Humans perceive the three-dimensional structure of the world with apparent ease. However, despite all of the recent advances in computer vision research, the dream of having a computer interpret an image at the same level as a two-year old remains elusive. Why is computer vision such a challenging problem and what is the current state of the art? Computer Vision: Algorithms and Applications explores the variety of techniques commonly used to analyze and interpret images. It also describes challenging real-world applications where vision is being successfully used, both for specialized applications such as medical imaging, and for fun, consumer-level tasks such as image editing and stitching, which students can apply to their own personal photos and videos. More than just a source of recipes, this exceptionally authoritative and comprehensive textbook/reference also takes a scientific approach to basic vision problems, formulating physical models of the imaging process before inverting them to produce descriptions of a scene. These problems are also analyzed using statistical models and solved using rigorous engineering techniques Topics and features: structured to support active curricula and project-oriented courses, with tips in the Introduction for using the book in a variety of customized courses; presents exercises at the end of each chapter with a heavy emphasis on testing algorithms and containing numerous suggestions for small mid-term projects; provides additional material and more detailed mathematical topics in the Appendices, which cover linear algebra, numerical techniques, and Bayesian estimation theory; suggests additional reading at the end of each chapter, including the latest research in each sub-field, in addition to a full Bibliography at the end of the book; supplies supplementary course material for students at the associated website, http://szeliski.org/Book/. Suitable for an upper-level undergraduate or graduate-level course in computer science or engineering, this textbook focuses on basic techniques that work under real-world conditions and encourages students to push their creative boundaries. Its design and exposition also make it eminently suitable as a unique reference to the fundamental techniques and current research literature in computer vision.

/pdf/computer-vision-algorithms-and-applications-25dn6wu83j.pdf

Computer Vision: Algorithms and Applications

Many applications in computer graphics require complex, highly detailed models. However, the level of detail actually necessary may vary considerably. To control processing time, it is often desirable to use approximations in place of excessively detailed models. We have developed a surface simplification algorithm which can rapidly produce high quality approximations of polygonal models. The algorithm uses iterative contractions of vertex pairs to simplify models and maintains surface error approximations using quadric matrices. By contracting arbitrary vertex pairs (not just edges), our algorithm is able to join unconnected regions of models. This can facilitate much better approximations, both visually and with respect to geometric error. In order to allow topological joining, our system also supports non-manifold surface models. CR Categories: I.3.5 [Computer Graphics]: Computational Geometry and Object Modeling—surface and object representations

/pdf/surface-simplification-using-quadric-error-metrics-r9zm14jwq8.pdf

Surface simplification using quadric error metrics

A number of techniques have been developed for reconstructing surfaces by integrating groups of aligned range images. A desirable set of properties for such algorithms includes: incremental updating, representation of directional uncertainty, the ability to fill gaps in the reconstruction, and robustness in the presence of outliers. Prior algorithms possess subsets of these properties. In this paper, we present a volumetric method for integrating range images that possesses all of these properties. Our volumetric representation consists of a cumulative weighted signed distance function. Working with one range image at a time, we first scan-convert it to a distance function, then combine this with the data already acquired using a simple additive scheme. To achieve space efficiency, we employ a run-length encoding of the volume. To achieve time efficiency, we resample the range image to align with the voxel grid and traverse the range and voxel scanlines synchronously. We generate the final manifold by extracting an isosurface from the volumetric grid. We show that under certain assumptions, this isosurface is optimal in the least squares sense. To fill gaps in the model, we tessellate over the boundaries between regions seen to be empty and regions never observed. Using this method, we are able to integrate a large number of range images (as many as 70) yielding seamless, high-detail models of up to 2.6 million triangles.

/pdf/a-volumetric-method-for-building-complex-models-from-range-2cky2diol8.pdf

A volumetric method for building complex models from range images

Highly detailed geometric models are rapidly becoming commonplace in computer graphics. These models, often represented as complex triangle meshes, challenge rendering performance, transmission bandwidth, and storage capacities. This paper introduces the progressive mesh (PM) representation, a new scheme for storing and transmitting arbitrary triangle meshes. This efficient, lossless, continuous-resolution representation addresses several practical problems in graphics: smooth geomorphing of level-of-detail approximations, progressive transmission, mesh compression, and selective refinement. In addition, we present a new mesh simplification procedure for constructing a PM representation from an arbitrary mesh. The goal of this optimization procedure is to preserve not just the geometry of the original mesh, but more importantly its overall appearance as defined by its discrete and scalar appearance attributes such as material identifiers, color values, normals, and texture coordinates. We demonstrate construction of the PM representation and its applications using several practical models

