We present ScaleTrotter, a conceptual framework for an interactive, multi-scale visualization of biological mesoscale data and, specifically, genome data. ScaleTrotter allows viewers to smoothly transition from the nucleus of a cell to the atomistic composition of the DNA, while bridging several orders of magnitude in scale. The challenges in creating an interactive visualization of genome data are fundamentally different in several ways from those in other domains like astronomy that require a multi-scale representation as well. First, genome data has intertwined scale levels---the DNA is an extremely long, connected molecule that manifests itself at all scale levels. Second, elements of the DNA do not disappear as one zooms out---instead the scale levels at which they are observed group these elements differently. Third, we have detailed information and thus geometry for the entire dataset and for all scale levels, posing a challenge for interactive visual exploration. Finally, the conceptual scale levels for genome data are close in scale space, requiring us to find ways to visually embed a smaller scale into a coarser one. We address these challenges by creating a new multi-scale visualization concept. We use a scale-dependent camera model that controls the visual embedding of the scales into their respective parents, the rendering of a subset of the scale hierarchy, and the location, size, and scope of the view. In traversing the scales, ScaleTrotter is roaming between 2D and 3D visual representations that are depicted in integrated visuals. We discuss, specifically, how this form of multi-scale visualization follows from the specific characteristics of the genome data and describe its implementation. Finally, we discuss the implications of our work to the general illustrative depiction of multi-scale data.
In general, as one navigates through large-scale 3D scenes, the underlying subject matter is intrinsically complex and requires appropriate interaction to aid intellection @cite_8 . The inspection of individual parts is challenging, in particular if the viewer is too far away to appreciate its visual details. Yet large, detailed datasets or procedural approaches are essential to create believable representations. To generate not only efficient but visualizations, we thus need to remove detail in Viola and Isenberg's @cite_39 visual abstraction sense. This allows us to render at interactive rates as well as to see the intended structures, which would otherwise be hidden due to cluttered views. Consequently, even most single-scale small-scale representations use some type of multi-scale approach and with it introduce abstraction. Generally we can distinguish three fundamental techniques: multi-scale representations by leaving out detail of a single data source, multi-scale techniques that actively represent preserved features at different scales, and multi-scale approaches that can also transit between representations of different scales. We discuss approaches for these three categories next.
@cite_39 @cite_8
2520377600 2338968644 2143255850 832925222 300523764 2020141201 1938156704 1650052828 2009751730 2253709148 2743627947 2163363303 2116706028 2007492000 2275738541 2795447360 2963706662 2951706743 1984677466 1595654559
Though a large body of computer vision research has investigated developing generic semantic representations, efforts towards developing a similar representation for 3D has been limited. In this paper, we learn a generic 3D representation through solving a set of foundational proxy 3D tasks: object-centric camera pose estimation and wide baseline feature matching. Our method is based upon the premise that by providing supervision over a set of carefully selected foundational tasks, generalization to novel tasks and abstraction capabilities can be achieved. We empirically show that the internal representation of a multi-task ConvNet trained to solve the above core problems generalizes to novel 3D tasks (e.g., scene layout estimation, object pose estimation, surface normal estimation) without the need for fine-tuning and shows traits of abstraction abilities (e.g., cross modality pose estimation). The seminal multiple-view stereo benchmark evaluations from Middlebury and by have played a major role in propelling the development of multi-view stereopsis (MVS) methodology. The somewhat small size and variability of these data sets, however, limit their scope and the conclusions that can be derived from them. To facilitate further development within MVS, we here present a new and varied data set consisting of 80 scenes, seen from 49 or 64 accurate camera positions. This is accompanied by accurate structured light scans for reference and evaluation. In addition all images are taken under seven different lighting conditions. As a benchmark and to validate the use of our data set for obtaining reasonable and statistically significant findings about MVS, we have applied the three state-of-the-art MVS algorithms by , , and to the data set. To do this we have extended the evaluation protocol from the Middlebury evaluation, necessitated by the more complex geometry of some of our scenes. The data set and accompanying evaluation framework are made freely available online. Based on this evaluation, we are able to observe several characteristics of state-of-the-art MVS, e.g. that there is a tradeoff between the quality of the reconstructed 3D points (accuracy) and how much of an object's surface is captured (completeness). Also, several issues that we hypothesized would challenge MVS, such as specularities and changing lighting conditions did not pose serious problems. Our study finds that the two most pressing issues for MVS are lack of texture and meshing (forming 3D points into closed triangulated surfaces). We present a dense reconstruction approach that overcomes the drawbacks of traditional multiview stereo by incorporating semantic information in the form of learned category-level shape priors and object detection. Given training data comprised of 3D scans and images of objects from various viewpoints, we learn a prior comprised of a mean shape and a set of weighted anchor points. The former captures the commonality of shapes across the category, while the latter encodes similarities between instances in the form of appearance and spatial consistency. We propose robust algorithms to match anchor points across instances that enable learning a mean shape for the category, even with large shape variations across instances. We model the shape of an object instance as a warped version of the category mean, along with instance-specific details. Given multiple images of an unseen instance, we collate information from 2D object detectors to align the structure from motion point cloud with the mean shape, which is subsequently warped and refined to approach the actual shape. Extensive experiments demonstrate that our model is general enough to learn semantic priors for different object categories, yet powerful enough to reconstruct individual shapes with large variations. Qualitative and quantitative evaluations show that our framework can produce more accurate reconstructions than alternative state-of-the-art multiview stereo systems. Accurate recovery of 3D geometrical surfaces from calibrated 2D multi-view images is a fundamental yet active research area in computer vision. Despite the steady progress in multi-view stereo (MVS) reconstruction, many existing methods are still limited in recovering fine-scale details and sharp features while suppressing noises, and may fail in reconstructing regions with less textures. To address these limitations, this paper presents a detail-preserving and content-aware variational (DCV) MVS method, which reconstructs the 3D surface by alternating between reprojection error minimization and mesh denoising. In reprojection error minimization, we propose a novel inter-image similarity measure, which is effective to preserve fine-scale details of the reconstructed surface and builds a connection between guided image filtering and image registration. In mesh denoising, we propose a content-aware @math -minimization algorithm by adaptively estimating the @math value and regularization parameters. Compared with conventional isotropic mesh smoothing approaches, the proposed method is much more promising in suppressing noise while preserving sharp features. Experimental results on benchmark data sets demonstrate that our DCV method is capable of recovering more surface details, and obtains cleaner and more accurate reconstructions than the state-of-the-art methods. In particular, our method achieves the best results among all published methods on the Middlebury dino ring and dino sparse data sets in terms of both completeness and accuracy. We explore multi-scale convolutional neural nets (CNNs) for image classification. Contemporary approaches extract features from a single output layer. By extracting features from multiple layers, one can simultaneously reason about high, mid, and low-level features during classification. The resulting multi-scale architecture can itself be seen as a feed-forward model that is structured as a directed acyclic graph (DAG-CNNs). We use DAG-CNNs to learn a set of multi-scale features that can be effectively shared between coarse and fine-grained classification tasks. While fine-tuning such models helps performance, we show that even "off-the-self" multi-scale features perform quite well. We present extensive analysis and demonstrate state-of-the-art classification performance on three standard scene benchmarks (SUN397, MIT67, and Scene15). In terms of the heavily benchmarked MIT67 and Scene15 datasets, our results reduce the lowest previously-reported error by 23.9 and 9.5 , respectively. We introduce a novel projection-based visualization method for high-dimensional data sets by combining concepts from MDS and the geometry of the hyperbolic spaces. This approach hyperbolic multi-dimensional scaling (H-MDS) is a synthesis of two important concepts for explorative data analysis and visualization: (i) multi-dimensional scaling uses proximity or pair distance data to generate a low-dimensional, spatial presentation of the data; (ii) previous work on the "hyperbolic tree browser" demonstrated the extraordinary advantages for an interactive display of graph-like data in the two-dimensional hyperbolic space (H2).In the new approach, H-MDS maps proximity data directly into the H2. This removes the restriction to "quasihierarchical", graph-based data--a major limitation of (ii). Since a suitable distance function can convert all kinds of data to proximity (or distance-based) data, this type of data can be considered the most general.We review important properties of the hyperbolic space and, in particular, the circular Poincare model of the H2. It enables effective