen reaaliaikaisen polunseurannan käyttöönotolle.Photo-realistic offline rendering is currently done with path tracing, because it naturally produces many real-life light effects such as reflections, refractions and caustics. These effects are hard to achieve with other rendering techniques. However, path tracing in real time is complicated due to its high computational demand. Therefore, current real-time path tracing systems can only generate very noisy estimate of the final frame, which is then denoised with a post-processing reconstruction filter. A path tracing-based rendering system capable of filling the high resolution in the low latency requirements of mixed reality devices would generate a very immersive user experience. One possible solution for fulfilling these requirements could be foveated path tracing, wherein the rendering resolution is reduced in the periphery of the human visual system. The key challenge is that the foveated path tracing in the periphery is both sparse and noisy, placing high demands on the reconstruction filter. This thesis proposes the first regression-based reconstruction filter for path tracing that runs in real time. The filter is designed for highly noisy one sample per pixel inputs. The fast execution is accomplished with blockwise processing and fast implementation of the regression. In addition, a novel Visual-Polar coordinate space which distributes the samples according to the contrast sensitivity model of the human visual system is proposed. The specialty of Visual-Polar space is that it reduces both path tracing and reconstruction work because both of them can be done with smaller resolution. These techniques enable a working prototype of a foveated path tracing system and may work as a stepping stone towards wider commercial adoption of photo-realistic real-time path tracing

Total Denoising: Unsupervised Learning of 3D Point Cloud Cleaning

We show that denoising of 3D point clouds can be learned unsupervised, directly from noisy 3D point cloud data only. This is achieved by extending recent ideas from learning of unsupervised image denoisers to unstructured 3D point clouds. Unsupervised image denoisers operate under the assumption that a noisy pixel observation is a random realization of a distribution around a clean pixel value, which allows appropriate learning on this distribution to eventually converge to the correct value. Regrettably, this assumption is not valid for unstructured points: 3D point clouds are subject to total noise, i.e. deviations in all coordinates, with no reliable pixel grid. Thus, an observation can be the realization of an entire manifold of clean 3D points, which makes the quality of a naive extension of unsupervised image denoisers to 3D point clouds unfortunately only little better than mean filtering. To overcome this, and to enable effective and unsupervised 3D point cloud denoising, we introduce a spatial prior term, that steers converges to the unique closest out of the many possible modes on the manifold. Our results demonstrate unsupervised denoising performance similar to that of supervised learning with clean data when given enough training examples - whereby we do not need any pairs of noisy and clean training data

Real-Time Noise Removal in Foveated Path Tracing

Path tracing is a method for rendering photorealistic two-dimensional images of three-dimensional scenes based on computing intersection between the scene geometry and light rays traveling through the scene. The rise in parallel computation resources in devices such as graphics processing units (GPUs) have made it more and more viable to do path tracing in real time. To achieve real-time performance, path tracing can be further optimized by using foveated rendering, where the properties of the human visual system are exploited to reduce the number of rays outside the central point of vision (fovea), where the human eye cannot discern fine detail. The reduction in the number of rays can, however, lead to several issues. Noise appears in the image as a result of an inadequate number of path tracing samples allocated to each pixel. Furthermore, the variation in the noise from one animation frame to the next appears as flicker. Finally, artifacts can appear when the spatially subsampled image is upsampled to a uniform resolution for display. In this thesis, solutions to the aforementioned issues are explored by implementing three noise removal methods into a foveated path tracing rendering system. The computational performance and the visual quality of the implemented methods is evaluated. Of the implemented methods, cross-bilateral filter provides the best quality, but its runtime doesn't scale well to large filter sizes. Large filter sizes are enabled by the À-Trous approximation of the cross-bilateral filter, at the cost of generating more artifacts in the result. Overall, while the implemented methods are able to provide visually pleasing results in some scenarios, improvements in the algorithms (e.g., local filter parameter selection) are needed to reach the quality seen in offline methods

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