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Efficient VR rendering:Survey on foveated,stereo,cloud,and low-power rendering techniques
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作者 Xiao HU Xiaolong WU +6 位作者 Mingcong MA Xiang XU Yiping GU Gaoyuan WANG Yanning XU Xiangxu MENG Lu WANG 《虚拟现实与智能硬件(中英文)》 2025年第5期421-452,共32页
With technological advancements,virtual reality(VR),once limited to high-end professional applications,is rapidly expanding into entertainment and broader consumer domains.However,the inherent contradiction between mo... With technological advancements,virtual reality(VR),once limited to high-end professional applications,is rapidly expanding into entertainment and broader consumer domains.However,the inherent contradiction between mobile hardware computing power and the demand for high-resolution,high-refresh-rate rendering has intensified,leading to critical bottlenecks,including frame latency and power overload,which constrain large-scale applications of VR systems.This study systematically analyzes four key technologies for efficient VR rendering:(1)foveated rendering,which dynamically reduces rendering precision in peripheral regions based on the physiological characteristics of the human visual system(HVS),thereby significantly decreasing graphics computation load;(2)stereo rendering,optimized through consistent stereo rendering acceleration algorithms;(3)cloud rendering,utilizing object-based decomposition and illumination-based decomposition for distributed resource scheduling;and(4)low-power rendering,integrating parameter-optimized rendering,super-resolution technology,and frame-generation technology to enhance mobile energy efficiency.Through a systematic review of the core principles and optimization approaches of these technologies,this study establishes research benchmarks for developing efficient VR systems that achieve high fidelity and low latency while providing further theoretical support for the engineering implementation and industrial advancement of VR rendering technologies. 展开更多
关键词 Virtual reality Foveated rendering Stereo rendering Cloud rendering Low-power rendering
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Rendered image denoising method with filtering guided by lighting information 被引量:1
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作者 MA Minghui HU Xiaojuan +2 位作者 ZHANG Ripei CHEN Chunyi YU Haiyang 《Optoelectronics Letters》 2025年第4期242-248,共7页
The visual noise of each light intensity area is different when the image is drawn by Monte Carlo method.However,the existing denoising algorithms have limited denoising performance under complex lighting conditions a... The visual noise of each light intensity area is different when the image is drawn by Monte Carlo method.However,the existing denoising algorithms have limited denoising performance under complex lighting conditions and are easy to lose detailed information.So we propose a rendered image denoising method with filtering guided by lighting information.First,we design an image segmentation algorithm based on lighting information to segment the image into different illumination areas.Then,we establish the parameter prediction model guided by lighting information for filtering(PGLF)to predict the filtering parameters of different illumination areas.For different illumination areas,we use these filtering parameters to construct area filters,and the filters are guided by the lighting information to perform sub-area filtering.Finally,the filtering results are fused with auxiliary features to output denoised images for improving the overall denoising effect of the image.Under the physically based rendering tool(PBRT)scene and Tungsten dataset,the experimental results show that compared with other guided filtering denoising methods,our method improves the peak signal-to-noise ratio(PSNR)metrics by 4.2164 dB on average and the structural similarity index(SSIM)metrics by 7.8%on average.This shows that our method can better reduce the noise in complex lighting scenesand improvethe imagequality. 展开更多
关键词 establish paramet rendered image denoising Monte Carlo method filtering guided lighting information denoising algorithms image segmentation algorithm rendered image denoising method monte carlo methodhoweverthe
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Rendering acceleration method based on JND and sample gradient
