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Patent application title: SYSTEMS AND METHODS FOR MODELING THREE-DIMENSIONAL OBJECTS FROM TWO- DIMENSIONAL IMAGES
Saad M. Khan (Hamilton, NJ, US)
Pingkun Yan (Peekskill, NY, US)
Mubarak Shah (Oviedo, FL, US)
IPC8 Class: AG06T1700FI
USPC Class:
Class name: Image analysis applications 3-d or stereo imaging analysis
Publication date: 2009-12-10
Patent application number: 20090304265
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In one embodiment, a system and method for modeling a three-dimensional
object includes capturing two-dimensional images of the object from
multiple different viewpoints to obtain multiple views of the object,
estimating slices of the object that lie in parallel planes that cut
through the object, and computing a surface of the object from the
estimated slices.
1. A method for modeling a three-dimensional object, the method
comprising:capturing two-dimensional images of the object from multiple
different viewpoints to obtain multiple views of the object;estimating
slices of the object that lie in parallel planes that cut through the
object; andcomputing a surface of the object from the estimated slices.
2. The method of claim 1, wherein estimating slices comprises identifying foreground silhouettes of the object in each view.
3. The method of claim 2, wherein estimating slices further comprises designating one of the views as the reference view.
4. The method of claim 3, wherein estimating slices further comprises warping each view other than the reference view to the reference view to obtain warped silhouettes.
5. The method of claim 4, wherein warping comprises determining the planar homography between each other view and the reference view that is induced by a ground plane upon which the object is supported.
6. The method of claim 5, wherein estimating slices further comprises fusing the warped silhouettes to obtain a cross-sectional slice of a visual hull of the object that lies in the ground plane.
7. The method of claim 6, wherein estimating slices further comprises estimating planar homographies induced by additional planes parallel to the ground plane using the planar homographies induced by the ground plane and the location of the vanishing point in an up direction of the object.
8. The method of claim 7, wherein estimating slices further comprises, as to each additional plane, warping each view to the reference view relative to the additional plane to obtain warped silhouettes and fusing the warped silhouettes to obtain a further cross-sectional slice of the visual hull of the object.
9. The method of claim 1, wherein computing a surface comprises creating a three-dimensional data structure that represents the object and its background by stacking the estimated slices on top of each other along an up direction of the object.
10. The method of claim 9, wherein computing a surface further comprises dividing the object from the background in the three-dimensional data structure to segment out the surface of the object.
11. The method of claim 10, wherein dividing the object from the background comprises minimizing an energy function over the object surface.
12. The method of claim 1, further comprising rendering the object surface.
13. The method of claim 12, further comprising color mapping the rendered object surface.
14. A method for modeling a three-dimensional object, the method comprising:capturing two-dimensional images of the object from multiple different viewpoints to obtain multiple views of the object;identifying foreground silhouettes of the object in each view;designating one of the views as the reference view;warping each view other than the reference view to the reference view relative to a ground plane upon which the object is supported to obtain warped silhouettes;fusing the warped silhouettes to obtain a first cross-sectional slice of a visual hull of the object that lies in the ground plane;estimating further cross-sectional slices of the visual hull that lie in additional planes above and parallel to the ground plane;stacking the cross-sectional slices on top of each other along an up direction of the object to create a three-dimensional data structure that represents the object and its background; andcomputing an object surface from the data structure by minimizing an energy function for the data structure.
15. The method of claim 14, wherein warping comprises determining the planar homography between each view and the reference view that is induced by the ground plane.
16. The method of claim 15, wherein estimating further cross-sectional slices comprises estimating planar homographies induced by the additional planes using the planar homographies induced by the ground plane and the location of the vanishing point in the up direction of the object.
17. The method of claim 16, wherein estimating further cross-sectional slices further comprises, as to each additional plane, warping each view to the reference view relative to the additional plane to obtain warped silhouettes and fusing the warped silhouettes to obtain a further cross-sectional slice of the visual hull of the object.
18. The method of claim 15, wherein minimizing an energy function comprises minimizing an energy function that comprises a gradient term and a surface area term.
19. The method of claim 15, further comprising rendering the object surface.
20. The method of claim 15, further comprising color mapping the rendered object surface.
21. A computer-readable medium comprising:logic configured to estimate a slice of an object that lies in a ground plane upon which the object is supported from two-dimensional views of the object;logic configured to estimate relative to the ground plane further slices of the object that lie in additional planes that are parallel to the ground plane; andlogic configured to compute a surface of the object from the estimated slices.
22. The computer-readable medium of claim 21, further comprising logic configured to warp views to a reference view to obtain warped silhouettes related to the ground plane.
23. The computer-readable medium of claim 22, wherein the logic configured to warp is configured to determine planar homographies between the reference view and the other views that are induced by the ground plane.
24. The computer-readable medium of claim 23, further comprising logic configured to fuse the warped silhouettes to obtain a cross-sectional slice of a visual hull of the object that lies in the ground plane.