Progressive meshes

This thesis describes a general method for automatic reconstruction of accurate, concise, piecewise smooth surfaces from unorganized 3D points. Instances of surface reconstruction arise in numerous scientific and engineering applications, including reverse-engineering--the automatic generation of CAD models from physical objects.
Previous surface reconstruction methods have typically required additional knowledge, such as structure in the data, known surface genus, or orientation information. In contrast, the method outlined in this thesis requires only the 3D coordinates of the data points. From the data, the method is able to automatically infer the topological type of the surface, its geometry, and the presence and location of features such as boundaries, creases, and corners.
The reconstruction method has three major phases: (1) initial surface estimation, (2) mesh optimization, and (3) piecewise smooth surface optimization. A key ingredient in phase 3, and another principal contribution of this thesis, is the introduction of a new class of piecewise smooth representations based on subdivision. The effectiveness of the three-phase reconstruction method is demonstrated on a number of examples using both simulated and real data.
Phases 2 and 3 of the surface reconstruction method can also be used to approximate existing surface models. By casting surface approximation as a global optimization problem with an energy function that directly measures deviation of the approximation from the original surface, models are obtained that exhibit excellent accuracy to conciseness trade-offs. Examples of piecewise linear and piecewise smooth approximations are generated for various surfaces, including meshes, NURBS surfaces, CSG models, and implicit surfaces.

/pdf/surface-reconstruction-from-unorganized-points-4377nlb52v.pdf

Surface reconstruction from unorganized points

We present a method for solving the following problem: Given a set of data points scattered in three dimensions and an initial triangular mesh M0, produce a mesh M, of the same topological type as M0, that fits the data well and has a small number of vertices. Our approach is to minimize an energy function that explicitly models the competing desires of conciseness of representation and fidelity to the data. We show that mesh optimization can be effectively used in at least two applications: surface reconstruction from unorganized points, and mesh simplification (the reduction of the number of vertices in an initially dense mesh of triangles).

Mesh optimization

In computer graphics and geometric modeling, shapes are often represented by triangular meshes. With the advent of laser scanning systems, meshes of extreme complexity are rapidly becoming commonplace. Such meshes are notoriously expensive to store, transmit, render, and are awkward to edit. Multiresolution analysis offers a simple, unified, and theoretically sound approach to dealing with these problems. Lounsbery et al. have recently developed a technique for creating multiresolution representations for a restricted class of meshes with subdivision connectivity. Unfortunately, meshes encountered in practice typically do not meet this requirement. In this paper we present a method for overcoming the subdivision connectivity restriction, meaning that completely arbitrary meshes can now be converted to multiresolution form. The method is based on the approximation of an arbitrary initial mesh M by a mesh MJ that has subdivision connectivity and is guaranteed to be within a specified tolerance. The key ingredient of our algorithm is the construction of a parametrization of M over a simple domain. We expect this parametrization to be of use in other contexts, such as texture mapping or the approximation of complex meshes by NURBS patches. CR

/pdf/multiresolution-analysis-of-arbitrary-meshes-1j8oukeqg5.pdf

Multiresolution analysis of arbitrary meshes

We present a general method for automatic reconstruction of accurate, concise, piecewise smooth surface models from scattered range data. The method can be used in a variety of applications such as reverse engineering—the automatic generation of CAD models from physical objects. Novel aspects of the method are its ability to model surfaces of arbitrary topological type and to recover sharp features such as creases and corners. The method has proven to be effective, as demonstrated by a number of examples using both simulated and real data.A key ingredient in the method, and a principal contribution of this paper, is the introduction of a new class of piecewise smooth surface representations based on subdivision. These surfaces have a number of properties that make them ideal for use in surface reconstruction: they are simple to implement, they can model sharp features concisely, and they can be fit to scattered range data using an unconstrained optimization procedure.

/pdf/piecewise-smooth-surface-reconstruction-16q0or066f.pdf

Piecewise smooth surface reconstruction

A surface light field is a function that assigns a color to each ray originating on a surface. Surface light fields are well suited to constructing virtual images of shiny objects under complex lighting conditions. This paper presents a framework for construction, compression, interactive rendering, and rudimentary editing of surface light fields of real objects. Generalization of vector quantization and principal component analysis are used to construct a compressed representation of an object's surface light field from photographs and range scans. A new rendering algorithm achieves interactive rendering of images from the compressed representation, incorporating view-dependent geometric level-of-detail control. The surface light field representation can also be directly edited to yield plausible surface light fields for small changes in surface geometry and reflectance properties.

/pdf/surface-light-fields-for-3d-photography-3j46e05upg.pdf

Tom Duchamp

Papers

Surface reconstruction from unorganized points

Mesh optimization

Multiresolution analysis of arbitrary meshes

Piecewise smooth surface reconstruction

Surface light fields for 3D photography