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Diagnostic re-sequencing plays a central role in medical and evolutionary genetics. In this report we describe a process that applies fluorescence-based re-sequencing and an integrated set of analysis tools to automate and simplify the identification of DNA variations using the human mitochondrial genome as a model system. Two programs used in genome sequence analysis (Phred, a base-caller, and Phrap, a sequence assembler) are applied to assess the quality of each base call across the sequence. Potential DNA variants are automatically identified and 'tagged' by comparing the assembled sequence with a reference sequence. We also show that employing the Consed program to display a set of highly annotated reference sequences greatly simplifies data analysis by providing a visual database containing information on the location of the PCR primers, coding and regulatory sequences and previously known DNA variants. Among the 12 genomes sequenced 378 variants including 29 new variants were identified along with two heteroplasmic sites, automatically detected by the PolyPhred program. Overall we document the ease and speed of performing high quality and accurate fluorescence-based re-sequencing on long tracts of DNA as well as the application of new approaches to automatically find and view DNA variants among these sequences.
PubMed Central Canada is a service of the Canadian Institutes of Health Research (CIHR) working in partnership with the National Research Council's Canada Institute for Scientific and Technical Information in cooperation with the National Center for Biotechnology Information at the U.S. National Library of Medicine(NCBI/NLM). It includes content provided to the PubMed Central International archive by participating publishers.


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Not every kid is worried about how Kris Kringle can go to so many houses in the world, all in one night.
Unlike you, Antonia, my curious young friend, those kids will probably not be reading this column.
But since you asked, I have looked into the question for the most current and credible peer-reviewed description and here's what I found.
The best explanation of Santa's technological powers came this year from Larry Silverberg, a real-life professor of mechanical and aerospace engineering at North Carolina State University.
It's not magic. It's more like the ultimate in advanced science and technology.
"Santa is using technologies that we are not yet able to recreate in our own labs," said Silverberg, who said he recently finished a six-month visiting scholar program at Santa's Workshop-North Pole Labs.
"As the first scholar to participate in the SW-NPL program, I learned that we have a long way to go to catch up with Santa in fields ranging from aerodynamics and thermodynamics to materials science," he said.
Silverberg did an extensive study, for example, of Santa's sleigh, which is a deceptively retro-looking vehicle. But compared to a modern airliner, Santa's sleigh is far more highly engineered.
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Doh......RUINS means they are in ruins!
... more value if I had paid to go on a guided tour with someone who knew their history, but it wasn't until I got into the shadow of the Colosseum, that I really felt that I was somewhere special. I mean this place had been built by the year 80 AD, and that makes it really ancient. Ther was about a 2 hour queue to pay to go inside so I headed back in the hope of finding my way to the Pantheon. It was a real mission and I got lost a couple of ...
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Finally, finally, finally ..... Fish and Chips
... and wandered around Castel Sant'Angelo. Before we knew it we were near The Vatican. No stick sellers to be seen. A few Italians were dressed as Gladiators but want money if they are included in photos. Time was getting away and the rain was getting heavy so we walked back to Porto Fish and Chips. We were shown to a table and chose the buffet. MDW was in food heaven. Not only fish and chips but also chicken schnitzel and fresh pineapple and rock melon. The place ...
Rough start
... ways….Marty's holiday was over and I was beginning mine on my own….yep I was now on my own. Time to put my big girl pants on and take on the world!
It was only 2 hours to Rome and on the flight I sat next to a lovely chatty young guy who was from an Italian family but lived in New York. We spend the whole time talking about travel and life. He had caught up with a friend in the Greek Islands and was heading the Sicily ...
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We woke up early to get to the Pope's address. We wanted to get there at 9am ready for 10.30 as we heard it was so busy. We got breaky delivered to our room and left at 8.30am. The metro was packed. We arrived right on 9am and walked through into the ticketed area and didn't even have to show our tickets! We were annoyed that we lines up for 2.5hrs the day before. So remember this if you ever go to Rome - don't bother getting ...


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Asad Adeni's education has been in English right from school to the university, After graduating from a Business School, his professional career of over 25 years has been filled with hands-on experience of report writing, content writing, drafting business presentations, etc. If keywords associated with Asad Adeni's skills were to be listed they would include the following: highly-fluent in English, excellent researcher and writer on business and academic subjects and business viability analysis, His work experience spanned across multiple domains in India and overseas, hence he is very familiar with business processes, technical terms and jargon.
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To enhance my knowledge in the field of accounting and finance within a company that fosters professional growth, acknowledges the need for further learning and more importantly practices parity, and honesty in managing its people.
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I am a Financial Analyst with 7 years of experience, seeking such projects which will leverage background in Asset-Liability Management, Financial Resources Generation and Risk Evaluation. During my career I have developed a wide range of Financial Models and done extensive financial analysis using Excel, SPSS & Accounting tools for startup companies and small businesses. My main competency lies in complete Financial Analysis and end-end book keeping solution development. I am passionate to take part in development of financial markets by participating as a dynamic contributor in every possible way.


text:
Agni Varsham
Release Date
Really it will become a huge flop..... Plz don't release it.... I saw the Hindi version. It is dubbed.... M ur big big fan.... Plz don't waste money upon it....
hey man u don't disappoint of this movie why means this is remaking in Telugu and they will change the story and scene OK
sir u r always doing different different movies ,meru keka sir wat abt this movie sir,ur styles very nice
I have already watch this movie when I was in 12th in college..i bunked college to watch this movie...this was my first movie in theatre..this movie is actually in hindi as Agni Varsha with same characters..it's 6-7 years old movie and i cannot forget this movie becasue it was my first movie in theatre and it was a huge flop and huge disappointment...i was wondering as to why did I even had to go to watch this worthless movie...warning:don't waste money to watch this money or else you'll regret and you'll know why.