25. The computer-readable medium of claim 24, wherein the logic configured to estimate further slices is configured to estimate planar homographies induced by the additional planes using planar homographies induced by the ground plane and the location of the vanishing point in an up direction of the object.
26. The computer-readable medium of claim 21, further comprising logic configured to create a three-dimensional data structure that represents the object and its background by stacking the estimated slices on top of each other along an up direction of the object.
27. The computer-readable medium of claim 26, wherein the logic configured to compute a surface is configured to divide the object from the background in the three-dimensional data structure to segment out the surface of the object.
28. The computer-readable medium of claim 27, wherein the logic configured to computer a surface is further configured to minimize an energy function over the object surface.
29. The computer-readable medium of claim 21, further comprising logic configured to render the object surface.
30. The computer-readable medium of claim 21, further comprising logic configured to color map the rendered object surface.
[0001]This application claims priority to copending U.S. provisional application entitled "A Homographic Framework for the Fusion of Multi-View Silhouettes" having Ser. No. 61/026,561, filed Feb. 6, 2008, which is entirely incorporated herein by reference.
[0003]Three-dimensional modeling is useful in various applications, including object localization, object recognition, and motion capture. There are a variety of methods that are currently used to model three-dimensional objects. One such method is a visual hull-based method in which silhouette information from two-dimensional images taken from multiple views in three-dimensional space are fused. Although such methods are viable, they typically require camera calibration, which is cumbersome. It would be desirable to be able to model three-dimensional objects from two-dimensional images without having to perform such calibration.
[0004]The present disclosure may be better understood with reference to the following figures. Matching reference numerals designate corresponding parts throughout the figures, which are not necessarily drawn to scale.
[0005]FIG. 1 is a diagram that schematically illustrates a homography induced by a planar surface between two views of an object.
[0006]FIG. 2A is a diagram that schematically illustrates warping silhouettes of an object to a reference view using a planar homography induced by a first plane.
[0007]FIG. 2B is a diagram that schematically illustrates warping silhouettes of an object to a reference view using a planar homography induced by a second plane parallel to the first plane of FIG. 2A.
[0008]FIG. 3 is a diagram that illustrates the geometrical relationship of the homography of an image plane to two parallel scene planes.
[0009]FIGS. 4A and 4B together comprise a flow diagram that illustrates an embodiment of a method for three-dimensional modeling.
[0010]FIG. 5 comprises four images of an object captured from different viewpoints.
[0011]FIG. 6 is a view of four estimated object slices superimposed onto the outline of the object of FIG. 5
[0012]FIG. 7 comprises two views of an object structure comprised of segmented object slices obtained for the object of FIG. 5 after rendering with a point rendering algorithm.
[0013]FIG. 8 comprises four zoomed-out views of the object structure of FIG. 7.
[0014]FIG. 9 is a schematic view of a system for three-dimensional modeling.
[0015]FIG. 10 is block diagram of an example architecture for a computer system illustrated in FIG. 9.
[0016]Disclosed herein are systems and methods for three-dimensional modeling using a purely image-based approach to fusing foreground silhouette information from multiple two-dimensional views. Unlike prior solutions, three-dimensional constructs such as camera calibration are unnecessary.
[0017]As described in greater detail below, visual hull intersection is performed in the image plane using planar homographies and foreground likelihood information from a set of arbitrary views of an object. A two-dimensional grid of object occupancy likelihoods is generated representing a cross-sectional slice of the object. Subsequent slices of the object are obtained by extending the process to planes parallel to a reference plane in a direction along the body of the object. Occupancy grids are then stacked on top of each other, creating a three-dimensional data structure that encapsulates the object shape and location. Finally, the object structure is segmented out by minimizing an energy function over the surface of the object in a level sets formulation.
[0018]The problem of determining a slice of an object can be stated as finding the region on a hypothetical plane that is occupied by the object. Through homographic warping of silhouette information from multiple views to a reference view, visual hull intersection on a plane can be achieved. If foreground information is available in each view, the process delivers a two-dimensional grid of space occupancies: a representation of a slice of the object cut out by the plane. Starting with homographies between views due to a reference plane in the scene (e.g., a ground plane), homographies of successively parallel planes can be obtained in the framework of plane-to-plane homologies using the vanishing point of the reference direction (the direction not parallel to the reference plane). With those homographies, an arbitrary number of occupancy grids/slices along the body of the object can be obtained, each being a discrete sampling of three-dimensional space of object occupancies.
