University of Utah, We examine a rendering system that interactively ray traces an image on a conventional multiprocessor. The implementation is “brute force ” in that it explicitly traces rays through every screen pixel, yet pays careful attention to system resources for acceleration. The design of the system is described, along with issues related to material models, lighting and shadows, and frameless rendering. The system is demonstrated for several different types of input scenes.

The pitfalls of naive robot simulations have been recognised for areas such as evolutionary robotics. It has been suggested that carefully validated ispell slides.tex simulations with a proper treatment of noise may overcome these problems. This paper reports the results of experiments intended to test some of these claims. A simulation was constructed of a two-wheeled Khepera robot with IR and ambient light sensors. This included detailed mathematical models of the robot-environment interaction dynamics with empirically determined parameters. Artificial evolution was used to develop recurrent dynamical network controllers for the simulated robot, for obstacle-avoidance and light-seeking tasks, using different levels of noise in the simulation. The evolved controllers were down-loaded onto the real robot and the correspondence between behaviour in simulation and in reality was tested. The level of correspondence varied according to how much noise was used in the simulation, with very g...

We present a new image-based process for measuring the bidirectional reflectance of homogeneous surfaces rapidly, completely, and accurately. For simple sample shapes (spheres and cylinders) the method requires only a digital camera and a stable light source. Adding a 3D scanner allows a wide class of curved near-convex objects to be measured. With measurements for a variety of materials from paints to human skin, we demonstrate the new method's ability to achieve high resolution and accuracy over a large domain of illumination and reflection directions. We verify our measurements by tests of internal consistency and by comparison against measurements made using a gonioreflectometer.

model (78K triangles). c) Animated wind-up toys (11K triangles) walking and jumping incoherently around each other. d) A rigid-body dynamics simulation of marbles (8.8K triangles). e) A complex scene of 174K animated triangles, where a fairy and a dragonfly dance through an animated forest. Scenes are rebuilt from scratch every frame, allowing fully dynamic animation. Including shading, texturing, and hard shadows, as used in the above images, we can render these scenes at 1024 × 1024 pixels with 15.3, 7.8, 10.2, 26.2, and 1.4 frames per second on a dual 3.2 GHz Xeon. Excluding shading, texturing, and shadows, we achieve 34.5, 15.8, 29.3, 57.1, and 3.4 frames per second. We present a new approach to interactive ray tracing of moderatesized animated scenes based on traversing frustum-bounded packets of coherent rays through uniform grids. By incrementally computing the overlap of the frustum with a slice of grid cells, we accelerate grid traversal by more than a factor of 10, and achieve ray tracing performance competitive with the fastest known packet-based kd-tree ray tracers. The ability to efficiently rebuild the grid on every frame enables this performance even for fully dynamic scenes that typically challenge interactive ray tracing systems. 1 Introduction and Related

In this paper, we present a new method to recover an approximation of the bidirectional reflectance distribution function (BRDF) of the surfaces present in a real scene. This is done from a single photograph and a 3D geometric model of the scene. The result is a full model of the reflectance properties of all surfaces, which can be rendered under novel illumination conditions with, for example, viewpoint modification and the addition of new synthetic objects. Our technique produces a reflectance model using a small number of parameters. These parameters nevertheless approximate the BRDF and allow the recovery of the photometric properties of diffuse, specular, isotropic or anisotropic textured objects. The input data are a geometric model of the scene including the light source positions and the camera properties, and a single image captured using this camera. Our algorithm generates a new synthetic image using classic rendering techniques, and a lambertian hypothesis about the reflectance model of the surfaces. Then, it iteratively compares the original image to the new one, and chooses a more complex reflectance model if the difference between the two images is greater than a user-defined threshold.

