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A comparison of unscented and extended Kalman filtering for estimating quaternion motion

A comparison of unscented and extended Kalman filtering for ...

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American Control Conference (ACC)

作者： J.J. LaViola For Advanced Scientific Computing and Visualization Brown University Technology Center Providence RI USA

The unscented Kalman filter is a superior alternative to the extended Kalman filter for a variety of estimation and control problems. However, its effectiveness for improving human motion tracking for virtual reality applications in the presence of noisy data has been unexplored. In this paper, we present an empirical study comparing the performance of unscented and extended Kalman filtering for improving human head and hand tracking. Specifically, we examine human head and hand orientation motion signals, represented with quaternions, which are critical for correct viewing perspectives in virtual reality. Our experimental results and analysis indicate that unscented Kalman filtering performs equivalently with extended Kalman filtering. However, the additional computational overhead of the unscented Kalman filter and quasi-linear nature of the quaternion dynamics lead to the conclusion that the extended Kalman filter is a better choice for estimating quaternion motion in virtual reality applications.

关键词： Kalman filters Filtering Motion estimation Quaternions Virtual reality Humans Tracking Head Application software Jacobian matrices

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Curvature-based transfer functions for direct volume rendering: methods and applications

Curvature-based transfer functions for direct volume renderi...

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IEEE Conference on visualization

作者： G. Kindlmann R. Whitaker T. Tasdizen T. Moller Scientific Computing and Imaging Institute University of Utah USA Graphics Usability and Visualization (GrUVi) Laboratory Simon Fraser University Canada

Direct volume rendering of scalar fields uses a transfer function to map locally measured data properties to opacities and colors. The domain of the transfer function is typically the one-dimensional space of scalar data values. This paper advances the use of curvature information in multi-dimensional transfer functions, with a methodology for computing high-quality curvature measurements. The proposed methodology combines an implicit formulation of curvature with convolution-based reconstruction of the field. We give concrete guidelines for implementing the methodology, and illustrate the importance of choosing accurate filters for computing derivatives with convolution. Curvature-based transfer functions are shown to extend the expressivity and utility of volume rendering through contributions in three different application areas: nonphotorealistic volume rendering, surface smoothing via anisotropic diffusion, and visualization of isosurface uncertainty.

关键词： Transfer functions Volume measurement Concrete Guidelines Filters Convolution Surface reconstruction Smoothing methods Anisotropic magnetoresistance visualization

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Parallel cell projection rendering of adaptive mesh refinement data

Parallel cell projection rendering of adaptive mesh refineme...

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IEEE Symposium on Parallel and Large-Data visualization and Graphics (PVG)

作者： G.H. Weber M. Ohler O. Kreylos J.M. Shalf E.W. Bethel B. Hamann G. Scheuermann Visualization Group National Energy Research Scientific Computing Center (NERSC) Lawrence Berkeley National Laboratory Berkeley CA USA AG Graphische Datenverabeitung und Computergeometrie FB Informatik University of Kaiserslautern Kaiserslautern Germany Center for Image Processing and Integrated Computing Center for Image Processing and Integrated Computing (CIPIC) Department of Computer Science University of California Davis CA USA Center for Image Processing and Integrated Computing Department of Computer Science University of California Davis CA USA

Adaptive mesh refinement (AMR) is a technique used in numerical simulations to automatically refine (or de-refine) certain regions of the physical domain in a finite difference calculation. AMR data consists of nested hierarchies of data grids. As AMR visualization is still a relatively unexplored topic, our work is motivated by the need to perform efficient visualization of large AMR data sets. We present a software algorithm for parallel direct volume rendering of AMR data using a cell-projection technique on several different parallel platforms. Our algorithm can use one of several different distribution methods, and we present performance results for each of these alternative approaches. By partitioning an AMR data set into blocks of constant resolution and estimating rendering costs of individual blocks using an application specific benchmark, it is possible to achieve even load balancing.

关键词： Adaptive mesh refinement Data visualization Rendering (computer graphics) Spatial resolution Partitioning algorithms Load management Parallel programming Graphics Physics computing Computational efficiency

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Pop through button devices for VE navigation and interaction

Pop through button devices for VE navigation and interaction

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IEEE Annual International Symposium Virtual Reality

作者： R.C. Zeleznik J.J. LaViola D. Acevedo Feliz D.F. Keefe Advanced Scientific Computing and Visualization Brown University Technology Center Providence RI USA

ISBN: (纸本)0769514928

Presents a novel class of virtual reality input devices that combine pop-through buttons with 6-DOF trackers. Compared to similar devices that use conventional buttons, pop-through devices double the number of potential discrete interaction modes, since each button has two activation states corresponding to light and firm pressure. This additional state per button provides a foundation to address a range of shortcomings with conventional virtual environment (VE) input devices that includes reducing the physical dexterity required to perform interactions, reducing the cognitive complexity of some compound tasks and enabling the design of less obtrusive devices without sacrificing expressive power. Specifically, we present two novel input devices: the FingerSleeve was designed to be minimally obtrusive physically, whereas the TriggerGun was designed to be physically similar to, yet more functional than a conventional hand-held trigger device. Further, we present a set of novel navigation and interaction techniques that leverage the capabilities of our pop-through button devices to improve interaction quality and provide insight into harnessing the potential of pop-through buttons for other tasks. Finally, we discuss how we incorporated one of our devices into a real application.