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作者 ZHANG Ripei CHEN Chunyi 《Optoelectronics Letters》 2025年第3期177-182,共6页
Currently,the main idea of iterative rendering methods is to allocate a fixed number of samples to pixels that have not been fully rendered by calculating the completion rate.It is obvious that this strategy ignores t... Currently,the main idea of iterative rendering methods is to allocate a fixed number of samples to pixels that have not been fully rendered by calculating the completion rate.It is obvious that this strategy ignores the changes in pixel values during the previous rendering process,which may result in additional iterative operations. 展开更多
关键词 iterative rendering pixel values allocate fixed number samples completion rateit iterative rendering methods changes pixel values iterative operations completion rate
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Bidirectional projective sampling for physics-based differentiable rendering
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作者 Ruicheng GAO Yue QI 《虚拟现实与智能硬件(中英文)》 2025年第4期367-378,共12页
Background Physics-based differentiable rendering(PBDR)aims to propagate gradients from scene parameters to image pixels or vice versa.The physically correct gradients obtained can be used in various applications,incl... Background Physics-based differentiable rendering(PBDR)aims to propagate gradients from scene parameters to image pixels or vice versa.The physically correct gradients obtained can be used in various applications,including inverse rendering and machine learning.Currently,two categories of methods are prevalent in the PBDR community:reparameterization and boundary sampling methods.The state-of-the-art boundary sampling methods rely on a guiding structure to calculate the gradients efficiently.They utilize the rays generated in traditional path-tracing methods and project them onto the object silhouette boundary to initialize the guiding structure.Methods In this study,we propose an augmentation of previous projective-sampling-based boundary-sampling methods in a bidirectional manner.Specifically,we utilize the rays spawned from the sensors and also employ the rays emitted by the emitters to initialize the guiding structure.Results To demonstrate the benefits of our technique,we perform a comparative analysis of differentiable rendering and inverse rendering performance.We utilize a range of synthetic scene examples and evaluate our method against state-of-the-art projective-sampling-based differentiable rendering methods.Conclusions The experiments show that our method achieves lower variance gradients in the forward differentiable rendering process and better geometry reconstruction quality in the inverse-rendering results. 展开更多
关键词 Physics-based differentiable rendering Global illumination Inverse rendering
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经阴道超声Render、TUI成像对宫腔粘连的评估价值分析
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作者 王亚娟 李扬 汤畅 《中外医学研究》 2025年第10期60-63,共4页
目的:分析经阴道超声Render、断层超声显像(TUI)成像技术对宫腔粘连(IUA)的评估价值。方法:回顾性分析2022年10月—2024年5月因疑似IUA入荆州市第三人民医院就诊的92例患者的病历资料,患者均接受经阴道超声Render、TUI成像及宫腔镜检查... 目的:分析经阴道超声Render、断层超声显像(TUI)成像技术对宫腔粘连(IUA)的评估价值。方法:回顾性分析2022年10月—2024年5月因疑似IUA入荆州市第三人民医院就诊的92例患者的病历资料,患者均接受经阴道超声Render、TUI成像及宫腔镜检查,以宫腔镜检查结果为金标准,分析经阴道超声Render、TUI成像对IUA的评估价值。结果:经宫腔镜检查共确诊80例IUA患者。经阴道超声Render联合TUI成像诊断的敏感度、特异度、阳性预测值、阴性测预测值及准确度均相对更好。经阴道超声Render、TUI成像及两者联合检查的诊断结果与宫腔镜检查诊断结果的一致性均尚可,且以两者联合诊断与宫腔镜检查诊断的一致性最高。宫腔镜检查确诊的80例IUA患者中,30例为轻度粘连,32例为中度粘连,18例为重度粘连。经阴道超声Render联合TUI成像检查对IUA患者粘连程度评估的敏感度、特异度及准确度等均更高。结论:经阴道超声Render、TUI成像联合应用可更好地对IUA进行诊断且可评估粘连程度。 展开更多
关键词 宫腔粘连 经阴道超声render 成像 断层超声显像
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Multidimensional image morphing-fast image-based rendering of open 3D and VR environments
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作者 Simon SEIBT Bastian KUTH +2 位作者 Bartosz von Rymon LIPINSKI Thomas CHANG Marc Erich LATOSCHIK 《虚拟现实与智能硬件(中英文)》 2025年第2期155-172,共18页