Discussion of the Modeling Approach
[0019]Planar homographies will first be discussed in relation to FIG. 1, which illustrates a scene occupied by a cylinder 10. Assume x=(x, y, 1) denotes the image location (in homogeneous coordinates) of a three-dimensional scene point in a first view, View 1, and x'=(x', y', 1) are the coordinates of the scene point in a second view, View 2. Let H.sub.π denote the homography between the two views with respect to a scene plane π. Warping View 1 onto View 2 using H.sub.π, the point x is transformed to xw, where xw=[H.sub.π]x. For scene points on plane π, xw=x', while for scene points off plane π, xw≠x'. The misalignment xw-x' is called the plane parallax. Geometrically speaking, warping x from the View 1 to View 2 using homography H, amounts to projecting a ray from the camera center of View 1 through the scene point at location x and extending it until it intersects the plane H.sub.π at a point often referred to as the "piercing point" of x with respect to plane H.sub.π. The ray is then projected from the piercing point onto the second view. The point in the image plane of the second view that the ray intersects is xw. In effect, xw is the location at which the image of the piercing point is formed in the second camera. This phenomenon is illustrated by piercing points 12 and 14 in FIG. 1. As can be seen from that figure, scene points on the plane π have no plane parallax, while those off the plane have considerable plane parallax. Using these concepts, cross-sectional slices of the visual hull cut out by arbitrary planes in the scene can be obtained by the homographic fusion of multiple silhouettes onto a reference view.
[0020]FIG. 2A illustrates a scene containing a cylinder 16 that is viewed from several angles. The view I1 is chosen as the reference view, although any of the views could be selected. By warping view I1 to the reference view I1 using homography Hin1 induced by scene plane π, every foreground pixel in Ii is projected to its piercing point on π. This process can be visualized as the foreground object casting a shadow on π (an analogy if the cameras are replaced by point light sources), as depicted by the shadow regions 18 in FIG. 2A. The shadow is then projected onto the reference view I1 to complete the operation of the homographic warping.
[0021]Computing the shadow is equivalent to determining the region on plane π that falls inside the visual hull of the object image in Ii. The fusion of these shadows projected from various views therefore amounts to performing visual hull intersection on plane π, depicted by the region 20 in FIG. 2A. This process is performed implicitly, when all of the views are warped onto the reference view I1 and fused to obtain the region 20 in the reference view I1. Without loss of generality, the image plane of reference view I1 after homographic fusion of foreground data can be viewed as a projectively transformed planar slice of the object (strictly speaking a perspectivity with only 6 degrees of freedom).
[0022]Instead of using binary foreground maps, a more statistical approach can be pursued and the background can be modeled in each view to obtain foreground likelihood maps, thereby using cameras as statistical occupancy sensors (foreground interpreted as occupancy in space). In the case of non-stationary cameras, object detection is achieved in a plane+parallax framework assigning high foreground likelihood where there is high motion parallax. A reason to adopt a soft approach is to delay the act of thresholding preventing any premature decisions on pixel labeling; an approach that has proven to be very useful in visual hull methods due to their susceptibility to segmentation and calibration errors. Assume that Ii is the foreground likelihood map (each pixel value is likelihood of being foreground) in view i of n. Consider a reference plane π in the scene inducing homographies Hi.sub.πj, from view i to view j. Warping Ii's to a reference view Iref, the warped foreground likelihood maps are: I=[Hi.sub.πref]Ii.
[0023]Visual hull intersection on π (AND-fusion of the shadow regions) is achieved by multiplying these warped foreground likelihood maps:
θ ref = i = 1 n I ^ i , [ Equation 1 ] ##EQU00001##
where θref is the projectively transformed grid of object occupancy likelihoods. Notably, a more elaborate fusion model can be used at the expense of simplicity. For instance, a sensor fusion strategy that explicitly models pixel visibility, sensor reliability, or scene radiance can be transparently incorporated without affecting the underlying approach of fusing at slices in the image plane rather than in three-dimensional space.
[0024]Each value in θref identifies the likelihood of a grid location being inside the body of the object, indeed representing a slice of the object cut out by plane π. It should be noted that the choice of reference view is irrelevant, as the slices obtained on all image planes and the scene plane π are projectively equivalent. This computation can be performed at an arbitrary number of planes in the scene, each giving a new slice of the object. Naturally, this does not apply to planes that do not pass through the object's body, since visual hull intersection on these planes will be empty. FIG. 2B demonstrates a second plane go and a second slice 22 of the cylinder 16.
[0025]Starting with a reference plane in the scene (typically the ground plane), visual hull intersection can be performed on successively parallel planes in the up direction along the body of the object. The probabilistic occupancy grids θis obtained in this fashion can be thresholded to obtain object slices, but this creates the problem of finding the optimum threshold at each slice level. Moreover, the slices have a strong dependency on each other as they are parts of the same object(s), and should as such be treated as a whole. This dependency can be modeled by stacking the slices, creating a three dimensional data structure Θ=[θ1; θ2; . . . θn]. Θ is not an entity in the three-dimensional world or a collection of voxels. It is, simply put, a logical arrangement of planar slices representing discrete samplings of the continuous occupancy space. Object structure is then segmented out from Θ, i.e., simultaneously segmented out from all the slices as a smooth surface that divides the space into the object and background. Discussed in the following paragraphs is an image-based approach using the homography of a reference plane in a scene to compute homographies induced between views by planes parallel to the reference plane.
