Navigating 3d Scatter Plots in Immersive Virtual Reality

Thesis (Master's)--University of Washington, 2016-01

Paire stéréoscopique Panomorphe pour la reconstruction 3D d’objets d’intérêt dans une scène

Il existe désormais une grande variété de lentilles panoramiques disponibles sur le marché dont certaines présentant des caractéristiques étonnantes. Faisant partie de cette dernière catégorie, les lentilles Panomorphes sont des lentilles panoramiques anamorphiques dont le profil de distorsion est fortement non-uniforme, ce qui cause la présence de zones de grandissement augmenté dans le champ de vue. Dans un contexte de robotique mobile, ces particularités peuvent être exploitées dans des systèmes stéréoscopiques pour la reconstruction 3D d’objets d’intérêt qui permettent à la fois une bonne connaissance de l’environnement, mais également l’accès à des détails plus fins en raison des zones de grandissement augmenté. Cependant, à cause de leur complexité, ces lentilles sont difficiles à calibrer et, à notre connaissance, aucune étude n’a réellement été menée à ce propos. L’objectif principal de cette thèse est la conception, l’élaboration et l’évaluation des performances de systèmes stéréoscopiques Panomorphes. Le calibrage a été effectué à l’aide d’une technique établie utilisant des cibles planes et d’une boîte à outils de calibrage dont l’usage est répandu. De plus, des techniques mathématiques nouvelles visant à rétablir la symétrie de révolution dans l’image (cercle) et à uniformiser la longueur focale (cercle uniforme) ont été développées pour voir s’il était possible d’ainsi faciliter le calibrage. Dans un premier temps, le champ de vue a été divisé en zones à l’intérieur desquelles la longueur focale instantanée varie peu et le calibrage a été effectué pour chacune d’entre elles. Puis, le calibrage général des systèmes a aussi été réalisé pour tout le champ de vue simultanément. Les résultats ont montré que la technique de calibrage par zone ne produit pas de gain significatif quant à la qualité des reconstructions 3D d’objet d’intérêt par rapport au calibrage général. Cependant, l’étude de cette nouvelle approche a permis de réaliser une évaluation des performances des systèmes stéréoscopiques Panomorphes sur tout le champ de vue et de montrer qu’il est possible d’effectuer des reconstructions 3D de qualité dans toutes les zones. De plus, la technique mathématique du cercle a produit des résultats de reconstructions 3D en général équivalents à l’utilisation des coordonnées originales. Puisqu’il existe des outils de calibrage qui, contrairement à celui utilisé dans ce travail, ne disposent que d’un seul degré de liberté sur la longueur focale, cette technique pourrait rendre possible le calibrage de lentilles Panomorphes à l’aide de ceux-ci. Finalement, certaines conclusions ont pu être dégagées quant aux facteurs déterminants influençant la qualité de la reconstruction 3D à l’aide de systèmes stéréoscopiques Panomorphes et aux caractéristiques à privilégier dans le choix des lentilles. La difficulté à calibrer les optiques Panomorphes en laboratoire a mené à l’élaboration d’une technique de calibrage virtuel utilisant un logiciel de conception optique et une boîte à outils de calibrage. Cette approche a permis d’effectuer des simulations en lien avec l’impact des conditions d’opération sur les paramètres de calibrage et avec l’effet des conditions de calibrage sur la qualité de la reconstruction. Des expérimentations de ce type sont pratiquement impossibles à réaliser en laboratoire mais représentent un intérêt certain pour les utilisateurs. Le calibrage virtuel d’une lentille traditionnelle a aussi montré que l’erreur de reprojection moyenne, couramment utilisée comme façon d’évaluer la qualité d’un calibrage, n’est pas nécessairement un indicateur fiable de la qualité de la reconstruction 3D. Il est alors nécessaire de disposer de données supplémentaires pour juger adéquatement de la qualité d’un calibrage.