Background In recent years,the demand for interactive photorealistic three-dimensional(3D)environments has increased in various fields,including architecture,engineering,and entertainment.However,achieving a balance b... Background In recent years,the demand for interactive photorealistic three-dimensional(3D)environments has increased in various fields,including architecture,engineering,and entertainment.However,achieving a balance between the quality and efficiency of high-performance 3D applications and virtual reality(VR)remains challenging.Methods This study addresses this issue by revisiting and extending view interpolation for image-based rendering(IBR),which enables the exploration of spacious open environments in 3D and VR.Therefore,we introduce multimorphing,a novel rendering method based on the spatial data structure of 2D image patches,called the image graph.Using this approach,novel views can be rendered with up to six degrees of freedom using only a sparse set of views.The rendering process does not require 3D reconstruction of the geometry or per-pixel depth information,and all relevant data for the output are extracted from the local morphing cells of the image graph.The detection of parallax image regions during preprocessing reduces rendering artifacts by extrapolating image patches from adjacent cells in real-time.In addition,a GPU-based solution was presented to resolve exposure inconsistencies within a dataset,enabling seamless transitions of brightness when moving between areas with varying light intensities.Results Experiments on multiple real-world and synthetic scenes demonstrate that the presented method achieves high"VR-compatible"frame rates,even on mid-range and legacy hardware,respectively.While achieving adequate visual quality even for sparse datasets,it outperforms other IBR and current neural rendering approaches.Conclusions Using the correspondence-based decomposition of input images into morphing cells of 2D image patches,multidimensional image morphing provides high-performance novel view generation,supporting open 3D and VR environments.Nevertheless,the handling of morphing artifacts in the parallax image regions remains a topic for future research. 展开更多
关键词 Computer graphics 3D real-time rendering Computer vision Image morphing Virtual reality
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Psychological and physiological model of tactile rendering fidelity using combined electro and mechanical vibration
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作者 Rui SONG Xiaoying SUN +2 位作者 Dangxiao WANG Guohong LIU Dongyan NIE 《虚拟现实与智能硬件(中英文)》 2025年第4期344-366,共23页
High-fidelity tactile rendering offers significant potential for improving the richness and immersion of touchscreen interactions.This study focuses on a quantitative description of tactile rendering fidelity using a ... High-fidelity tactile rendering offers significant potential for improving the richness and immersion of touchscreen interactions.This study focuses on a quantitative description of tactile rendering fidelity using a custom-designed hybrid electrovibration and mechanical vibration(HEM)device.An electrovibration and mechanical vibration(EMV)algorithm that renders 3D gratings with different physical heights was proposed and shown to achieve 81%accuracy in shape recognition.Models of tactile rendering fidelity were established based on the evaluation of the height discrimination threshold,and the psychophysical-physical relationships between the discrimination and reference heights were well described by a modification of Weber’s law,with correlation coefficients higher than 0.9.The physiological-physical relationship between the pulse firing rate and the physical stimulation voltage was modeled using the Izhikevich spiking model with a logarithmic relationship. 展开更多
关键词 Tactile rendering fidelity Surface haptics display Electrovibration Mechanical vibration Weber’s law Izhikevich spiking model
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A novel green phosphor Ba_(2)Sc_(2)((BO_(3))_(2)B_(2)O_(5)):Ce^(3+)for high color rendering index full-spectrum lighting and low-temperature sensors
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作者 Pan Liang Hongshu Zhang +7 位作者 Yingying Xue Saying Li Hongsheng Huang Xin Li Xuxiang Lin Yuxin Zhang Lianqing Li Zhihong Liu 《Journal of Rare Earths》 2025年第6期1150-1160,I0003,共12页
