https://fisica.cab.cnea.gov.ar/gpgpu/images/charlas/medical_image_processing_on_the_gpu.pdf

Medical Image Processing on the GPU : Past, Present and Future

Micro Aerial Vehicles (MAVs) that operate in unstructured, unexplored environments require fast and flexible local planning, which can replan when new parts of the map are explored. Trajectory optimization methods fulfill these needs, but require obstacle distance information, which can be given by Euclidean Signed Distance Fields (ESDFs). We propose a method to incrementally build ESDFs from Truncated Signed Distance Fields (TSDFs), a common implicit surface representation used in computer graphics and vision. TSDFs are fast to build and smooth out sensor noise over many observations, and are designed to produce surface meshes. We show that we can build TSDFs faster than Octomaps, and that it is more accurate to build ESDFs out of TSDFs than occupancy maps. Our complete system, called voxblox, is available as open source and runs in real-time on a single CPU core. We validate our approach on-board an MAV, by using our system with a trajectory optimization local planner, entirely on-board and in real-time.

Voxblox: Incremental 3D Euclidean Signed Distance Fields for on-board MAV planning

Micro Aerial Vehicles (MAVs) that operate in unstructured, unexplored environments require fast and flexible local planning, which can replan when new parts of the map are explored. Trajectory optimization methods fulfill these needs, but require obstacle distance information, which can be given by Euclidean Signed Distance Fields (ESDFs). 
We propose a method to incrementally build ESDFs from Truncated Signed Distance Fields (TSDFs), a common implicit surface representation used in computer graphics and vision. TSDFs are fast to build and smooth out sensor noise over many observations, and are designed to produce surface meshes. Meshes allow human operators to get a better assessment of the robot's environment, and set high-level mission goals. 
We show that we can build TSDFs faster than Octomaps, and that it is more accurate to build ESDFs out of TSDFs than occupancy maps. Our complete system, called voxblox, will be available as open source and runs in real-time on a single CPU core. We validate our approach on-board an MAV, by using our system with a trajectory optimization local planner, entirely on-board and in real-time.

Voxblox: Incremental 3D Euclidean Signed Distance Fields for On-Board MAV Planning

Given a shape, a skeleton is a thin centered structure which jointly describes the topology and the geometry of the shape. Skeletons provide an alternative to classical boundary or volumetric representations, which is especially effective for applications where one needs to reason about, and manipulate, the structure of a shape. These skeleton properties make them powerful tools for many types of shape analysis and processing tasks. For a given shape, several skeleton types can be defined, each having its own properties, advantages, and drawbacks. Similarly, a large number of methods exist to compute a given skeleton type, each having its own requirements, advantages, and limitations. While using skeletons for two-dimensional (2D) shapes is a relatively well covered area, developments in the skeletonization of three-dimensional (3D) shapes make these tasks challenging for both researchers and practitioners. This survey presents an overview of 3D shape skeletonization. We start by presenting the definition and properties of various types of 3D skeletons. We propose a taxonomy of 3D skeletons which allows us to further analyze and compare them with respect to their properties. We next overview methods and techniques used to compute all described 3D skeleton types, and discuss their assumptions, advantages, and limitations. Finally, we describe several applications of 3D skeletons, which illustrate their added value for different shape analysis and processing tasks.

/pdf/3d-skeletons-a-state-of-the-art-report-23xi7o6x4j.pdf

3D skeletons: a state-of-the-art report

In this paper, we present a novel approach for constructing bundled layouts of general graphs. As layout cues for bundles, we use medial axes, or skeletons, of edges which are similar in terms of position information. We combine edge clustering, distance fields, and 2D skeletonization to construct progressively bundled layouts for general graphs by iteratively attracting edges towards the centerlines of level sets of their distance fields. Apart from clustering, our entire pipeline is image-based with an efficient implementation in graphics hardware. Besides speed and implementation simplicity, our method allows explicit control of the emphasis on structure of the bundled layout, i.e. the creation of strongly branching (organic-like) or smooth bundles. We demonstrate our method on several large real-world graphs.

/pdf/skeleton-based-edge-bundling-for-graph-visualization-kx9v9iqoc9.pdf

Skeleton-Based Edge Bundling for Graph Visualization

We propose a Parallel Banding Algorithm (PBA) on the GPU to compute the exact Euclidean Distance Transform (EDT) for a binary image in 2D and higher dimensions. Partitioning the image into small bands to process and then merging them concurrently, PBA computes the exact EDT with optimal linear total work, high level of parallelism and a good memory access pattern. This work is the first attempt to exploit the enormous power of the GPU in computing the exact EDT, while prior works are only on approximation. Compared to these other algorithms in our experiments, our exact algorithm is still a few times faster in 2D and 3D for most input sizes. We illustrate the use of our algorithm in applications such as computing the Euclidean skeleton using the integer medial axis transform, performing morphological operations of 3D volumetric data, and constructing 2D weighted centroidal Voronoi diagrams.

/pdf/parallel-banding-algorithm-to-compute-exact-distance-dgajwxpz3x.pdf

Anis Mohamed

Papers

Parallel Banding Algorithm to compute exact distance transform with the GPU