[0026]Consider a coordinate system XYZ in space. Let the origin of the coordinate frame lie on the reference plane, with the X and Y axes spanning the plane. The Z axis is the reference direction, which is thus any direction not parallel to the plane. The image coordinate system is the usual xy affine image frame, and a point X in space is projected to the image point x via a 3×4 projection matrix M as:
x=MX=[m1m2m.sub.3m4]X, [Equation 2]
where x and X are homogenous vectors in the form: x=(x,y,w)T, X=(X,Y,Z,W)T, and "=" means equality up to scale. The projection matrix M can be parameterized as:
M=[vXvYvZI], [Equation 3]
where vX, vY, and vZ are the vanishing points for X, Y, and Z directions respectively and I is the vanishing line of the reference plane normalized.
[0027]Suppose the world coordinate system is translated from the plane π onto the plane π' along the reference direction (Z) by z units as shown in FIG. 3, then a new projection matrix M' can be parameterized as:
M'=[vXvYvZαzvz+I], [Equation 4]
where α is a scale factor. Columns 1, 2, and 4 of the projection matrices are the three columns of the respective plane to image homographies. Therefore, the plane-to-image homographies can be extracted from the projection matrices, ignoring the third column, to give:
H.sub.π=[vXvYI], H'.sub.π=[vXvYαzvZ+I]. [Equation 5]
In general:
HY=Href+[0|γvref], [Equation 6]
where Href is the homography of the reference plane, γ is a scalar multiple encapsulating α and z, [0] is a 3×2 matrix of zeros, and vref is the vanishing point of the reference direction. Using this result it can be shown that if the homography Hi.sub.πj is induced by a reference scene plane π between views i and j, then the homography Hi.sub.φj induced by a plane φ parallel to π in the reference direction is given by:
H i Φ j = ( H i π j + [ 0 y v ref ] ) ( I 3 × 3 - 1 1 + y [ 0 yv ref ] ) . [ Equation 7 ] ##EQU00002##
[0028]As described above, slices computed along the body of the object can be stacked to create a three dimensional data structure Θ that encapsulates the object structure. To segment out the object, a parameterized surface S(q):[0,1]R3→ can be evolved that divides Θ between the object and the background. This is achieved by formulating the problem in a variational framework, where the solution is a minimizer of a global cost functional that combines a smoothness prior on slice contours and a data fitness score. The energy functional can be defined as:
E ( S ) = ∫ S g ( ∇ ( S ( q ) ) ) 2 q + ∫ S ∂ S ( q ) ∂ q 2 q , [ Equation 8 ] ##EQU00003##
where ∇Θ denotes gradient of Θ, and g denotes a strictly decreasing function: g(x)=1/(1+x2). The first term at the right side of Equation 8 represents external energy. Its role is to attract the surface towards the object boundary in Θ. The second term, called the internal energy, computes the area of the surface. Given the same volume, a smoother surface will have a smaller area. Therefore, this term controls the smoothness of the surface to be determined. When the overall energy is minimized, the object boundary will be approached by a smooth surface.
[0029]Minimizing Equation 8 is equivalent to computing geodesic in a Riemannian space:
E ( S ) = ∫ g ( ∇ ( S ) ) ∂ S ∂ q q . [ Equation 9 ] ##EQU00004##
With the Euler-Lagrange equation deduced, this objective function can be minimized by using the gradient descent method by an iteration time t as
{right arrow over (S)}t=g(|∇Θ(S)|)κ{right arrow over (N)}-(∇g(|∇Θ(S)|)){right arrow over (N)}){right arrow over (N)}, [Equation 10]
where κ is the surface curvature, and {right arrow over (N)} is the unit normal vector of the surface. Since the objects to be reconstructed may have arbitrary shape and/or topology, the segmentation is implemented using the level set framework. Level sets-based methods allow for topological changes to occur without any additional computational complexity, because an implicit representation of the evolving surface is used. The solution (Equation 10) can be readily cast into level set framework by embedding the surface S into a three-dimensional level set function ψ with the same size as Θ, i.e., S={(x,y,z)|ψ(x,y,z)=0}. The signed distance transform is used to generate the level set function. This yields an equivalent level set update equation to the surface evolution process in Equation 10:
∂ Ψ ∂ t = g ( ∇ ) κ ∇ Ψ + ∇ g ( ∇ ) ∇ Ψ . [ Equation 11 ] ##EQU00005##
Starting with an initial estimate for S and iteratively updating the level set function using Equation 11 leads to a segmentation of the object.