The utilization of phosphors that achieve full-spectrum lighting has emerged as a prevailing trend in the advancement of white light-emitting diode(WLED)lighting.In this study,we successfully prepared a novel green ph... The utilization of phosphors that achieve full-spectrum lighting has emerged as a prevailing trend in the advancement of white light-emitting diode(WLED)lighting.In this study,we successfully prepared a novel green phosphor Ba_(2)Sc_(2)((BO_(3))_(2)B_(2)O_(5)):Ce^(3+)(BSBO:Ce^(3+))that can be utilized for full-spectrum lighting and low-temperature sensors.BSBO:Ce^(3+)exhibits a broad-band excitation spectrum centered at 410 nm,and a broad-band emission spectrum centered at 525 nm.The internal and external quantum efficiencies of BSBO:Ce^(3+)are 99%and 49%,respectively.The thermal stability of BSBO:Ce^(3+)can be improved by substituting partial Sc atoms with smaller cations.The thermal quenching mechanism of BSBO:Ce^(3+)and the lattice occupancy of Ce ions in BSBO are discussed in detail.Furthermore,by combining the green phosphor BSBO:Ce^(3+),the commercial blue phosphor and the red phosphor on a 405 nm chip,a white light source was obtained with a high average color rendering index(CRI)of 96.6,a low correlated color temperature(CCT)of 3988 K,and a high luminous efficacy of 88.0 Im/W.The lu-minous efficacy of the WLED exhibits negligible degradation during the 1000 h light aging experiment.What's more,an emission peak at 468 nm appears when excited at 352 nm and 80 K,however,the relative intensity of the peaks at 468 and 525 nm gradually weakens with increasing temperature,indicating the potential of this material as a low-temperature sensor. 展开更多
关键词 Green phosphor Ba_(2)Sc_(2)(BO_(3)_(2)B_(2)O_(5)):Ce^(3+) Fullspectrum lighting Low-temperature sensor High color rendering index Rare earths
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Stroke Based Painterly Rendering with Mass Data through Auto Warping Generation
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作者 Taemin Lee Beomsik Kim +1 位作者 Sanghyun Seo Kyunghyun Yoon 《Computer Modeling in Engineering & Sciences》 SCIE EI 2022年第3期1441-1457,共17页
Painting is done according to the artist’s style.The most representative of the style is the texture and shape of the brush stroke.Computer simulations allow the artist’s painting to be produced by taking this strok... Painting is done according to the artist’s style.The most representative of the style is the texture and shape of the brush stroke.Computer simulations allow the artist’s painting to be produced by taking this stroke and pasting it onto the image.This is called stroke-based rendering.The quality of the result depends on the number or quality of this stroke,since the stroke is taken to create the image.It is not easy to render using a large amount of information,as there is a limit to having a stroke scanned.In this work,we intend to produce rendering results using mass data that produces large amounts of strokes by expanding existing strokes through warping.Through this,we have produced results that have higher quality than conventional studies.Finally,we also compare the correlation between the amount of data and the results. 展开更多
关键词 Painterly rendering stroke based rendering image mass data stroke warping non-photorealistic rendering
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Pixar RenderMan for Maya发布时间确定
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《电视字幕.特技与动画》 2005年第4期78-78,共1页
Pixar正式推出RenderMan for Maya时间,让Maya用户享有全新Rendering流程,透过RenderMan技术达到高质量电影水平。
关键词 Pixar公司 renderMan for Maya” rendering流程 renderMan技术
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Cluster parallel rendering based on encoded mesh 被引量:3
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作者 QIN Ai-hong XIONG Hua +2 位作者 PENG Hao-yu LIU Zhen SHI Jiao-ying 《Journal of Zhejiang University-Science A(Applied Physics & Engineering)》 SCIE EI CAS CSCD 2006年第7期1124-1133,共10页
Use of compressed mesh in parallel rendering architecture is still an unexplored area, the main challenge of which is to partition and sort the encoded mesh in compression-domain. This paper presents a mesh compressio... Use of compressed mesh in parallel rendering architecture is still an unexplored area, the main challenge of which is to partition and sort the encoded mesh in compression-domain. This paper presents a mesh compression scheme PRMC (Parallel Rendering based Mesh Compression) supplying encoded meshes that can be partitioned and sorted in parallel rendering system even in encoded-domain. First, we segment the mesh into submeshes and clip the submeshes’ boundary into Runs, and then piecewise compress the submeshes and Runs respectively. With the help of several auxiliary index tables, compressed submeshes and Runs can serve as rendering primitives in parallel rendering system. Based on PRMC, we design and implement a parallel rendering architecture. Compared with uncompressed representation, experimental results showed that PRMC meshes applied in cluster parallel rendering system can dramatically reduce the communication requirement. 展开更多