Good title.hope good film and story


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Tales From the Frontlines: SecureZIP and IBM System z Integrated Cryptographic Services Facility
Date Added: Aug 2009
Format: PDF
PKWARE's SecureZIP leverages the System z hardware and software facilities, regardless of the hardware features enabled in a specific installation. Secured archives (ZIP files) can be used not only on the platform they were created on, but also any platform that SecureZIP runs on. In addition, SecureZIP maximizes the investment made by customers in hardware cryptography by utilizing the least expensive processor capabilities within a system, while maintaining the data security and portability that the standard ZIP file format provides. As a result of the flexible application of PKWARE's SecureZIP Mainframe products, leveraging IBM's ICSF will enable organizations to take advantage of significant cost and resource savings when encrypting data.


text:
While experimenting with the XNA BlendState class, I found that it has two state groupings:
One for Alpha Blending and one for Color Blending (as the framework calls it).
The mutable members of each group are termed
*DestinationBlend, and *SourceBlend
* is replaced by either
Alpha or
I understand how to blend two RGBA colors, and I assume that's what the Color Blending function are for
What's the purpose of this 'alpha blending' that XNA apparently supports? How does it work?
Aren't all 4 color components, including the alpha value, modified by Color Blending anyway?


text:
Originally written on Fox Sports Ohio | Last updated 1/11/12
There are changes afoot on the Cavaliers' rotation.Center Semih Erden has returned from a broken right thumb and will be given every opportunity to win the Cavs' backup center job.The 7-foot, 240-pound Erden played 17 minutes in the Cavs' 113-105 loss at Utah on Tuesday. He was the first big man off the bench for the Cavs (4-5, 1-3 on their seven-game road trip).The Cavs are intrigued by Erden's skill set and length. He'll likely take forward-center Samardo Samuels' minutes on the second unit. The 25-year-old Erden has been injured with one ailment after the other since coming to the Cavs in a trade with Boston on Feb. 24, 2011. Limited to just four games and 64 minutes last season with the Cavs, Erden continued his recent trend by showing up for training camp with a broken thumb. The injury occurred while he was playing in Turkey during the lockout.In the short period of time he's been on the practice court or in games, Cavs coach Byron Scott likes what he's seen."He makes basketba...
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*From natural essential oils.
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Weleda Refining Toner -- 3.4 fl oz
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Deep cleansing is the basis for effective facial care at every age. This refreshing toner purifies your skin without drying it out. The subtle fresh fragrance of natural essential oils revives the skin and mildly astringent witch hazel refines pores and prepares your skin for the next step in your regimen, using Weleda Iris, Wild Rose or Pomegranate facial care lines.
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Glee Season 3 Finale: Cast and Crew Tweet First-look Photos!
Can you believe it? ;Glee's big ;Season 3 finale ;is just days away! The emotional graduation episode will air at 9pm on May 22, and the cast and crew have already tweeted plenty of behind the scenes pictures. Here's your first look at what to expect.
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Serves meat, veg options available. Bar and grill located 8 minutes from Yoyogiuehara station. Offers some healthier choices including a vegan lunch set. Upstairs space holds events for yoga, flower arrangements, and art. Price: Moderate more-less
Vegan-friendly, Japanese, Beer/Wine, Non-veg
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King David: A BiographyPaperback
List price $18.82
You save $0.67 (3%)
Free delivery worldwide
Dispatched in 3 business days
When will my order arrive?
- Publisher: Oxford University Press Inc
- Format: Paperback | 256 pages
- Dimensions: 154mm x 234mm x 17mm | 367g
- Publication date: 1 January 2002
- Publication City/Country: New York
- Edition statement: Revised ed.
- Illustrations note: 5 halftones, 5 line illus, 4 maps
- Sales rank: 698,937
Product description
Through a close and critical reading of biblical texts, ancient history, and recent archeological discoveries, Steven L. McKenzie concludes that David was indeed a real person. This David was not the humble shepherd who slew Goliath and became king, however, but was a usurper, adulterer, and murderer-a Middle Eastern despot of a familiar type. McKenzie shows that the story of humble beginnings is utterly misleading: "shepherd" is a metaphor for "king," and David came from a wealthy, upper-class background. Similarly, McKenzie reveals how David's ascent to power, traditionally attributed to popularity and divine blessing, in fact resulted from a campaign of terror and assassination. While instituting a full-blown Middle Eastern monarchy, David was an aggressive leader, a devious politician, and a ruthless war chief. Throughout his scandalous reign, important figures who stood in his way died at convenient times, under questionable circumstances. Even his own sons were not spared. David's story, writes McKenzie, "reads like a modern soap opera, with plenty of sex, violence, and struggles for power."
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Author information
Steven L. McKenzie is Professor of Hebrew Bible at Rhodes College. He is the author of many books on Bible Studies, including The Hebrew Bible Today and All God's Children: A Biblical Critique of Racism. He lives in Memphis.
Review quote
McKenzie is little short of brilliant. The New York Times Book Review A provocative look at a complex biblical figure...McKenzie uses biblical texts and recent archaeological discoveries to paint a searing portrait of the 'real' King David. The Sunday Star-Ledger [A] remarkable book...McKenzie brings to bear all the analytical tools of the modern historian...We see a darker and more realistic David and a more troubling biblical history... McKenzie's portrait of David is both convincing and disturbing. Bible Review Mckenzie...uses historical analysis of the texts, augmented by archaeology and the immense body of scholarship about the ancient Middle East, to create a plausible real-life portrait of the figure who gets more space in the Bible than anybody, Moses and Jesus included...A spirited analysis. The Fayetteville Observer The conventional, laudatory image of David as a simple shepherd boy who courageously slew Goliath and rose to become Israel's greatest king despite some human failings is disputed by McKenzie. Publishers Weekly
Table of contents
Introduction: Images: The Need for a Biography of David; 1. Was there a historical David? Extrabiblical Sources; 2. Royal Propaganda: The Bible's Account of David's Life; 3. Was David a Shepherd? David's origins and youth; 4. Who killed whom? The Goliath story and David's career as a soldier; 5. Holy terrorist: David and his outlaw band; 6. Assassin: David's reign as King of Judah; 7. The cost of kingship: the policies and changes of David's administration; 8. Like father, like son: the Bathsheba Affair and Absolom's revolt; 9. Poetic justice: the last days of King David; 10. Finished portrait: a synopsis


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RA Playlist 11/13/09 – Check out the Black Seeds about 15 min into hr 1.