We present an efficient three-phase algorithm for volume viewing that is based on exploit- - t ing coherency between rays in parallel projection. The algorithm starts by building a ray emplate and determining a special plane for projection -- the base-plane. Parallel rays are cast t into the volume from within the projected region of the volume on the base-plane, by repeating he sequence of steps specified in the ray-template. We carefully choose the type of line to be s employed and the way the template is being placed on the base-plane in order to assure uniform ampling of the volume by the discrete rays. We conclude by describing an optimized software K implementation of our algorithm and reporting its performance. eywords: volume rendering, ray casting, template, parallel projection 1. Introduction Volume visualization is the process of converting complex volume data to a format that is p amenable to human understanding while maintaining the integrity and accuracy of the data. Th...

Transparency can be a useful device for depicting multiple overlapping surfaces in a single image. The challenge is to render the transparent surfaces in such a way that their three-dimensional shape can be readily understood and their depth distance from underlying structures clearly perceived. This paper describes our investigations into the use of sparsely-distributed discrete, opaque texture as an "artistic device" for more explicitly indicating the relative depth of a transparent surface and for communicating the essential features of its 3D shape in an intuitively meaningful and minimally occluding way. The driving application for this work is the visualization of layered surfaces in radiation therapy treatment planning data, and the technique is illustrated on transparent isointensity surfaces of radiation dose. We describe the perceptual motivation and artistic inspiration for defining a stroke texture that is locally oriented in the direction of greatest normal curvatu...

We consider the problem of grasping novel objects, specifically ones that are being seen for the first time through vision. Grasping a previously unknown object, one for which a 3-d model is not available, is a challenging problem. Further, even if given a model, one still has to decide where to grasp the object. We present a learning algorithm that neither requires, nor tries to build, a 3-d model of the object. Given two (or more) images of an object, our algorithm attempts to identify a few points in each image corresponding to good locations at which to grasp the object. This sparse set of points is then triangulated to obtain a 3-d location at which to attempt a grasp. This is in contrast to standard dense stereo, which tries to triangulate every single point in an image (and often fails to return a good 3-d model). Our algorithm for identifying grasp locations from an image is trained via supervised learning, using synthetic images for the training set. We demonstrate this approach on two robotic manipulation platforms. Our algorithm successfully grasps a wide variety of objects, such as plates, tape-rolls, jugs, cellphones, keys, screwdrivers, staplers, a thick coil of wire, a strangely shaped power horn, and others, none of which were seen in the training set. We also apply our method to the task of unloading items from dishwashers. 1 1

While large investments are made in sophisticated graphics hardware, most realistic rendering is still performed off-line using ray trace or radiosity systems. A coordinated use of hardware-provided bitplanes and rendering pipelines can, however, approximate ray trace quality illumination effects in a user-interactive environment, as well as provide the tools necessary for a user to declutter such a complex scene. A variety of common ray trace and radiosity illumination effects are presented using multi-pass rendering in a pipeline architecture. We provide recursive reflections through the use of secondary viewpoints, and present a method for using a homogeneous 2-D projective image mapping to extend this method for refractive transparent surfaces. This paper then introduces the Dual Z-buffer, or DZ-buffer, an evolutionary hardware extension which, along with current framebuffer functions such as stencil planes and accumulation buffers, provides the hardware platform to render non-refr...

We have developed a methodology grounded in two beliefs: that autonomous agents need visual processing capabilities, and that the approach ofhand-designing control architectures for autonomous agents is likely to be superseded by methods involving the arti cial evolution of comparable architectures. In this paper we present results which demonstrate that neural-network control architectures can be evolved for an accurate simulation model of a visually guided robot. The simulation system involves detailed models of the physics of a real robot built at Sussex; and the simulated vision involves ray-tracing computer graphics, using models of optical systems which could readily be constructed from discrete components. The control-network architecture is entirely under genetic control, as are parameters governing the optical system. Signi cantly, we demonstrate that robust visually-guided control systems evolve from evaluation functions which do not explicitly involve monitoring visual input. The latter part of the paper discusses work now under development, which allows us to engage in long-term fundamental experiments aimed at thoroughly exploring the possibilities of concurrently evolving control networks and visual sensors for navigational tasks. This involves the construction of specialised visual-robotic equipment which eliminates the need for simulated sensing.