Application of the Modeling Approach
[0030]Application of the above-described approach will now be discussed with reference to the flow diagram of FIGS. 4A and 4B, as well as FIGS. 5-8. More particularly, discussed is an example embodiment for a method of three-dimensionally modeling an object. Beginning with block 30 of FIG. 4A, multiple images of an object within a scene are captured from multiple different viewpoints to obtain multiple views of the object. The images can be captured by multiple cameras, for example positioned in various fixed locations surrounding the object. Alternatively, the images can be captured using a single camera. In the single camera case, the camera can be moved about the object in a "flyby" scenario, or the camera can be fixed and the object can be rotated in front of the camera, for example on a turntable. Irrespective of the method used to capture the images, the views are preferably uniformly spaced through 360 degrees to reduce reconstruction artifacts. Generally speaking, the greater the number of views that are obtained, the more accurate the reconstruction of the object. The number of views that are necessary may depend upon the characteristics of the object. For instance, the greater the curvature of the object, the greater the number of views that will be needed to obtain desirable results.
[0031]FIG. 5 illustrates four example images of an object 60, in this case a replica of an ancient Egyptian coffin. Each of the images of FIG. 5 represents a different view of the object 60, specifically a front view, a right side view, a left side view, and a rear view. In an experiment conducted using the illustrated object 60, 30 views were obtained using a single camera that was moved about the object in a flyby. As indicated in the images, the object 60 is supported by a support surface 62, which may be referred to as the ground plane. As is apparent from each of the images, the ground plane 62 has a visual texture that comprises optically detectible features that can be used for feature correspondence between the various views during visual hull intersection. The particular nature of the texture is of relatively little importance, as long as it comprises an adequate number of detectable features. Therefore, the texture can be an intentional pattern, whether it be a repeating or non-repeating pattern, or a random pattern.
[0032]Once all the desired views have been obtained, the foreground silhouettes of the object in each view are identified, as indicated in block 32 of FIG. 4A. The purpose for identifying the foreground silhouettes is to limit the amount of image data that will be processed to the data at the boundaries of the object in each view. The manner in which the silhouettes are identified may depend upon the manner in which the images were captured. For example, if the images were captured with a single or multiple stationary cameras, identification of the silhouettes can be achieved through image subtraction. To accomplish this, images can be captured of the scene from the various angles from which the images of the object were captured but without the object present in the scene. Then the images with the object present can be compared to those without the object present as to each view to identify the boundaries of the object in every view.
[0033]Image subtraction typically cannot be used, however, in cases in which the images were captured by a single camera in a random flyby of an object given that it is difficult to obtain the same viewpoint of the scene without the object present. In such a situation, image alignment can be performed to identify the foreground silhouettes. Although consecutive views can be placed in registration with each other by aligning the images with respect to detectable features of the ground plane, such registration results in the image pixels that correspond to the object being misaligned due to plane parallax. This misalignment can be detected by performing a photo-consistency check, i.e., comparing the color values of two consecutive aligned views. Any pixels that has a mismatch from one view of the other (i.e., the color value difference is greater than a threshold) is marked as a pixel pertaining to the object. The alignment between such views can be determined, by finding the transformation, i.e., planar homography, between the views. In some embodiments, the homography can be determined between any two views by first identifying features of the ground plane using an appropriate algorithm or program, such as scale invariant feature transform (SIFT) algorithm or program. Once the features have been identified, the features can be matched across the views and the homographies can be determined in the manner described in the foregoing. By way of example, at least four features are identified to align any two views. In some embodiments, a suitable algorithm or program, such as a random sample consensus (RANSAC) algorithm or program, can be used to ensure that the identified features are in fact contained within the ground plane.
[0034]Once the foreground silhouettes have been identified in each view, visual hull intersection can be performed on multiple planes that cut through the object. Through that process, multiple slices of the object can be estimated, and those slices can then be used to compute a surface that approximates the outer surface of the object. As described above, the visual hull intersection begins with a reference plane. For purposes of this discussion, it is assumed that the reference plane is the ground plane.
[0035]With reference to block 34 of FIG. 4A, one of the obtained views is designated as the reference view. Next, each of the other views is warped to the reference view relative to the reference plane, as indicated in block 36. That is, the various views are transformed by obtaining the planar homography between each view and the reference view that is induced by the reference plane (i.e., the ground plane). Notably, those homographies can be obtained by determining the homographies between consecutive views and concatenating each of those homographies to produce the homography between each of the views and the reference view. Such a process may be considered preferable given that it may reduce error that could otherwise occur when homographies are determined between views that are spaced far apart from each other.
[0036]After each of the views, and their silhouettes, has been transformed (i.e., warped to the reference view using the planar homography), the warped silhouettes of each view are fused together to obtain a cross-sectional slice of a visual hull of the object that lies in the reference plane, as indicated in block 38. That is, a first slice of the object (i.e., a portion of the object that is occluded from view) that is present at the ground plane is estimated.