Impact of node mobility in user-centric routing

Recent paradigms in wireless communication architectures describe environments where nodes present a highly dynamic behavior (e.g., User Centric Networks). In such environments, routing is still performed based on the regular packet-switched behavior of store-and-forward. Albeit sufficient to compute at least an adequate path between a source and a destination, such routing behavior cannot adequately sustain the highly nomadic lifestyle that Internet users are today experiencing. This thesis aims to analyse the impact of the nodes’ mobility on routing scenarios. It also aims at the development of forwarding concepts that help in message forwarding across graphs where nodes exhibit human mobility patterns, as is the case of most of the user-centric wireless networks today. The first part of the work involved the analysis of the mobility impact on routing, and we found that node mobility significance can affect routing performance, and it depends on the link length, distance, and mobility patterns of nodes. The study of current mobility parameters showed that they capture mobility partially. The routing protocol robustness to node mobility depends on the routing metric sensitivity to node mobility. As such, mobility-aware routing metrics were devised to increase routing robustness to node mobility. Two categories of routing metrics proposed are the time-based and spatial correlation-based. For the validation of the metrics, several mobility models were used, which include the ones that mimic human mobility patterns. The metrics were implemented using the Network Simulator tool using two widely used multi-hop routing protocols of Optimized Link State Routing (OLSR) and Ad hoc On Demand Distance Vector (AODV). Using the proposed metrics, we reduced the path re-computation frequency compared to the benchmark metric. This means that more stable nodes were used to route data. The time-based routing metrics generally performed well across the different node mobility scenarios used. We also noted a variation on the performance of the metrics, including the benchmark metric, under different mobility models, due to the differences in the node mobility governing rules of the models.

The role of multi-physics simulation in virtual manufacturing

Abstract not available

Virtual Research Environments The Next Steps workshop

The main aim of the workshop was to extend international dialogue and promote the development of VREs led by researcher needs. On the first day principal investigators and project managers of a great variety of projects provided an insight in the current state of development regarding technical innovation, disciplinary specific solutions, and impact on the research community. A series of short presentations of selected projects were followed by an extensive poster session that functioned as a "trade fair" of current trends in the field of VRE development and implementation. The second day was dedicated to the discussion of the "next steps" to improve and advance the development of VREs and to foster ideas for future engagement. The results of landscape studies funded by Jisc and the SURFfoundation were presented as Key Notes and impulse for the following discussions in four sub-groups. The sub-groups concentrated on the following four key themes: technological challenges organisation & concepts researcher needs strategic issues The outcomes of the separate discussions consisted of recommendations to the Knowledge Exchange initiative itself, for the Knowledge Exchange partner organisations and beyond.

Virtual Research Environments Roundtable

The roundtable offered an opportunity to share experiences and perceptions of virtual research environments. John Doove (SURFfoundation) presented his impressions from the VRE projects. Jim Farmer, Instructional Media + Magic led a 50 minute discussion on key developments and challenges. The discussion included issues like: An emerging issue is the sharp and continuous increase of data in an era of limited resources. These increases often reduce the effectiveness of search-additional time is required to find expected results. Would new methods of search may be useful? Should this be included as services in a VRE? The form of much new 'knowledge' is in informal 'publications' such as blogs, email, audio, and video which lack the precise metadata of books and journal articles. Could VRE services assist in using these resources as well? The programme continued with discussions on business models for sustainability led by Birte Christensen-Dalsgaard, The Royal Library, and policy and funders' interventions led by Sigrun Eckelmann, DFG.

Virtual Research Environments Catalysts of Change workshop

Knowledge Exchange organised the workshop 'Virtual Research Environments: Catalysts of change', following the success of the Virtual Research Environments: The next steps workshop which took place in Rotterdam, 2010. Changing research behaviour and practice have repercussions for funding programmes, policy and technology infrastructures. The development of tools has the potential to transform research practice, but as these tools become part of the digital infrastructure, challenges of use, maintenance and sustainably inevitably arise. This workshop allowed Knowledge Exchange and its partners to share their experience and understanding with leading experts, influencers and funders, including members of the European Commission. The workshop offered new perspectives and debate on: changing researcher behaviours policies in the creation and use of VREs sustainability re-use of tools and technologies.