human-computer interaction: by mouse dragging the "focus", the user can navigate in the data without loosing the context. In H2 the "fish-eye" behavior originates not simply by a non-linear view transformation but rather by extraordinary, non-Euclidean properties of the H2. Especially, the exponential growth of length and area of the underlying space makes the H2 a prime target for mapping hierarchical and (now also) high-dimensional data.Several high-dimensional mapping examples including synthetic and real-world data are presented. Since high-dimensional data produce "ring"-shaped displays, we present methods to enhance the display by modulating the dissimilarity contrast. This is demonstrated for an application for unstructured text: i.e., by using multiple film critiques from news:rec.art.movies.reviews and www.imdb.com, each movie is placed within the H2--creating a "space of movies" for interactive exploration. We seek a practical method for establishing dense correspondences between two images with similar content, but possibly different 3D scenes. One of the challenges in designing such a system is the local scale differences of objects appearing in the two images. Previous methods often considered only few image pixels; matching only pixels for which stable scales may be reliably estimated. Recently, others have considered dense correspondences, but with substantial costs associated with generating, storing and matching scale invariant descriptors. Our work is motivated by the observation that pixels in the image have contexts—the pixels around them—which may be exploited in order to reliably estimate local scales. We make the following contributions. (i) We show that scales estimated in sparse interest points may be propagated to neighboring pixels where this information cannot be reliably determined. Doing so allows scale invariant descriptors to be extracted anywhere in the image. (ii) We explore three means for propagating this information: using the scales at detected interest points, using the underlying image information to guide scale propagation in each image separately, and using both images together. Finally, (iii), we provide extensive qualitative and quantitative results, demonstrating that scale propagation allows for accurate dense correspondences to be obtained even between very different images, with little computational costs beyond those required by existing methods. Representations that are invariant to translation, scale and other transformations, can considerably reduce the sample complexity of learning, allowing recognition of new object classes from very few examples|a hallmark of human recognition. Empirical estimates of one-dimensional projections of the distribution induced by a group of ane transformations are proven to represent a unique and invariant signature associated with an image. We show how projections yielding invariant signatures for future images can be learned automatically, and updated continuously, during unsupervised visual experience. A module performing ltering and pooling, like simple and complex cells as proposed by Hubel and Wiesel, can compute such estimates. Under this view, a pooling stage estimates a one-dimensional probability distribution. Invariance from observations through a restricted window is equivalent to a sparsity property w.r.t. to a transformation, which yields templates that are a) Gabor for optimal simultaneous invariance to translation and scale or b) very specic for complex, class-dependent transformations such as rotation in depth of faces. Hierarchical architectures consisting of this basic Hubel-Wiesel module inherit its properties of invariance, stability, and discriminability while capturing the compositional organization of the visual world in terms of wholes and parts, and are invariant to complex transformations that may only be locally ane. The theory applies to several existing deep learning convolutional architectures for image and speech recognition. It also suggests that the main computational goal of the ventral stream of visual cortex is to provide a hierarchical representation of new objects images which is invariant to transformations, stable, and discriminative for recognition|and that this representation may be continuously learned in an unsupervised way during development and natural visual experience. A new technique dramatically simplifies the analysis of matching and depth reconstruction by extracting three-dimensional rigid depth interpretation from pairwise comparisons of weak perspective projections. This method provides a simple linear criterion for testing the correctness of correspondence for a pair of images; the method also provides a description of a one-parameter family of interpretations for each pair of images that satisfies this criterion. We show that if at least three projections of a volumetric object are known, then a three-dimensional (3D) rigid interpretation can be inferred from pairwise comparisons between any one of these images and other images in the set. The 3D interpretation is derived from the intersection of corresponding one-parameter families. The method provides a common computational basis for different processes of depth perception, for example, depth-from-stereo and depth-from-motion. Thus, a single mechanism for these processes in the human visual system would be sufficient. The proposed method does not require information about