关键词 CLUSTER Parallel rendering renderING Compression algorithm Mesh coding Mesh segmentation
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A survey of real-time rendering on Web3D application 被引量:2
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作者 Geng YU Chang LIU +7 位作者 Ting FANG Jinyuan JIA Enming LIN Yiqiang HE Siyuan FU Long WANG Lei WEI Qingyu HUANG 《Virtual Reality & Intelligent Hardware》 EI 2023年第5期379-394,共16页
Background In recent years, with the rapid development of mobile Internet and Web3D technologies, a large number of web-based online 3D visualization applications have emerged. Web3D applications, including Web3D onli... Background In recent years, with the rapid development of mobile Internet and Web3D technologies, a large number of web-based online 3D visualization applications have emerged. Web3D applications, including Web3D online tourism, Web3D online architecture, Web3D online education environment, Web3D online medical care, and Web3D online shopping are examples of these applications that leverage 3D rendering on the web. These applications have pushed the boundaries of traditional web applications that use text, sound, image, video, and 2D animation as their main communication media, and resorted to 3D virtual scenes as the main interaction object, enabling a user experience that delivers a strong sense of immersion. This paper approached the emerging Web3D applications that generate stronger impacts on people's lives through “real-time rendering technology”, which is the core technology of Web3D. This paper discusses all the major 3D graphics APIs of Web3D and the well-known Web3D engines at home and abroad and classify the real-time rendering frameworks of Web3D applications into different categories. Results Finally, this study analyzed the specific demand posed by different fields to Web3D applications by referring to the representative Web3D applications in each particular field. Conclusions Our survey results show that Web3D applications based on real-time rendering have in-depth sectors of society and even family, which is a trend that has influence on every line of industry. 展开更多
关键词 WEB3D Real-time rendering Virtual reality Cloud rendering Mobile Internet
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Cinema 4D中Team Render的构建与实现 被引量:1
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作者 索南尖措 陈硕 +1 位作者 何琪芳 隗立志 《计算机时代》 2016年第1期63-65,共3页
渲染是一种计算机图形图像生成技术,它以存储在计算机中的几何场景模型为基础,经过附加色彩、纹理及材质,并根据设定的光照条件及场景光照关系,计算生成具有高真实度的视景图像。实现3D动画渲染十分消耗计算机的性能,为了减少3D动画渲... 渲染是一种计算机图形图像生成技术,它以存储在计算机中的几何场景模型为基础,经过附加色彩、纹理及材质,并根据设定的光照条件及场景光照关系,计算生成具有高真实度的视景图像。实现3D动画渲染十分消耗计算机的性能,为了减少3D动画渲染所花费的时间,利用德国maxon公司Cinema 4D软件的Cinema 4D Team Render对3D动画进行分布式渲染测试。结果表明,此种方法确实可以成倍地减少3D动画渲染所花费的时间。 展开更多
关键词 3D动画渲染 TEAM render 集群 分布式渲染
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Introducing Cinematic Rendering: A Novel Technique for Post-Processing Medical Imaging Data 被引量:2
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作者 Franz A. Fellner 《Journal of Biomedical Science and Engineering》 2016年第3期170-175,共6页
Since the 1980s, various techniques have been used in the field of medicine for the post-processing of medical imaging data from computed tomography (CT) and magnetic resonance (MR). They include multiplanar reformati... Since the 1980s, various techniques have been used in the field of medicine for the post-processing of medical imaging data from computed tomography (CT) and magnetic resonance (MR). They include multiplanar reformations (MPR), maximum intensity projection (MIP) and Volume Rendering (VR). This paper presents the prototype of a new means of post-processing radiological examinations such as CT and MR, a technique that, for the first time, provides photorealistic visualizations of the human body. This new procedure was inspired by the quality of images achieved by animation software such as programs used in the entertainment industry, particularly to produce animated films. Thus, the name: Cinematic Rendering. It is already foreseeable that this new method of depiction will quickly be incorporated into the set of instruments employed in socalled virtual anatomy (teaching anatomy through the use of radiological depictions of the human body via X-ray, CT and MR in addition to the use of computer animation programs designed especially for human anatomy). Its potential for medical applications will have to be evaluated by future scientific investigations. 展开更多