Evaluating green infrastructure in urban environments using a multi-taxa and functional diversity approach

Forested areas within cities host a large number of species, responsible for many ecosystem services in urban areas. The biodiversity in these areas is influenced by human disturbances such as atmospheric pollution and urban heat island effect. To ameliorate the effects of these factors, an increase in urban green areas is often considered sufficient. However, this approach assumes that all types of green cover have the same importance for species. Our aim was to show that not all forested green areas are equal in importance for species, but that based on a multi-taxa and functional diversity approach it is possible to value green infrastructure in urban environments. After evaluating the diversity of lichens, butterflies and other-arthropods, birds and mammals in 31 Mediterranean urban forests in south-west Europe (Almada, Portugal), bird and lichen functional groups responsive to urbanization were found. A community shift (tolerant species replacing sensitive ones) along the urbanization gradient was found, and this must be considered when using these groups as indicators of the effect of urbanization. Bird and lichen functional groups were then analyzed together with the characteristics of the forests and their surroundings. Our results showed that, contrary to previous assumptions, vegetation density and more importantly the amount of urban areas around the forest (matrix), are more important for biodiversity than forest quantity alone. This indicated that not all types of forested green areas have the same importance for biodiversity. An index of forest functional diversity was then calculated for all sampled forests of the area. This could help decision-makers to improve the management of urban green infrastructures with the goal of increasing functionality and ultimately ecosystem services in urban areas.

Collaboration in 3D virtual worlds : a protocol for case study research

Three-dimensional virtual worlds have been growing fast in number of users, and are used for the most diverse purposes. In collaboration, they are used with good results due to features such as immersion, interaction capabilities, use of avatar embodiment, and physical space. In the particular cases of avatar embodiment and physical space, these features support nonverbal communication, but its impact on collaboration is not well known. In this work we present a protocol for case study research and its creation process, which aims to assert itself as a tool to collect data on how nonverbal communication influences collaboration in three-dimensional virtual worlds. We define the propositions and units of analysis, and a pilot case to validate them. Then, two cases are analysed under the created protocol. Most of the propositions found chains of evidences supporting them.