Happy Friday The 13th
Tonight was our annual All Jamaican special in memory of my late father-in-law Robert. And what a list of great reggae artists and groups: Desmond Dekker, Jimmy Cliff, Bob Marley & The Wailers, Lee Perry, Cornell Campbell, Burning Spear, Marcia Griffiths, Derrick Morgan, Toots & The Maytals, Alton Ellis, The Congos, The Abyssinians, Bim Sherman, and many more…
Pendle Coven- Aged Drone- Self Assessment LP- Modern Love
Odd Machine- Phase In- Phase In EP- Non Standard Productions
Ricardo Villalobos- Damm 3- Bredow/Damm 3 EP- Perlon
Marek Hemmann- Junoka- Junoka EP- Freude Am Tanzan
Minilogue- Doiicie B- Doiicie EP- Minilogue
Ditch- Funcup Reipian Fumiya Tanaka Remix- Manse Al EP- Snork Enterprises
John Harding- Inio- Marbat EP- Max Ernst
Mountain People- 08 B- Mountain People 08 EP- Mountain People
Goldfish und der Dulz- Influence 77- Clubber EP- Playhouse
Sriracha mix
with Brad Wrolstad
RA Playlist 11/06/09
This is a SUPER SOUND SAFARI edition of ATB
with sub-host Secret Agent Topkat.
Privacy Statement
© KFAI, 1808 Riverside Avenue, Minneapolis, MN 55454 Tel: 612-341-3144


text:
Paris Nanterre-Rueil Malmaison Car Rental
|44 Av. Vladimir Illitch Lenine
|92000 Nanterre FR +33-1-82970523
|GDS - Code:
|Mo. - Sa.
|08:00 - 13:00
|14:00 - 19:30
Location details
Opening Hours
|Mo. - Sa.
|08:00 - 13:00
|14:00 - 19:30
Contacts / Lost & Found
SIXT # Paris Nanterre-Rueil Malmaison PARC14
|44 Av. Vladimir Illitch Lenine
|92000 Nanterre
|Phone no.
Location plan - how to find us
Take the RER A towards Saint Germain en Laye, exit Nanterre City, take the rue Maurice Thorez and Market Street, in the place du Marechal Joffre, the Sixt branch is on your right.
Take bus No. 158 towards Rueil Malmaison or Bus No. 258 in the direction of Saint Germain en Laye, get off at Place de la Boule. The agency is located in front of the bus stop.
From Porte Maillot, continue straight on the Avenue de Neuilly towards the A14, take the tunnel of Defense then take exit # 3 and continue on Avenue du G�n�ral de Gaulle subsequently turn right Avenue du Pr�sident Wilson and continue for 2 km until Vladimir Illich Lenin Avenue.
Categories and services at this location
- Compact Cars & Sedans
- Truck
- Other Sixt countries: Germany Switzerland Austria UK France Spain Netherlands Denmark


text:
For One Day Only: $1=$4, Thanks to Matching from BIG Donors
About the Author: Tzvi Ben Gedalyahu is a graduate in journalism and economics from The George Washington University. He has worked as a cub reporter in rural Virginia and as senior copy editor for major Canadian metropolitan dailies. Tzvi wrote for Arutz Sheva for several years before joining the Jewish Press.
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F.A.O. Schwarz is closing its iconic flagship store on NYC's Fifth Avenue due to rising rent prices.
Some Chareidi Jews wore sackcloth (and probably ashes) yesterday, while praying at the Kotel on the 17th of Tammuz, a fast day.
The Shin Bet arrested six Negev Bedouin as budding members of a new ISIS terror cell.
Herzl told the Zionist delegates,"If you will it, it is no dream."
Sources say seemingly irreconcilable differences between the 2 main parties, Washington and Tehran.
The EU is warned that terrorists infiltrating among migrants via the Mediterranean Sea.
Breakthrough adapts insulin to be taken as a pill instead of shot. Can it be applied to other meds?
"Unfortunately, there are those who seek to exploit the sanctity of Ramadan, and distort its meaning in favor of … terrorism."
In his first public comments following the tenure extension crisis, Rabbi Riskin delivered up some harsh criticism of the Chief Rabbinate.
Instead of accepting reality, the President is trying to hold on to an illusion.
Those who suggest further capitulation to Iran are wrongly harming the interests of the West.
He wants to show everything is "business as usual," which everyone knows is not.
The Palestinian Authority Jawwal mobile phone company is back in business in Gaza after Hamas allowed it to resume operations following last week's forced shutdown. Hamas claimed that Jawwal, part of the Paltel conglomerate run b one of Mahmoud Abbas' closest confidantes, owed taxes. The terrorist organization did not explain why it was allowing Jawaal […]
Jordanian authorities seized 100 pounds of explosives carried by a member of an Iranian-backed group.
Police closed in on a ring of Israeli and Palestinian Authority Arabs who smuggled eggs and sold to supermarkets in urban centers in Israel. The gang raked in more than $2.5 million a year in the operation that stamped the eggs with forged approval. Police investigator Shai Kovnator noted, "The phenomenon of smuggling eggs from […]
Samsung is establishing a new startup accelerator in its development center in the Yakum industrial park between Netanya and Herzliya. The company is looking for 6-10 startups in mobile communications, information security, wearable computers, big data, cloud computing, mHealth, biometric identification, wireless charging, and autonomous vehicles. Start-ups that join the accelerator will receive a $50,000 […]
Instead of accepting reality, the President is trying to hold on to an illusion.
He wants to show everything is "business as usual," which everyone knows is not.
Jordanian authorities seized 100 pounds of explosives carried by a member of an Iranian-backed group.
Three fires of 300 acres of forest in the Jerusalem area probably were ignited by Arabs, according to police.