relative positions of eye(s) or camera(s) for different projections, but this information can be easily incorporated. The method can be applied for pairwise comparison within a single image. If any nontrivial correspondence is found, then several views of the same object are present in the same image. This happens, for example, in views of volumetrically symmetric objects. Symmetry facilitates depth reconstruction; if an object possesses two or more symmetries, its depth can be reconstructed from a single image. Abstract Convolutional Neural Networks (CNNs) require large image corpora to be trained on classification tasks. The variation in image resolutions, sizes of objects and patterns depicted, and image scales, hampers CNN training and performance, because the task-relevant information varies over spatial scales. Previous work attempting to deal with such scale variations focused on encouraging scale-invariant CNN representations. However, scale-invariant representations are incomplete representations of images, because images contain scale-variant information as well. This paper addresses the combined development of scale-invariant and scale-variant representations. We propose a multi-scale CNN method to encourage the recognition of both types of features and evaluate it on a challenging image classification task involving task-relevant characteristics at multiple scales. The results show that our multi-scale CNN outperforms single-scale CNN. This leads to the conclusion that encouraging the combined development of a scale-invariant and scale-variant representation in CNNs is beneficial to image recognition performance. The success of deep learning in computer vision is based on the availability of large annotated datasets. To lower the need for hand labeled images, virtually rendered 3D worlds have recently gained popularity. Unfortunately, creating realistic 3D content is challenging on its own and requires significant human effort. In this work, we propose an alternative paradigm which combines real and synthetic data for learning semantic instance segmentation and object detection models. Exploiting the fact that not all aspects of the scene are equally important for this task, we propose to augment real-world imagery with virtual objects of the target category. Capturing real-world images at large scale is easy and cheap, and directly provides real background appearances without the need for creating complex 3D models of the environment. We present an efficient procedure to augment these images with virtual objects. In contrast to modeling complete 3D environments, our data augmentation approach requires only a few user interactions in combination with 3D models of the target object category. Leveraging our approach, we introduce a novel dataset of augmented urban driving scenes with 360 degree images that are used as environment maps to create realistic lighting and reflections on rendered objects. We analyze the significance of realistic object placement by comparing manual placement by humans to automatic methods based on semantic scene analysis. This allows us to create composite images which exhibit both realistic background appearance as well as a large number of complex object arrangements. Through an extensive set of experiments, we conclude the right set of parameters to produce augmented data which can maximally enhance the performance of instance segmentation models. Further, we demonstrate the utility of the proposed approach on training standard deep models for semantic instance segmentation and object detection of cars in outdoor driving scenarios. We test the models trained on our augmented data on the KITTI 2015 dataset, which we have annotated with pixel-accurate ground truth, and on the Cityscapes dataset. Our experiments demonstrate that the models trained on augmented imagery generalize better than those trained on fully synthetic data or models trained on limited amounts of annotated real data. The visualization of complex 3D images remains a challenge, a fact that is magnified by the difficulty to classify or segment volume data. In this paper, we introduce size-based transfer functions, which map the local scale of features to color and opacity. Features in a data set with similar or identical scalar values can be classified based on their relative size. We achieve this with the use of scale fields, which are 3D fields that represent the relative size of the local feature at each voxel. We present a mechanism for obtaining these scale fields at interactive rates, through a continuous scale-space analysis and a set of detection filters. Through a number of examples, we show that size-based transfer functions can improve classification and enhance volume rendering techniques, such as maximum intensity projection. The ability to classify objects based on local size at interactive rates proves to be a powerful method for complex data exploration. When trying to extract 3D scene information and camera motion from an image sequence alone, it is often necessary to cope with independently moving objects. Recent research has unveiled some of the mathematical foundations of the problem, but a general and practical algorithm, which can handle long, realistic sequences, is still missing. In this paper, we identify the necessary parts of such an algorithm, highlight both unexplored theoretical issues and practical challenges, and propose