Contributions to 3D Data Registration and Representation

Nowadays, new computers generation provides a high performance that enables to build computationally expensive computer vision applications applied to mobile robotics. Building a map of the environment is a common task of a robot and is an essential part to allow the robots to move through these environments. Traditionally, mobile robots used a combination of several sensors from different technologies. Lasers, sonars and contact sensors have been typically used in any mobile robotic architecture, however color cameras are an important sensor due to we want the robots to use the same information that humans to sense and move through the different environments. Color cameras are cheap and flexible but a lot of work need to be done to give robots enough visual understanding of the scenes. Computer vision algorithms are computational complex problems but nowadays robots have access to different and powerful architectures that can be used for mobile robotics purposes. The advent of low-cost RGB-D sensors like Microsoft Kinect which provide 3D colored point clouds at high frame rates made the computer vision even more relevant in the mobile robotics field. The combination of visual and 3D data allows the systems to use both computer vision and 3D processing and therefore to be aware of more details of the surrounding environment. The research described in this thesis was motivated by the need of scene mapping. Being aware of the surrounding environment is a key feature in many mobile robotics applications from simple robotic navigation to complex surveillance applications. In addition, the acquisition of a 3D model of the scenes is useful in many areas as video games scene modeling where well-known places are reconstructed and added to game systems or advertising where once you get the 3D model of one room the system can add furniture pieces using augmented reality techniques. In this thesis we perform an experimental study of the state-of-the-art registration methods to find which one fits better to our scene mapping purposes. Different methods are tested and analyzed on different scene distributions of visual and geometry appearance. In addition, this thesis proposes two methods for 3d data compression and representation of 3D maps. Our 3D representation proposal is based on the use of Growing Neural Gas (GNG) method. This Self-Organizing Maps (SOMs) has been successfully used for clustering, pattern recognition and topology representation of various kind of data. Until now, Self-Organizing Maps have been primarily computed offline and their application in 3D data has mainly focused on free noise models without considering time constraints. Self-organising neural models have the ability to provide a good representation of the input space. In particular, the Growing Neural Gas (GNG) is a suitable model because of its flexibility, rapid adaptation and excellent quality of representation. However, this type of learning is time consuming, specially for high-dimensional input data. Since real applications often work under time constraints, it is necessary to adapt the learning process in order to complete it in a predefined time. This thesis proposes a hardware implementation leveraging the computing power of modern GPUs which takes advantage of a new paradigm coined as General-Purpose Computing on Graphics Processing Units (GPGPU). Our proposed geometrical 3D compression method seeks to reduce the 3D information using plane detection as basic structure to compress the data. This is due to our target environments are man-made and therefore there are a lot of points that belong to a plane surface. Our proposed method is able to get good compression results in those man-made scenarios. The detected and compressed planes can be also used in other applications as surface reconstruction or plane-based registration algorithms. Finally, we have also demonstrated the goodness of the GPU technologies getting a high performance implementation of a CAD/CAM common technique called Virtual Digitizing.

Forward - Green Virtual Enterprises and Their Breeding Environments: Sustainable Manufacturing, Logistics and Consumption

Part 9: Innovation Networks

O ambiente virtual de aprendizagem e sua incorporação na Unicamp

The text describes a study about the adoption of virtual learning environments and its consequences to the learning process of undergraduate students at the State University of Campinas - Unicamp. These environments can be incorporated in various ways into the academic daily life of students and teachers. One efficient way to promote the adoption of these environments, as observed by the Distance Learning support team, is to train teachers and students in their use. Two training alternatives are described in this text to instruct the academic community in the use of TelEduc, a freeware developed and coordinated by the NIED - Núcleo de Informática Aplicada à Educação (Center for Information Technology Applied to Education), and officially adopted by Unicamp. Training courses are offered in two ways - presence or distance learning - to suit each teacher's preferences. This article compares the two modes of training, showing their strong and weak points. The adoption of TelEduc and its direct consequences to the learning process are described in a study carried out with some engineering undergraduates at Unicamp. The authors' questions and the general views of teachers and students regarding the effectiveness of the use of TelEduc as a supporting tool to presence teaching are presented. This investigation revealed the importance of training teachers in the effective use of these environments.

Students' collective knowledge construction in the virtual learning environment ""ToLigado - your school interactive newspaper""

Introduction. The ToLigado Project - Your School Interactive Newspaper is an interactive virtual learning environment conceived, developed, implemented and supported by researchers at the School of the Future Research Laboratory of the University of Sao Paulo, Brazil. Method. This virtual learning environment aims to motivate trans-disciplinary research among public school students and teachers in 2,931 schools equipped with Internet-access computer rooms. Within this virtual community, students produce collective multimedia research documents that are immediately published in the portal. The project also aims to increase students' autonomy for research, collaborative work and Web authorship. Main sections of the portal are presented and described. Results. Partial results of the first two years' implementation are presented and indicate a strong motivation among students to produce knowledge despite the fragile hardware and software infrastructure at the time. Discussion. In this new environment, students should be seen as 'knowledge architects' and teachers as facilitators, or 'curiosity managers'. The ToLigado portal may constitute a repository for future studies regarding student attitudes in virtual learning environments, students' behaviour as 'authors', Web authorship involving collective knowledge production, teachers' behaviour as facilitators, and virtual learning environments as digital repositories of students' knowledge construction and social capital in virtual learning communities.