Reporter Laura Rozen: "How many ways can I say significant progress made but important differences remain?"
CNN put the UNESCO site at the top of the list, implied Israel it to blame for its being "endangered but failed to mention Jordan's responsibility.
In three weeks, the Fast of the 9th of Av will be on the 10th of Av.
Netanyahu falsely accused Bennett of signing a coalition agreement that returns more power to Hareidim.
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TWOK What If--Khan wins
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September 24 2012, 04:09 AM
Re: TWOK What If--Khan wins
Admiral M wrote:
ChristopherPike wrote:
Not much of plan beyond vengeance against one man really... the Genesis Device can only be used once. Then he's still facing overwhelming forces intent on hunting him down.
Khan's a super smart guy with an entire community of super smart followers. I'm sure he'd find a way to reverse engineer the Genesis device and manufacture super weapons from it.
I've wondered whether that was his intention all along. After all, it's a foregone conclusion that he was aware of the destructive potential of the device and the position of power such a device would put him in.
Why waste a colossal bargaining chip on one planet, when you can have many?
Although just the Reliant, wouldn't be enough to protect him from the rest of Starfleet once that's done. He'd need allies.
Plenty of other genetically engineered species in the galaxy. That, and along with the power of Genesis as a motivator, he'd have a lot of allies in no time at all.
Even assuming Khan and his followers could figure out HOW to reverse engineer the Genesis device, that doesn't necessarily mean they have the resources to make more. (I highly doubt a supply of protomatter is standard issue on starships!)
In the mean time, Starfleet's obviously going to get concerned if they lose contact with TWO of their ships, and probably send another ship or two to go look for them.
Khan gets lucky and catches them by surprise like he did with the Enterprise. Starfleet will just send yet another ship or two, who are going to be a lot more careful. They probably investigate the Regula 1 station, and maybe to Ceti Alpha V (Reliant's last known location), where they find the crew who tell them what happened. Either way, it's not going to take long for Starfleet to figure out Reliant's a rogue ship.
Now with all this fighting, Reliant's probably sustained quite a bit of damage. Even assuming they figure out how to fix the warp drive, it's not like they can go to a starbase for repairs. Maybe they can search the ship's database for a neutral port, but if word gets out that some band of rogues has stolen a Starfleet ship, it might attract the attention of certain parties like the Klingons or Romulans who might see this as a golden opportunity to capture an enemy vessel. (Even MORE so if they learn about the Genesis device!)
And yes, everyone Earth dies when the whale probe tears up the planet.
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A computer-assisted technique for providing approximate solutions to photogrammetric problems in interactive applications computes an approximate solution to a large, non-linear system by converting the non-linear system into a smaller, linear system where only a subset of the system's parameters are used. The size of the smaller system can be adjusted to different system capabilities and/or model complexities to ensure computation of an approximate solution in a given time. For use in an interactive environment, this time may be adjusted so that redraw rates are within acceptable tolerances, say from 5 to 30 frames per second. The method may allow for drawing a three-dimensional representation of a scene using parameterized primitives having constraints which are updated interactively, so as to minimize error in constrained locations of the primitives. Such drawing may include creating a Jacobian matrix for a predetermined minimum set of parameters of the primitives. Creating the Jacobian matrix may include searching for parameters of the primitives which can be updated to reflect constraint requirements introduced by user interaction, up to the predetermined minimum set of parameters. The present invention thus allows for interactive manipulation of computer displayed objects represented in three-dimensional form.
1. A computer-assisted method comprising:
drawing a three-dimensional representation of a scene using parameterized primitives having constraints which are updated interactively so as to minimize error in constrained locations of the primitives;
searching for parameters of primitives which can be updated to reflect constraint requirements introduced by user interaction, up to a predetermined maximum set of parameters of primitives; and
creating a Jacobian matrix for said predetermined maximum set of parameters of primitives.
2. A method, comprising updating a computer-generated model of a scene by determining a maximum number of parameters of one or more primitives which comprise the model to be updated to reflect constraint requirements introduced by user input to the model, the user input coming in the form of manipulation of tile primitives over an image of the scene.
3. The method of
4. The method of
5. The method of
6. The method of
7. The method of
8. The method of
9. The method of
determining a column set of the large, sparse matrix corresponding to those parameters affected by the user input to the model; and
growing or shrinking the column set as required to arrive at the maximum number of parameters.
10. The method of
11. The method of
12. The method of
13. The method of
14. The method of
15. The method of
The present invention relates to methods for determining approximate solutions to large, sparse linear systems and, in particular, to the applications of such methods in the fields of photogrammetry and computer-assisted three-dimensional modeling.
Three-dimensional modeling, which is now a subset of the larger field of computer graphics, has become popular in a number of areas, for example, as applied in computer-aided design of architecture industrial design and construction. As has been recognized in these and other fields, it is often desirable to have a three-dimensional model, complete with a description of shape, location, orientation and material surface properties (i.e., texture), in order to produce realistic renderings on a computer which can be used to document a new design of a city, a building or an object. The model can also be used for computer animations, virtual reality immersion of users in a scene or for manufacturing tasks.
Image assisted modeling may be regarded as a subset of three-dimensional modeling in that the model is produced from an image, rather than from scratch. In the field of image assisted modeling, a user manipulates a three-dimensional model of a scene (perhaps represented as a computer-generated graphical representation of the scene) interactively, to fit the scene to a given image. From the point of view of the software algorithm which allows such manipulation, this requires solving the basic photogrammetric equation
where p is the vector of coordinates of vertices of points of the model and q is the vector of parameters of the model. The vector p0 denotes the user specified locations of these points on the image. Function f maps the parameters q first into three-dimensional vertex coordinates in a world space, then second through a camera projection into camera space, and third, into a screen space for presentation to the user. In the general case where non-orthographic cameras are used to take the source image, f is non-linear with respect to q.