[0037]As described above, this process can be replicated to obtain further slices of the object that lie in planes parallel to the reference plane. Given that those other planes are imaginary, and therefore comprise no identifiable features, the transformation used to obtain the first slice cannot be performed to obtain the other slices. However, because the homographies induced by the reference plane and the location of the vanishing point in the up direction are known, the homographies induced by any plane parallel to the reference plane can be estimated. Therefore, each of the views can be warped to the reference view relative to new planes, and the warped silhouettes that result can be fused together to estimate further cross-sectional slices of the visual hull, as indicated in block 40.
[0038]As described above, the homographies can be estimated using Equation 7. In that equation, γ is a scalar multiple that specifies the locations of other planes along the up direction. Notably, the value for γ can be selected by determining the range for γ that spans the object. This is achieved by incrementing γ in Equation 7 until a point is reached at which there is no shadow overlap, indicating that the current plane is above the top of the object. Once the range has been determined, the value for γ at that point can be divided by the total number of planes that are desired to determine the appropriate value of γ to use. For example, if γ is 10 at the top of the object and 100 planes are desired, γ can be set to 0.1 to obtain the homographies induced by the various planes.
[0039]At this point in the process, multiple slices of the object have been estimated. FIG. 6 illustrates four example slices, slices 70-76, which have been superimposed over the outline of the object 60 from FIG. 5. As with the number of views, the greater the number of slices, the more accurate the results that can be obtained. In the experiment performed with the object 60, 200 slices were estimated.
[0040]Once the slices have been estimated, their precise boundaries are still unknown and, therefore, the precise boundaries of the object are likewise unknown. One way in which the boundaries of the slices could be determined is to establish thresholds for each of the slices to separate image data considered part of the object from image data considered part of the background. In the current embodiment, however, the various slices are first stacked on top of each other along the up direction, as indicated in block 42 of FIG. 4B to generate a three-dimensional "box" (i.e., the data structure Θ) that encloses the object and the background. At that point, a surface can be computed that divides the three-dimensional box into the object and the background to segment out the object surface. In other words, an object surface can be computed from the slice data, as indicated in block 44 of FIG. 4B.
[0041]As described above, the surface can be computed by minimizing Equation 8, which comprises a first term that identifies portions of the data that have high gradient (thereby identifying the boundary of the object) and the second term identifies the surface area of the object surface. By minimizing both terms, the surface is optimized as a surface that moves toward the object boundary and has as small a surface area as possible. In other words, the surface is optimized to be the tightest surface that divides the three-dimensional surface of the object from the background.
[0042]After the object surface has been computed, the three-dimensional locations of points on the surface are known and, as indicated in block 46, the surface can be rendered using a graphics engine. FIG. 7 illustrates an object structure 80, comprised of parallel segmented slices 82, that results when such rendering is performed. In FIG. 7, the left image is a close up of a side of the object 60 and the right image is a view of the object from its bottom looking upward.
[0043]At this point, a three-dimensional model of the object has been produced, which can be used for various purposes, including object localization, object recognition, and motion capture. It can then be determined whether the colors of the object are desired, as indicated in decision block 48 of FIG. 4B. If not, flow for the process is terminated. If so, however, the process continues to block 50 at which color mapping is performed. In some embodiments, color mapping can be achieved by identifying the color values for the slices from the outer edges of the slices, which correspond to the outer surface of the object. A visibility check can be performed to determine which of the pixels of the slices pertain to the outer edges. Specifically, pixels within discrete regions of the slices can be "moved" along the direction of the vanishing point to determine if the pixels move toward or away from the center of the slice. The same process is performed for the pixels across multiple views and, if the pixels consistently move toward the center of the slice, they can be assumed to comprise pixels positioned along the edge of the slice and, therefore, at the surface of the object. In that case, the color values associated with those pixels can be applied to the appropriate locations on the rendered surface. FIG. 8 illustrates the result of such a process in the form of four views of a color-mapped, rendered surface 90 that represents the three-dimensional structure of the object 60. Notably, the surface 90 is formed of the various segmented slices 82 shown in FIG. 7, although the slices are not individually apparent at level of zoom shown in FIG. 8.
Example System
[0044]FIG. 9 illustrates an example system 100 that can be used to perform three-dimensional modeling of objects, such as example object 102. As indicated in that figure, the system 100 comprises at least one camera 104 that is communicatively coupled (either with a wired or wireless connection) to a computer system 106. Although the computer system 106 is illustrated in FIG. 9 as a single computing device, the computing system can comprise multiple computing devices that work in conjunction to perform or assist with the three-dimensional modeling.
[0045]FIG. 10 illustrates an example architecture for the computer system 106. As indicated in FIG. 10, the computer system 106 comprises a processing device 108, memory 110, a user interface 112, and at least one input/output (I/O) device 114, each of which is connected to a local interface 116.
[0046]The processing device 108 can comprise a central processing unit (CPU) that controls the overall operation of the computer system 106 and one or more graphics processor units (GPUs) for graphics rendering. The memory 110 includes any one of or a combination of volatile memory elements (e.g., RAM) and nonvolatile memory elements (e.g., hard disk, ROM, etc.) that store code that can be executed by the processing device 108.