关键词： Navigation Fingers Electronic switching systems scientific computing visualization Virtual environment Virtual reality

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On endmember detection in hyperspectral images with morphological associative memories

On endmember detection in hyperspectral images with morpholo...

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作者： Graña, Manuel Raducanu, Bogdan Sussner, Peter Ritter, Gerhard Dept. CCIA Universidad Pais Vasco Spain Institute of Mathematics Statistics and Scientific Computing State University of Campinas Brazil Center for Computer Vision and Visualization University of Florida United States

ISBN: (纸本)354000131X

Morphological Associative Memories (MAM) are a construct similar to Hopfield Associative Memories defined on the (R,+, ∨, ∧) algebraic system. The MAM posses excellent recall properties for undistorted patterns. However they suffer from the sensitivity to specific noise models, that can be characterized as erosive and dilative noise. We find that this sensitivity may be made of use in the task of Endmember determination for the Spectral Unmixingof Hyperspectral Images. © Springer-Verlag 2002.

关键词： Associative processing

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A level-set method for flow visualization 00

A level-set method for flow visualization

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Proceedings of the conference on visualization '00

作者： Rüdiger Westermann Christopher Johnson Thomas Ertl Scientific Computing and Visualization Group University of Technology Aachen Scientific Computing and Imaging Institute University of Utah Visualization and Interactive Systems Group University of Stuttgart

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Time Critical Isosurface Refinement and Smoothing

Time Critical Isosurface Refinement and Smoothing

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IEEE Symposium on Volume visualization, VV 2000

作者： Bajaj, C.L. Pascucci, V. Center for Applied Scientific Computing Lawrence Livermore National Laboratory United States Center for Computational Visualization CS and TICAM University of Texas AustinTX United States

ISBN: (纸本)1581133081

Multi-resolution data-structures and algorithms are key in visualization to achieve real-time interaction with large data-sets. Research has been primarily focused on the off-line construction of such representations mostly using decimation schemes. Drawbacks of this class of approaches include: (i) the inability to maintain interactivity when the displayed surface changes frequently, (ii) inability to control the global geometry of the embedding (no self-intersections) of any approximated level of detail of the output surface. In this paper we introduce a technique for on-line construction and smoothing of progressive isosurfaces (see Figure 1). Our hybrid approach combines the flexibility of a progressive multi-resolution representation with the advantages of a recursive subdivision scheme. Our main contributions are: (i) a progressive algorithm that builds a multi-resolution surface by successive refinements so that a coarse representation of the output is generated as soon as a coarse representation of the input is provided, (ii) application of the same scheme to smooth the surface by means of a 3D recursive subdivision rule, (iii) a multi-resolution representation where any adaptively selected level of detail surface is guaranteed to be free of self-intersections. © 2000 IEEE.

关键词： Data structures

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A level-set method for flow visualization

A level-set method for flow visualization

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IEEE Conference on visualization

作者： R. Westermann C. Johnson T. Ertl Visualization and Interactive Systems Group University of Stuttgart Germany Scientific Computing and Imaging Institute University of Utah USA Scientific Computing and Visualization Group RWTH Aachen University of Technology Germany

We propose a technique for visualizing steady flow. Using this technique, we first convert the vector field data into a scalar level-set representation. We then analyze the dynamic behavior and subsequent distortion of level-sets and interactively monitor the evolving structures by means of texture-based surface rendering. Next, we combine geometrical and topological considerations to derive a multiscale representation and to implement a method for the automatic placement of a sparse set of graphical primitives depicting homogeneous streams in the fields. Using the resulting algorithms, we have built a visualization system that enables us to effectively display the flow direction and its dynamics even for dense 3D fields.

关键词： Data visualization scientific computing Surface texture Rendering (computer graphics) Interactive systems Image analysis Data mining Monitoring Three dimensional displays Fluid dynamics

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Level-of-Detail Volume Rendering via 3D Textures

Level-of-Detail Volume Rendering via 3D Textures

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IEEE Symposium on Volume visualization, VV 2000

作者： Zimmermann, Kurt Westermann, Rüdiger Ertl, Thomas Hansen, Chuck Weiler, Manfred Visualization and Interactive Systems Group University of Stuttgart Germany Scientific Computing and Imaging Institute University of Utah United States Universität Stuttgart IfI Abt. VIS Breitwiesenstr. 20-22 Stuttgart70565 Germany

ISBN: (纸本)1581133081

In this paper we present an adaptive approach to volume rendering via 3D textures at arbitrary levels of detail. The algorithm has been designed to enable interactive exploration of large-scale data sets while providing user-adjustable resolution levels. A texture map hierarchy is constructed in a way that minimizes the amount of texture memory with respect to the power-of-two restriction imposed by OpenGL implementations. In addition, our hierarchical level-of-detail representation guarantees consistent interpolation between different resolution levels. Special attention has been paid to the fixing of rendering artifacts that are introduced by non-corrected opacities at level transitions. By adapting the sample slice distance with regard to the desired level-of-detail, the number of texture lookups is reduced significantly. © 2000 IEEE.

关键词： Volume rendering

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Multi-resolution dynamic meshes with arbitrary deformations 00

Multi-resolution dynamic meshes with arbitrary deformations

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Proceedings of the conference on visualization '00

作者： Ariel Shamir Chandrajit Bajaj Valerio Pascucci Center for Computational Visualization TICAM University of Texas at Austin Center for Applied Scientific Computing Laurence Livermore National Laboratory

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