Because in general, (1) defines a non-linear system, solving (1) is commonly done by first converting it to a linear system, for example, using a first order Taylor series expansion, where J is the Jacobian of f (i.e., the derivatives of all elements of p with respect to all elements of q):
where is used to represent the product of a matrix with a vector. Equation (2) is then integrated over time to yield a solution.
For photogrammetric problems. J is large and sparse (i.e., mostly zero). While integrating (2) over time, one must recompute J for each new time step and solve the corresponding linear system. This solution process is roughly O(n*m), where n is the number of elements of p and m is the number of elements of q. Because of the complex computations involved, previous approaches to such modeling problems often involve algorithms that run in "batch" mode. That is, a user must create all of the input data (e.g., vertices edges, associations, etc.) and then invoke the modeling method. The modeling algorithms then complete all of the required calculations before providing any feedback to the user. Sometimes, because of inconsistent or undetermined input information or due to singularities in the modeling algorithms themselves, these batch processes cannot return correct or even useful models. Even worse, such algorithms often provide little or no indication of what the cause of the problem was or where the user might correct the input information to resubmit to the batch process.
A recently published method (Paul Debevec et al., "Modeling and Rendering Architecture from Photographs: A Hybrid Geometry- and Image-Based Approach", University of California Berkeley Technical Report UCB-CSD-96-893, January 1996) somewhat simplifies this situation by not having to deal with geometry at a vertex, then edge, then face level, but rather with primitives such as boxes or cylinders. The method requires a user to first create a parameterized (or rough) model of the objects in the scene using a separate editor. Second, the user draws edges on top of one or more photographs. Third, the user marks each edge in each photograph as corresponding to a particular edge in the parameterized model. The method then calculates values for the parameters in the model. This work is based on concepts and mathematics from Camillo Taylor and David Kriegman of Yale University, as reported in "Structure and Motion from Line Segments in Multiple Images", Yale University, Technical Report #94026, January 1994. Although somewhat less labor intensive than previous techniques, the Debevec method (known as Facade) still requires three, individually intensive, steps and the user must be skilled enough to build a parameterized model independent of the photographs.
Other reported methods, e.g., Michael Kass "CONDOR: Constraint-Based Dataflow", SIGGRAPH '92, pp. 321-330 (Jul. 26-31, 1992) and Michael Gleicher and Andrew Witkin, "Through-the-Lens Camera Control", SIGGRAPH '92, pp. 331-340 (Jul. 26-31, 1992), use data structures known as a dataflow network to create the required Jacobian matrix for providing iterative solutions to the modeling problem. For example, Gleicher and Witkin show how to apply traditional keyframing techniques to existing three-dimensional models and how to then solve for camera positions. However, in this technique, no modeling is done on top of an image nor is any texture extraction provided.
In general then, existing modeling techniques have not provided solutions to the photogrammetric equation (1) which allow for interactive use. Of course, in other fields much attention has been paid to the solution of sparse matrices. For example, parameter separation is a known technique for solving non-linear least squares problems. See, e.g., Ake Bjorck "Numerical Methods for Least Squares Problems", SIAM (1996). Unfortunately though, these techniques cannot be used for all functions f. Other methods exploit specific sparsity structures of a matrix or specific small changes to the linear system represented thereby. See, e.g., William H. Press et al., Numerical Recipes in C (1988). These techniques, however, do not adapt well to interactive situations.
In light of the need for computer-generated three-dimensional models, but given the shortcoming of prior schemes for solving the photogrammetric equation, it would be desirable to have an improved computer-assisted technique for solving such problems in an interactive environment.
Thus, one object of the present invention is to provide an improved computer-assisted technique for solving photogrammetric problems in an interactive environment.
In one embodiment, the present invention provides a computer-assisted technique for providing approximate solutions to photogrammetric problems in interactive applications, for example, image assisted modeling applications wherein a three-dimensional model is constructed on top of one or more images. Rather than directly solve the system described by equation (2) above, the present invention computes an approximate solution which can be used to quickly redraw and update the model for presentation to the user. In other words, the techniques of the present invention allow for an efficient conversion of the full problem described by (2) into a smaller problem where only a subset of the model's parameters are used. The size of the smaller problem can be adjusted to different system capabilities and/or model complexities to ensure computation of an approximate solution in a given time. For use in an interactive environment, this time may be adjusted so that redraw rates are within acceptable tolerances, say from 5 to 30 frames per second.
By way of example, the computer-assisted method may allow for drawing a three-dimensional representation of a scene using parameterized primitives having constraints which are updated interactively, so as to minimize error in constrained locations of the primitives. Such drawing may include creating a Jacobian matrix for a predetermined minimum set of parameters of the primitives. Creating the Jacobian matrix may include searching for parameters of the primitives which can be updated to reflect constraint requirements introduced by user interaction, up to the predetermined minimum set of parameters. The present invention thus allows for interactive manipulation of computer displayed objects represented in three-dimensional form.
Other objects, features and advantages of the present invention will be apparent from the accompanying drawings and the detailed description which follows.
The present invention is illustrated by way of example and not limitation in the figures of the accompanying drawings in which:
FIG. 1 depicts a generalized block diagram of a computer system as might be used by the present invention;
FIG. 2 illustrates a user-supplied image overlaid with a wireframe of a primitive and constraints;
FIG. 3 illustrates the use of constraints to align wireframe representations of primitives to objects in a digital image in accordance with the present invention;
FIG. 4 is a flowchart illustrating the sequence of steps involved in creating a three-dimensional model according to one embodiment of the present invention;
FIG. 5 is a flowchart illustrating the sequence of steps involved in computing a Jacobian matrix according to one embodiment of the present invention;
FIG. 6 graphically illustrates the creation of the Jacobian using the process of FIG. 5;
FIG. 7 illustrates a wireframe rendering of a rectilinear box primitive having two constraints; and
FIG. 8 illustrates the Jacobian for the rectilinear box primitive shown in FIG. 7.