solutions. Theoretical issues include proper handling of different situations, in which the number of independent motions changes: objects can enter the scene, objects previously moving together can split and follow independent trajectories, or independently moving objects can merge into one common motion. We derive model scoring criteria to handle these changes in the number of segments. A further theoretical issue is the resolution of the relative scale ambiguity between such changes. Practical issues include robust 3D reconstruction of freely moving foreground objects, which often have few and short feature tracks. The proposed framework simultaneously tracks features, groups them into rigidly moving segments, and reconstructs all segments in 3D. Such an online approach, as opposed to batch processing techniques, which first track features, and then perform segmentation and reconstruction, is vital in order to handle small foreground objects. Virtual exploration tools for large indoor environments (e.g. museums) have so far been limited to either blueprint-style 2D maps that lack photo-realistic views of scenes, or ground-level image-to-image transitions, which are immersive but ill-suited for navigation. On the other hand, photorealistic aerial maps would be a useful navigational guide for large indoor environments, but it is impossible to directly acquire photographs covering a large indoor environment from aerial viewpoints. This paper presents a 3D reconstruction and visualization system for automatically producing clean and well-regularized texture-mapped 3D models for large indoor scenes, from ground-level photographs and 3D laser points. The key component is a new algorithm called "inverse constructive solid geometry (CSG)" for reconstructing a scene with a CSG representation consisting of volumetric primitives, which imposes powerful regularization constraints. We also propose several novel techniques to adjust the 3D model to make it suitable for rendering the 3D maps from aerial viewpoints. The visualization system enables users to easily browse a large-scale indoor environment from a bird's-eye view, locate specific room interiors, fly into a place of interest, view immersive ground-level panorama views, and zoom out again, all with seamless 3D transitions. We demonstrate our system on various museums, including the Metropolitan Museum of Art in New York City--one of the largest art galleries in the world. Many modern 3D reconstruction methods accumulate information volumetrically using truncated signed distance functions. While this usually imposes a regular grid with fixed voxel size, not all parts of a scene necessarily need to be represented at the same level of detail. For example, a flat table needs less detail than a highly structured keyboard on it. We introduce a novel representation for the volumetric 3D data that uses hash functions rather than trees for accessing individual blocks of the scene, but which still provides different resolution levels. We show that our data structure provides efficient access and manipulation functions that can be very well parallelised, and also describe an automatic way of choosing appropriate resolutions for different parts of the scene. We embed the novel representation in a system for simultaneous localization and mapping from RGB-D imagery and also investigate the implications of the irregular grid on interpolation routines. Finally, we evaluate our system in experiments, demonstrating state-of-the-art representation accuracy at typical frame-rates around 100 Hz, along with 40 memory savings. The representation of geometry in real-time 3D perception systems continues to be a critical research issue. Dense maps capture complete surface shape and can be augmented with semantic labels, but their high dimensionality makes them computationally costly to store and process, and unsuitable for rigorous probabilistic inference. Sparse feature-based representations avoid these problems, but capture only partial scene information and are mainly useful for localisation only. We present a new compact but dense representation of scene geometry which is conditioned on the intensity data from a single image and generated from a code consisting of a small number of parameters. We are inspired by work both on learned depth from images, and auto-encoders. Our approach is suitable for use in a keyframe-based monocular dense SLAM system: While each keyframe with a code can produce a depth map, the code can be optimised efficiently jointly with pose variables and together with the codes of overlapping keyframes to attain global consistency. Conditioning the depth map on the image allows the code to only represent aspects of the local geometry which cannot directly be predicted from the image. We explain how to learn our code representation, and demonstrate its advantageous properties in monocular SLAM. The representation of geometry in real-time 3D perception systems continues to be a critical research issue. Dense maps capture complete surface shape and can be augmented with semantic labels, but their high dimensionality makes them computationally costly to store and process, and unsuitable for rigorous probabilistic inference. Sparse feature-based representations avoid these problems, but capture only partial scene information and are mainly useful for localisation only. We present a new compact but dense representation of scene