[0047]The user interface 112 comprises the components with which a user interacts with the computer system 106. The user interface 112 can comprise conventional computer interface devices, such as a keyboard, a mouse, and a computer monitor. The one or more I/O devices 114 are adapted to facilitate communications with other devices and may include one or more communication components such as a modulator/demodulator (e.g., modem), wireless (e.g., radio frequency (RF)) transceiver, network card, etc.
[0048]The memory 110 (i.e., a computer-readable medium) comprises various programs (i.e., logic) including an operating system 118 and three-dimensional modeling system 120. The operating system 118 controls the execution of other programs and provides scheduling, input-output control, file and data management, memory management, and communication control and related services. The three-dimensional modeling system 120 comprises one or more algorithms and/or programs that are used to model a three-dimensional object from two-dimensional views in the manner described in the foregoing. Furthermore, memory 110 comprises a graphics rendering program 122 used to render surfaces computed using the three-dimensional modeling system 120.
[0049]Various code (i.e., logic) has been described in this disclosure. Such code can be stored on any computer-readable medium for use by or in connection with any computer-related system or method. In the context of this document, a "computer-readable medium" is an electronic, magnetic, optical, or other physical device or means that contains or stores code, such as a computer program, for use by or in connection with a computer-related system or method. The code can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions.
Patent applications by Mubarak Shah, Oviedo, FL US
Patent applications by Saad M. Khan, Hamilton, NJ US
Patent applications in class 3-D or stereo imaging analysis
Patent applications in all subclasses 3-D or stereo imaging analysis
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The Real Bargain On Waistline Training.
Although this corset was a pain my you recognize just what and also had not been top of the line I was still seeing outcomes but I recognized I required a various brand name and to be sized appropriately. Simply put, waistline training is using latex for up to 4 hours at a time to essentially teach your waist to diminish. Sandman also keeps in mind that these garments are not real corsets and that using a waist cincher isn't genuine waistline training-- the practice of enhancing the shape of the body by wearing considerably smaller corsets for 2 to 10 hours a day. Ideally these pointers have actually been helpful for you as you start your waist training programs.
I do not see any type of reason that schedule wouldn't work for you, specifically if you were corset most of your off days. However if you are dehydrated in the bodice, when you remove the bodice you could experience abrupt reduced blood pressure. While it wasn't one of the most enjoyable of encounters having two of my classmates poke, prod as well as fold my stomach fat into the midsection instructor as they combated with all their may to close it up, I believe the technique in fact helped to break it in a bit, making the procedure of putting it on by myself today a lot easier. I believe this sort of waist instructor is ideal for everybody, considering that it is essentially shape-wear as well as could be used generally anywhere!
Yes ... numerous girls choose to waist train in the evening (merely make certain you have completely seasoned your bodice initially). Some people preferred to go really little with their waistline as well as I assume that it refers preference. Lucy Corsetry highly advises that you seek advice from your trusted medical care expert(s) prior to making use of a corset or acquiring for any factor, and make sure that your health as well as wellness is kept an eye on frequently. Old wheels did not have rims and tires, however brand-new ones do. The brand-new garment is no where near or similar to the old school corsets Individuals reefer to the current waistline instructors as corset just because of a lack of a better description. Baseding on Miami mythology, strippers started using PreMadonna's customizeded midsection cincher, appropriately called What's A Midsection?, to get a shapely form. After course, however, I have sweat a lot in the bodice that it is sopping wet.
When selecting my following bodice I meticulously looked into bodice manufacturers, brand names etc. luckily the 3rd bodice I purchased was a champion! In a person that tightlaces the colon is completely listed below the midsection and also has a much more rounded shape in general. Please consult your physician prior to putting on any shapers or bodices or beginning any type of sort of waistline training program. If you look at people for which waist training in fact functions, you'll additionally see that they are rather slim to start with, because no actual decrease of fat is taking place in any case; they additionally typically have to wear their structured undergarments" for hours each day. Also, and I ought to have mentioned this recently, ensure that you do not pull the bodice on upside down.. I even called the team to inspect that I hadn't extended my Ann Chery corset.
I was not delighted regarding this, but this can be assisted some w/ a band of your choice as your lining, or under your lining functions too, yet I would certainly not suggest doing that as soon as possible yet rather break in the bodice a while First as well as obtain made use of to it, and wear skirts that don't cling to that location, or a control top pantyhose will aid some, or even some jeans will hold it back some as well. Essentially it pertains to self surveillance and also regulation of where you set the bodice during a day. She is now within 1 ″ of entirely closing her training corset down to a 27 ″ (over bodice) dimension!