Described herein is a computer-assisted technique for providing approximate solutions to photogrammetric problems in interactive applications. The technique is especially useful in image assisted modeling applications wherein a three-dimensional model is constructed on top of one or more images such that the model's parameters automatically match those of objects depicted in the images. The present invention recognizes that in order to continuously solve the linear system described in (2) above, and reproduced here:
during user interaction (i.e., while manipulating parameters of the model), what is needed is not an exact solution, but rather an approximate solution which can be used to quickly redraw and update the model for presentation to the user.
The technique allows for an efficient conversion of the full problem described by (2) into a smaller problem where only a subset of parameters q are used. The size of the smaller problem can be adjusted to different system capabilities (e.g., processor speeds) and/or model complexities to ensure computation of an approximate solution in a given time. The method recognizes that: (a) given a previous constraint vector p0, a solution for equation (2) is known; (b) the change to a new constraint vector p0 only involves a few elements of p0; and (c) J is sparse and known with respect to a previous constraint vector p0.
To illustrate, assuming that a user only makes a change to a small subset of the elements p0, a subset called p0*, the present invention then solves:
so that q is a good approximation to the true solution of (2). Note that only elements of q* will change because those are the only elements integrated over time. Also note that J* denotes a smaller Jacobian which describes the derivatives of all elements of p with respect to q*.
The present invention allows choosing the number of elements of q* freely (e.g., anywhere from 0 to the number of elements of q), so that one can adjust the time it takes to solve (3) (e.g., from 0 to the time it takes to solve (2)). For use in an interactive environment, one can adjust this time so that redraw rates are within acceptable tolerances, say from 5 to 30 frames per second. It is also beneficial to adjust the size of q* to the amount of change of the constraints p0 (e.g., while the user drags the model precision is not of primary concern so the size of q* may be kept small to achieve fast redraws; as the user stops dragging, the size of q* may be increased to increase precision).
The present invention thus allows for interactive manipulation of computer displayed objects represented in three-dimensional form. Before describing further details of the techniques for generating approximate solutions to photogrammetric problems, however, it may be helpful to provide a brief description of the relevant components of an exemplary computing environment within which the present invention may find application. Afterwards, a brief description of a method of modeling a scene depicted in an image is presented. A more complete discussion of these methods may be found in co-pending Application No. 09/062512, entitled "Method and Apparatus for Image Assisted Modeling of Three-Dimensional Scenes" filed Apr. 17, 1988, by Tilman Reinhardt and Robert Seidl and assigned to the Assignee of the present application, incorporated herein by reference.
FIG. 1 is a generalized block diagram of a computer system 10 which includes a central processing unit (CPU) 11. CPU 11 generally includes one or more general purpose processors and one or more memory units, usually in the form of read/write memory (RAM) and/or read only memory (ROM). Application programs, for example a three-dimensional modeling program which makes use of the techniques of the present invention, may be loaded into RAM (e.g., from another storage medium) for execution by one or more of the general purpose processors which comprise CPU 11. In other cases, computer readable instructions which comprise an embodiment of the present invention may be stored in ROM or other non-volatile media, or downloaded from a source of such instructions (e.g., via a computer network and/or the network of networks commonly referred to as the Internet) for execution by CPU II.
Computer system 10 also includes a keyboard or other alphanumeric input device 12 which is coupled to (e.g., via one or more busses) and provides user input to CPU 11 as does a two-dimensional input controller 13. Two-dimensional input controller 13 may, by way of example, be a mouse, trackball, stylus or other input device. Images may be provided to CPU 11 via image scanning device 17, video capture device 18 (e.g., which is able to extract still images from a video signal) and/or digital camera 16, each or any of which may be coupled to CPU 11 via one or more connectors and/or busses.
Disk drive unit(s) 15 (or other long term storage media) may also coupled to CPU 11 and may be used for storing the digital images and geometric and texture data for three-dimensional models as well as computer readable instructions which comprise an embodiment of the present invention. Display output is provided by a video display unit 14 coupled to CPU 11. Video display unit 14 may be a conventional display such as a liquid crystal display (LCD) or other display device.
Digital images can be created by scanning existing photographs or printed material into the computer system 10 and storing same in memory or on disk drive 15. This may be accomplished, for example, using a software application which, when executed by CPU 11, allows still images to be captured from a video (e.g. as a frame of the video) and stored to memory. Alternatively, the output of digital camera 16 or scanner 17 may be downloaded to memory and/or long term storage. In this way, one or more digital images may be stored and later used by a software application which employs the techniques of the present invention.
FIG. 2 now illustrates a general method of creating a digital model which makes use of the methods of the present invention. Having loaded a digital image 201 (step 250), a user may then create one or more objects known as primitives (e.g., boxes, pyramids, cylinders, or other three-dimensional objects) which approximate the objects shown in the digital images (step 251). A wireframe rendering 202 of the primitives may be displayed over top of the digital image 201 (i.e., the digital representation of the photograph). The objective then is for the user to manipulate the wireframe primitive rendering 202 using the methods of the present invention, until the wireframe precisely (or neatly precisely) coincides with the object it represents in the digital image (steps 252, 253, 254, 255 and 256). Thus, the user creates a geometric model (from the primitive(s)) right on top of the digital image 201 (i.e., the photograph(s)), without requiring the use of separate editors, windows or views. In the example shown in FIG. 2 a wireframe rendering 202 of a rectilinear box is manipulated until it coincides with the outline of a box shown in the digital image 201.
The two-dimensional wireframe rendering 202 of the primitive may be created from its predefined three-dimensional representation by projecting the geometry of the primitive through a virtual camera. Parameters for the virtual camera, such as position, orientation, focal length, etc., are found (e.g., as the wireframe primitive representation 202 is aligned with the object it represents in the digital image 201) such that projection through the virtual camera yields the same two-dimensional projected geometry as is visible in the underlaid digital image (i.e., the underlaid photograph) 201. If more than one digital image (photograph) 201 is provided, then multiple virtual cameras (e.g., one for each image) may be created and the corresponding camera parameters estimated therefore. At the same time, parameters for each of the primitives (e.g., length, width, height, orientation and location in space) overlaid on the digital image are determined.