关键词 Cinematic rendering Volume rendering Virtual Anatomy Computed Tomography (CT) Magnetic Resonance (MR)
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SPEEDING-UP RE-SAMPLED ALGORITHM IN RAY CASTING VOLUME RENDERING OF MEDICAL IMAGES
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作者 陶玲 王惠南 田芝亮 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI 2005年第1期52-58,共7页
Ray casting algorithm can obtain a better quality image in volume rendering, however, it exists some problems, such as powerful computing capacity and slow rendering speed. How to improve the re-sampled speed is a key... Ray casting algorithm can obtain a better quality image in volume rendering, however, it exists some problems, such as powerful computing capacity and slow rendering speed. How to improve the re-sampled speed is a key to speed up the ray casting algorithm. An algorithm is introduced to reduce matrix computation by matrix transformation characteristics of re-sampling points in a two coordinate system. The projection of 3-D datasets on image plane is adopted to reduce the number of rays. Utilizing boundary box technique avoids the sampling in empty voxel. By extending the Bresenham algorithm to three dimensions, each re-sampling point is calculated. Experimental results show that a two to three-fold improvement in rendering speed using the optimized algorithm, and the similar image quality to traditional algorithm can be achieved. The optimized algorithm can produce the required quality images, thus reducing the total operations and speeding up the volume rendering. 展开更多
关键词 volume rendering ray casting algorithm acceleration algorithm re-sampled algorithm
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Perceptual Optimization for Point-Based Point Cloud Rendering
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作者 YIN Yujie CHEN Zhang 《ZTE Communications》 2023年第4期47-53,共7页
Point-based rendering is a common method widely used in point cloud rendering.It realizes rendering by turning the points into the base geometry.The critical step in point-based rendering is to set an appropriate rend... Point-based rendering is a common method widely used in point cloud rendering.It realizes rendering by turning the points into the base geometry.The critical step in point-based rendering is to set an appropriate rendering radius for the base geometry,usually calculated using the average Euclidean distance of the N nearest neighboring points to the rendered point.This method effectively reduces the appearance of empty spaces between points in rendering.However,it also causes the problem that the rendering radius of outlier points far away from the central region of the point cloud sequence could be large,which impacts the perceptual quality.To solve the above problem,we propose an algorithm for point-based point cloud rendering through outlier detection to optimize the perceptual quality of rendering.The algorithm determines whether the detected points are outliers using a combination of local and global geometric features.For the detected outliers,the minimum radius is used for rendering.We examine the performance of the proposed method in terms of both objective quality and perceptual quality.The experimental results show that the peak signal-to-noise ratio(PSNR)of the point cloud sequences is improved under all geometric quantization,and the PSNR improvement ratio is more evident in dense point clouds.Specifically,the PSNR of the point cloud sequences is improved by 3.6%on average compared with the original algorithm.The proposed method significantly improves the perceptual quality of the rendered point clouds and the results of ablation studies prove the feasibility and effectiveness of the proposed method. 展开更多
关键词 point cloud rendering outlier detection perceptual optimization point-based rendering perceptual quality
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这里的动词render用得对吗?