geometry which is conditioned on the intensity data from a single image and generated from a code consisting of a small number of parameters. We are inspired by work both on learned depth from images, and auto-encoders. Our approach is suitable for use in a keyframe-based monocular dense SLAM system: While each keyframe with a code can produce a depth map, the code can be optimised efficiently jointly with pose variables and together with the codes of overlapping keyframes to attain global consistency. Conditioning the depth map on the image allows the code to only represent aspects of the local geometry which cannot directly be predicted from the image. We explain how to learn our code representation, and demonstrate its advantageous properties in monocular SLAM. With deep learning becoming the dominant approach in computer vision, the use of representations extracted from Convolutional Neural Nets (CNNs) is quickly gaining ground on Fisher Vectors (FVs) as favoured state-of-the-art global image descriptors for image instance retrieval. While the good performance of CNNs for image classification are unambiguously recognised, which of the two has the upper hand in the image retrieval context is not entirely clear yet. In this work, we propose a comprehensive study that systematically evaluates FVs and CNNs for image retrieval. The first part compares the performances of FVs and CNNs on multiple publicly available data sets. We investigate a number of details specific to each method. For FVs, we compare sparse descriptors based on interest point detectors with dense single-scale and multi-scale variants. For CNNs, we focus on understanding the impact of depth, architecture and training data on retrieval results. Our study shows that no descriptor is systematically better than the other and that performance gains can usually be obtained by using both types together. The second part of the study focuses on the impact of geometrical transformations such as rotations and scale changes. FVs based on interest point detectors are intrinsically resilient to such transformations while CNNs do not have a built-in mechanism to ensure such invariance. We show that performance of CNNs can quickly degrade in presence of rotations while they are far less affected by changes in scale. We then propose a number of ways to incorporate the required invariances in the CNN pipeline. Overall, our work is intended as a reference guide offering practically useful and simply implementable guidelines to anyone looking for state-of-the-art global descriptors best suited to their specific image instance retrieval problem. This article describes a technique that can reliably align arbitrary 2D depictions of an architectural site, including drawings, paintings, and historical photographs, with a 3D model of the site. This is a tremendously difficult task, as the appearance and scene structure in the 2D depictions can be very different from the appearance and geometry of the 3D model, for example, due to the specific rendering style, drawing error, age, lighting, or change of seasons. In addition, we face a hard search problem: the number of possible alignments of the painting to a large 3D model, such as a partial reconstruction of a city, is huge. To address these issues, we develop a new compact representation of complex 3D scenes. The 3D model of the scene is represented by a small set of discriminative visual elements that are automatically learned from rendered views. Similar to object detection, the set of visual elements, as well as the weights of individual features for each element, are learned in a discriminative fashion. We show that the learned visual elements are reliably matched in 2D depictions of the scene despite large variations in rendering style (e.g., watercolor, sketch, historical photograph) and structural changes (e.g., missing scene parts, large occluders) of the scene. We demonstrate an application of the proposed approach to automatic rephotography to find an approximate viewpoint of historical paintings and photographs with respect to a 3D model of the site. The proposed alignment procedure is validated via a human user study on a new database of paintings and sketches spanning several sites. The results demonstrate that our algorithm produces significantly better alignments than several baseline methods. On the one hand, mainly within the computer vision community, multi-resolution image labelling problems with pixel, super-pixel and object levels, have made great progress towards the modelling of holistic scene understanding. On the other hand, mainly within the robotics and graphics communities, multi-resolution 3D representations of the world have matured to be efficient and accurate. In this paper we bring together the two hands and move towards the new direction of unified recognition, reconstruction and representation. We tackle the problem by embedding an octree into a hierarchical robust PN Markov Random Field. This allows us to jointly infer the multi-resolution 3D volume along with the object-class labels, all within the constraints of an octree data-structure. The octree representation is chosen as this data-structure is efficient for further processing such as dynamic updates, data compression, and surface reconstruction. We perform experiments in inferring our semantic octree on the The kitti Vision Benchmark Suite in order to demonstrate its efficacy.