To accomplish these objectives, as the user manipulates the wireframe renderings 202 of the primitives to align the wireframe with the underlaid image 201, constraints are added to "fix" the wireframe 202 to the image 201. For example, as shown in FIG. 3, constraints 303, 304 which constrain or fix the location of corners or edges of the wireframe projections 302 to the locations in the image 301 to which they correspond or to constrain geometrical relationships between the primitives in their three-dimensional representations are added. As the constraints are introduced into the model, new estimates for all parameters of the primitives and virtual camera(s) are calculated. Based on these new parameters, the geometric coordinates of each primitive can be calculated and projected through each virtual camera to yield an updated projected wireframe graphical representation overlaid on the image and displayed to the user. The present inventions minimizes the amount of change in parameters which, with frequent enough incremental re-evaluations and reprojections yield a smooth movement of the wireframe, thus providing the user with the illusion of manipulating real three-dimensional objects made of springs or an elastic-like material. Further details regarding the various types of constraints which may be used to fix the wireframe projection to the image may be found in co-pending Application No. 09/062512.
To illustrate the solution embodied in the present invention consider the following. Call the vector of the relevant parameters, including the primitive and virtual camera parameters, "q". Call the set of two-dimensional points necessary to display a wireframe representation of the primitive on the display "p". Then, p is a function of q, or:
As discussed above, it is mathematically impractical to solve equation (4) for q, given a set of desired constraint locations. Instead, the problem is solved by specifying dp/dt=p−p0, where p0 are the constraints, as a distance of actual (projected) and displayed (constrained) two-dimensional locations, calculating dq/dt and integrating that quantity continuously, yielding values for parameters q that can be used to update the screen display.
As is known to those of ordinary skill in the art, for a vector of constraint locations, the quantity df/dq is a derivative matrix called the Jacobian, usually denoted by "J". For the present application, the elements of J depend on the parameters of the primitives which make up the three-dimensional model and their associated constraints. For example, consider the wireframe rendering of rectilinear box primitive 700 illustrated in FIG. 7. Box primitive 700 has parameters length (L), width (W) and height (H) and is constrained at two of its vertices 702 and 704 by pin constraints 706 and 708, respectively. Pin constraints 706 and 708 intuitively correspond to push pins which may be used to affix notes or other items to a cork board, e.g., on a refrigerator or at a desk or other workspace. To a user, when a pin constraint is used, it appears that a corner of a projected wireframe is pinned to an underlaid image (not shown) at a particular location determined by the user and defined by the location of the pin. Mathematically, this states that the distance between the pin constraint's location and the projection of the corner of the wireframe should be zero. Note that because the wireframe is presented on a two-dimensional screen, the pin constraints need only be defined in two-dimensional (e.g., x and y) coordinates (of course, in general, constraints may have x, y and z coordinates).
A Jacobian describing box primitive 700 will have columns corresponding to the primitive's parameters q, (i.e., L, W and H) and rows corresponding to the spatial locations of the constraints. The individual elements of the matrix are the derivatives of the constraints' locations with respect to the primitive's parameters as shown in FIG. 8. These entries describe, for example, how much of a change in the x and/or y location of a constraint is introduced for a corresponding change in one (or more) of the parameters of box primitive 700.
Thus, like p, matrix J is a function of the parameters q. J can be calculated from knowledge of Current parameter values q1 and the function f which is typically a combination of several functions, such as local-to-global coordinate transformations, camera coordinate transformations, perspective divisions and screen coordinate transformations. Rather than calculating the compound derivative (which can be quite complex), the chain rule can be employed:
where dg1(q)/dq, etc. may also be expanded if necessary
There may be many possible values of q which satisfy the relationship of equation (5). The present invention chooses a technique which evaluates the smallest value, i.e., the minimum change required to update the parameter values. In an interactive, incrementally updated feedback loop to the user, this is important as the display will not make sudden, unexpected jumps which might otherwise be encountered if other update schemes were employed. Therefore, a least squares formulation is used, and the problem becomes:
where, . indicates the dot product, and E is an error function, sometimes called an energy function.
Using a technique known in the art as Lagrange multipliers, one solves the linear system:
where, k is an intermediate result called the Lagrange multiplier, and then evaluates:
which yields one desired result dq/dt for one timestep. Equations (7) and (8) are now used repeatedly to evaluate dq/dt for each timestep and to integrate q over time, for example using well known Euler or Runge Kutta methods. This yields an updated parameter vector q and, periodically, this q is used to redraw the wireframe representation to provide the user with visual feedback.
Thus, with reference to FIG. 4, at step 401 user input regarding the addition of constraints is gathered and used to determine (step 402) whether any changes have been implemented. If so, then at step 403, the constraints p0 are updated with those changes. To ensure frequent enough user feedback, the current state of q may be redrawn whenever a predetermined time period has expired (see step 409, below). Then, at step 404, the present invention seeks to minimize the error or energy according to the above procedures.
When a minimum error (or energy) state has been achieved, the Jacobian matrix is created (step 405) and solutions for dp/dt and dq/dt are obtained (step 406). Next, the quantity q is integrated over time (step 407) and, periodically (step 408) an updated parameter vector q is used to redraw (step 409) the wireframe representation to provide the user with visual feedback.
Thus, the technique of the present invention begins with three inputs: First, the Jacobian at some time t0 (called J); second, the desired number of parameters "m" which are allowed to change as a result of the user input; and third the constraints that have changed since the last solution was found (called p0*). The present invention then generates a parameter selection q*, which has fewer or equal elements to the target number of parameters m.
Referring now to FIG. 5, the process for the creation of the Jacobian is illustrated. Initially, step 501, a row set {r} is created which corresponds to the rows of J that represent the constraint p0*. This row set is translated, step 502, into a column set {c} by including all of the columns for which the rows {r} of J have non-zero elements. As this set {c} will, in the general case, not have m elements, it is either grown or shrunk (decision step 503) depending on whether it is smaller or larger, respectively, than m.