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作者 顾祖良 《英语知识》 2005年第5期47-47,共1页
【问】[437]在《大学英语四级考试王长喜英语预测卷》(第六版)p.107上,参考作文范文Positive and Negative Efforts of Short Message Service(SMS)中,有以下一句:
关键词 动词 render 大学英语 四级考试 英语 用法
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Two-phase real-time rendering method for realistic water refraction
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作者 Hongli LIU Honglei HAN Guangzheng FEI 《Virtual Reality & Intelligent Hardware》 2020年第2期132-141,共10页
Background Realistic rendering has been an important g oal of several interactive applications,which requires an efficient virtual simulation of many special effects that are common in the real world.However,refractio... Background Realistic rendering has been an important g oal of several interactive applications,which requires an efficient virtual simulation of many special effects that are common in the real world.However,refraction is often ignored in these applications.Rendering the refraction effect is extremely complicated and time-consuming.Methods In this study,a simple,efficient,and fast rendering technique of water refraction effects is proposed.This technique comprises a broad and narrow phase.In the broad phase,the water surface is considered flat.The vertices of underwater meshes are transformed based on Snell's Law.In the narrow phase,the effects of waves on the water surface are examined.Every pixel on the water surface mesh is collected by a screen-space method with an extra rendering pass.The broad phase redirects most pixels that need to be recalculated in the narrow phase to the pixels in the rendering buffer.Results We analyzed the performances of three different conventional methods and ours in rendering refraction effects for the same scenes.The proposed method obtains higher frame rate and physical accuracy comparing with other methods.It is used in several game scenes,and realistic water refraction effects can be generated efficiently.Conclusions The two-phase water refraction method produces a tradeoff between efficiency and quality.It is easy to implement in modern game engines,and thus improve the quality of rendering scenes in video games or other real-ti me applications. 展开更多
关键词 Real-time rendering REFRACTION Liquid renderings
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Haptic based teleoperation with master-slave motion mapping and haptic rendering for space exploration 被引量:6
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作者 Guanyang LIU Xuda GENG +1 位作者 Lingzhi LIU Yan WANG 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2019年第3期723-736,共14页
This paper presents a new solution to haptic based teleoperation to control a large-sized slave robot for space exploration, which includes two specially designed haptic joysticks, a hybrid master-slave motion mapping... This paper presents a new solution to haptic based teleoperation to control a large-sized slave robot for space exploration, which includes two specially designed haptic joysticks, a hybrid master-slave motion mapping method, and a haptic feedback model rendering the operating resistance and the interactive feedback on the slave side. Two devices using the 3 R and DELTA mechanisms respectively are developed to be manipulated to control the position and orientation of a large-sized slave robot by using both of a user's two hands respectively. The hybrid motion mapping method combines rate control and variable scaled position mapping to realize accurate and efficient master-slave control. Haptic feedback for these two mapping modes is designed with emphasis on ergonomics to improve the immersion of haptic based teleoperation. A stiffness estimation method is used to calculate the contact stiffness on the slave side and play the contact force rendered by using a traditional spring-damping model to a user on the master side stably. Experiments by using virtual environments to simulate the slave side are conducted to validate the effectiveness and efficiency of the proposed solution. 展开更多
关键词 TELEOPERATION HAPTIC device REMOTE control HAPTIC renderING Space EXPLORATION
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Depth-aided inpainting for disocclusion restoration of multi-view images using depth-image-based rendering 被引量:7
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作者 Kai LUO Dong-xiao LI +1 位作者 Ya-mei FENG Ming ZHANG 《Journal of Zhejiang University-Science A(Applied Physics & Engineering)》 SCIE EI CAS CSCD 2009年第12期1738-1749,共12页
A new algorithm is proposed for restoring disocclusion regions in depth-image-based rendering (DIBR) warped images. Current solutions include layered depth image (LDI), pre-filtering methods, and post-processing m... A new algorithm is proposed for restoring disocclusion regions in depth-image-based rendering (DIBR) warped images. Current solutions include layered depth image (LDI), pre-filtering methods, and post-processing methods. The LDI is complicated, and pre-filtering of depth images causes noticeable geometrical distortions in cases of large baseline warping. This paper presents a depth-aided inpainting method which inherits merits from Criminisi's inpainting algorithm. The proposed method features incorporation of a depth cue into texture estimation. The algorithm efficiently handles depth ambiguity by penalizing larger Lagrange multipliers of flling points closer to the warping position compared with the surrounding existing points. We perform morphological operations on depth images to accelerate the algorithm convergence, and adopt a luma-first strategy to adapt to various color sampling formats. Experiments on test multi-view sequence showed that our method has superiority in depth differentiation and geometrical loyalty in the restoration of warped images. Also, peak signal-to-noise ratio (PSNR) statistics on non-hole regions and whole image comparisons both compare favorably to those obtained by state of the art techniques. 展开更多
关键词 Depth-aided inpainting Disocclusion restoration Depth-image-based rendering (DIBR) Image warping Stereoscopic image Multi-view image 3D-TV
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