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  • 1
    Electronic Resource
    Electronic Resource
    VISYR: a simulation tool for mobile robots using vision sensors (1988)
    Springer
    The visual computer 3 (1988), S. 298-303 
    Details
    ISSN: 1432-2315
    Keywords: Robotics ; Vision sensors ; Ray tracing ; Dynamic management
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science
    Notes: Abstract With the advent of mobile robots and inboard vision sensors mounted directly on the robot's wrist, new kinds of problems lie in the image processing field as, for example, dynamic scene analysis or motion estimation. The lack of flexibility of real experiments led us to implement at IRISA a general simulation tool devoted to the study of robots using moving vision sensors. VISYR allows us to simulate the image perceived by a robot of its environment during its motion. The first part of the paper is devoted to the modelling of the 3D scene containing complex objects and to the design of a suitable robotics vision sensor. In the second part, a new algorithm of dynamic management of the local data basis perceived by the sensor is presented. The parameters of the vision sensors are highly adjustable and VISYR is conceived to allow the fast development of algorithms using dynamic vision data.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1007/BF01914865
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    Paper (German National Licenses)
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  • 2
    Electronic Resource
    Electronic Resource
    A new space subdivision method for ray tracing CSG modelled scenes (1987)
    Springer
    The visual computer 3 (1987), S. 98-108 
    Details
    ISSN: 1432-2315
    Keywords: Image synthesis ; Ray-tracing ; Subdivision ; Constructive solid geometry
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science
    Notes: Abstract A new algorithm for space tracing with CSG modelled scenes is presented. Space is divided in an irregular fashion to fit the objects as closely as possible. For this reason, primitive minimal bounding boxes are computed. Space subdivision is achieved in two steps: partitioning in projection plane and depth partitioning. A set of 3D regions named cells are then created. A Boolean CSG tree is distributed into the cell structure to form in each cell the minimal boolean CSG tree using the relevant primitives. The searching process for the “next cell” along the ray path is performed by using a local data structure associated with each cell. The goal of this structure is to link the cells together. An improvement, named “mailbox”, for all space tracing algorithms is detailed. Results are presented for two scenes to compare this new algorithm with Roth's algorithm.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1007/BF02153666
    Library Location Call Number Volume/Issue/Year Availability
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    Paper (German National Licenses)
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  • 3
    Electronic Resource
    Electronic Resource
    Static load balancing for a parallel ray tracing on a MIMD hypercube (1989)
    Springer
    The visual computer 5 (1989), S. 109-119 
    Details
    ISSN: 1432-2315
    Keywords: Parallel ray tracing ; Algorithm ; Static load balancing ; MIMD hypercube ; 3D regions
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science
    Notes: Abstract A parallel ray tracing algorithm is presented. It subdivides the seene into 3D regions, the adjacency of which is modelled by a connectivity graph of regions. Since with each region is associated a ray tracing process, this graph becomes a graph of processes, the edges of which represent the communications between processes. This graph of processes is suitably mapped onto a hypercube topology so as to minimize the communication cost. Static load balancing is performed and solutions are brought to the problems of network congestion and termination.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1007/BF01901486
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    Paper (German National Licenses)
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  • 4
    Electronic Resource
    Electronic Resource
    MPI code encapsulating using parallel CORBA object (2000)
    Springer
    Cluster computing 3 (2000), S. 255-263 
    Details
    ISSN: 1573-7543
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science
    Notes: Abstract This paper describes a technique that allows an MPI code to be encapsulated into a component. Our technique is based on an extension to the Common Object Request Broker Architecture (CORBA) from the OMG (Object Management Group). The proposed extensions do not modify the CORBA core infrastructure (the Object Request Broker) so that it can fully co‐exist with existing CORBA applications. An MPI code is seen as a new kind of CORBA object that hides most of the cumbersome problems when dealing with parallelism. Such a technique can be used to connect MPI codes to existing CORBA software infrastructures which are now being developed in the framework of several research and development projects such as JACO3*, JULIUS** or TENT*** from DLR. To illustrate the concept of parallel CORBA object, we present a virtual reality application that is made of the coupling of a light simulation application (radiosity) and a visualisation tool using VRML and Java.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1019096607706
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    Paper (German National Licenses)
    Fulltext
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