When shrinking {c}, the elements for which J has the most non-zero elements are removed until {c} has m elements (steps 504, 506). Then, the process quits (step 508) with that selection.
In order to grow {c}, all the rows for which the columns {c} of J have non-zero elements are added to {r} (step 505) and the process restarts by translating {r} into a new set of {c} (step 502, etc.). If {r} is not changed with this growing step (step 507), the process recognizes that an upper limit has been reached for the number of parameters and stops with the current selection (smaller than m).
FIG. 6 now shows an example of the above-described process with a Jacobian J of 10 constraints and 14 parameters (step 601). The sparsity of the matrix J is indicated by * and 0, where * indicates a non-zero element. The initial row set {r} is assumed to be {r}={4, 9}, i.e., indicating that the user has modified the model so as to change constraints represented in rows 4 and 9 (numbered from top to bottom) of J. This may, for example, correspond to a user placing a pin constraint at a corner of a box primitive.
The process now translates this row set into a column set by looking for the non-zero elements in rows 4 and 9 (step 602). This yields {c}={1, 2, 3, 10} (where the columns are numbered from left to right). In other words, the process searches for parameters of the primitive(s) which can be updated to reflect the constraint requirements introduced by the user activities. This is done for a minimum number of necessary parameters, up to a target or limit on the number of parameters to be so affected. A limit is chosen to allow for the required redraw rates to keep the process interactive. If the target size (i.e., the number of parameters to limit the computation to) for the illustrated example was 8, the process recognizes that this limit has not yet been met ({c} has only 4 elements). So. {c} is now translated into a new set {r} by including all those row sets which have non-zero elements in any of the columns {c}. This yields a new {r}={1, 2, 4, 5, 8, 9} (step 603). Note that allowing the number of parameters to grow to the preset limit means that a more precise solution can be obtained. In alternative embodiments the process may quit after an initial number of parameters is determined from step 602.
Again the new row set is translated into a new column set {c}, so that the new {c}={1, 2, 5, 6, 8, 9, 10, 11, 12, 13, 14} (step 604). The size of this set is lager than the target size of 8 so it must be pruned by removing those columns which have the most non-zero elements. This eliminates columns 13, 14, 2 and 5. The rationale for removing those columns with the most non-zero elements until a parameter set having the predetermined limit of parameters is obtained is that those parameters (columns) with more non-zero constraints (rows) are more rigidly fixed by the existing constraints on the model. Thus, it would be unwise to alter those parameters for the limited change being introduced by the new user input. The resulting set of parameters is represented by the final column set {c}={1, 4, 6, 8, 9, 10, 11, 12}. This is the reduced Jacobian J* which may now be computed by removing the columns which are in {c} from J. Matrix J* may now be used in the above computations (e.g., in equation (3) above).
As indicated, the predetermined limit on the number of parameters which may be used in computing J* may vary depending on the user's input. For example, if a user is currently providing model information (e.g., by moving a constraint with the two-dimensional input controller), a relatively limited set of parameters may be updated so that a fast redraw rate may be maintained. In such situations, it is expected that users will want rapid feedback so that they can view the results of there inputs, and that such feedback need not be as precise as when a static representation of the model is being viewed. Alternatively, when a static presentation of the model is what is required, a large number of parameters may be solved for, to allow the model to be drawn precisely.
In the present invention, virtual camera and primitive parameters are estimated simultaneously, eliminating the need for a separate camera calibration and estimation step before object measurement can begin. An important aspect of this invention is that even at the point of creation of the first primitive, and at all times thereafter, a current estimate for all the camera and object parameters exists. As the user provides additional information in the form of constraints or additional images, these parameters get updated and more precise, but they are always available. Initially, the parameters are set to a default value, but typically converge to "correct"values after only very little additional user input (e.g., as the projected wireframes are manipulated to correspond to the objects depicted in the underlaid digital image).
The fact that the parameters are always available and are updated incrementally makes it possible to continuously generate an updated wireframe rendering of one or more primitives in response to changing parameters such as camera position. In this way, the user can see the effect of the current parameters and can add new information in the form of constraints where necessary. Including the user in the update loop by providing visual feedback as parameters are updated is significantly different from existing modeling approaches which require that a user enter a great deal of data and then run in a batch mode which may or may not provide a correct solution. e.g., if insufficient or incorrect data was entered. With the methods of the present invention, if insufficient input information has been provided, this fact is readily apparent to the user because the projected wireframes do not (yet) match up with the objects in the underlaid image. To remedy the situation, the user need only add constraints until a sufficient match between the wireframes and the objects in the underlaid image has been achieved. In fact, rather than merely adding arbitrary constraints, users are provided with the kind of visual feedback which allows them to intuitively constrain primitives where needed, e.g., where the projected wireframes are "most wrong"with respect to the underlaid image. These tend to be the most effective (from a mathematical sense) constraints for adapting the model to the image. In the past, modeling schemes generally provided little or no information regarding which constraints were required or how important some constraints were to others. The present scheme, however, immediately provides the user with an indication of how much and what information is required and does so in a highly intuitive fashion.
Also, the incremental approach used in the present invention allows immediate detection and reversal (e.g., via an undo facility as has become common among user applications) of inconsistent user input. Usually, the inputs will be consistent and the parameters will provide a reasonable match to the objects in the image. As an inconsistent input (e.g., in the form of a constraint) is provided by a user, the parameters will diverge, rather than converge to the correct value, and thus the projected wireframe will look less correct or more misshapen than before. In such a case (and as will be readily apparent thanks to the immediate visual feedback provided to the user), the user can simply "undo" the last input and restore the set of inputs to the pervious, consistent state. Of course to accommodate this undo option, one or more previous states will have to be maintained, e.g., in memory.
Thus, an improved computer-assisted technique for providing approximate solutions to photogrammetric problems in interactive applications has been described. Although the foregoing description was set forth with reference to certain illustrated embodiments, it should be appreciated that the present invention is in no way limited to these examples. Instead, the invention should only be measured in terms of the claims which follow.
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