This cincher works as a result of the PowerLatex core that stimulates thermal task as well as sweating in the waistline. When I'm building corsets for my clients, I constantly give them an in-progress shot to confirm that I have actually placed a midsection tape. I cannot even begin to think of exactly how some women are in fact able to exercise out those things, unless they're not for genuine, genuine working out, yet like, Instagram working out-you understand, doing 10 mins walking a modest pace on a treadmill, and then taking a selfie in the gym restroom adhering to with the hashtags, #gymflow as well as #beastmode. My buddy is enjoying the means my corset looks in clothes and now wishes to buy one herself. According to Wikipedia, it's typically described as tightlacing or corset training, the technique of wearing a tightly-laced bodice to accomplish a smaller midsection.
Furthermore, if you feel really uneasy or unwell at any moment wearing a waistline training corset, simply eliminate it as well as seek advice from both the producer and your individual health and wellness group. Also for those who are genuinely waist training, Sandman says that it's unnecessary to use the garment while exercising. It is much easier to put one arm in and after that put the 2nd arm in or you can draw it over both arms at the very same time as well as shimmy into the bodice. The factor is due to the fact that when a corset is as well tight, the belly gets risen beyond the diaphragm, which then could trigger reflux. Locate simple routines and function that midsection right into form with the assistance of our waist instructors. I saw a great deal in the media concerning waistline training as well as I bear in mind believing absolutely nothing can potentially be this simple,".
When the exaggerated shoulders vanished, the waistline itself needed to be cinched snugly in order to attain the same result. Yes, using the corset does smush several of your organs ... so do your study before trying this. Although some believe the fad to be strange as well as undesirable, a number of Hollywood celebrities from Kim K to Kim Zolciak have joined the midsection training club, as well as by the looks of it - they appear to have anything BUT grievances. Myth: Midsection training with a faja as well as midsection training with a corset have the very same results on your physical body. Joshua Orwaru, a physio therapist at Premier Rehab Center in Nairobi, concurs that the back assistance that a midsection trainer provides will certainly boost your position.
Nevertheless if the bodice does not have a lining, you're fortunate that you can easily see the digestive tracts" of the bodice - you'll see the quality of the internal bone cases, whether it has a midsection tape and so on Please note: Waistline training, like anything, could not agree with for everyone and can have destructive results otherwise finished with common sense. The Myth: Waistline training is a horrible kind of self-torture women cause on themselves to be thought about attractive to males. Females must wear a tight corset-like garment around the mid-waist to mold and mildew the hourglass number by progressively pressing the core over time to reduce the area of the waist and make it show up smaller sized. You will certainly have to spend in a real training corset ... at the very least one if you are going to attempt midsection training. The what's what is for waist training to work wonders in the future, you have to be energetic.


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Jim Morin by Jim Morin
- June 30, 2010
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If Only.
As I have said too often (and badly) the whole gun things puzzles me.
The loudest supporters of guns claim they need guns to protect them from their own government – this is so far out, yet they have been granted so much power even though they are crazy – WHY IS THIS?
If you in the GOP's big tent you see that people who believe Obama is not a citizen, people who believe Obama is going force us to be Muslins, people who believe Obama is a Socalist, people who believe Government is too big , yet want to allow Government to be able to stop us and make us prove we are a citizen, people who fear their Government but are quiet happy to allow the Government to listen to our phone calls because we might be talking to Bin Laden, and people who say they need guns to protect themselves from US!!!
If this are the type of people the GOP wants, then we shouldn't want them in power.
40 states have various forms of gun-carry laws.
If you lefties disagree with the standing interpretation of the 2-d Amendment, then propose a new amendment.
Of course you won't, because you know that it doesn't have a chance of passing even the first step - the Congress.
That is why you prefer to impanel judges that would make the 'amendment' or 'clarification' without the due process prescribed by the Constitution.
Incidentally, why is it that the states and municipalities that have practiced ever increasing gun ownership limitations, are also experiencing ever increasing gun violence, while those having greater gun ownership freedoms are much less violent?
Just how does the "a well regulated militia" part ever figure into the arguments? Did it ever even get mentioned in the most recent decision?
And petergrt, maybe it's just us Americans who are crazy – after all, other countries with strict gun controls have dramatically lower gun violence problems.
America is very fortunate that this case was settled before Obama put yet another liberal idiot on the supreme court. Our freedoms are in danger.
That Washington quote is just the sort of thing you'd expect from someone advocating violent overthrow of the rightful government.
I agree with him, but, you know….
I'm still waiting for someone to admit the truth: That you righties accept a handgun death rate 500 times higher than the rest of the industrialized world's countries in order to ensure that there are no limitations whatsoever on gun ownership. It's a defendable stand - why won't anyone take it? Instead, people talk about "self-defense," which is nonsense - ignoring the vast majority of what handgun deaths are about - and ignore the first half of that Second Amendment as well, not to mention centuries of precedent which clearly state that limitations on that Second Amendment right are totally reasonable. Too bad you don't take the First Amendment – which came first for a reason – as seriously.
And bob - If you think Kagan is a liberal, you're either not paying attention or you're to the right of John Birch.
@petergrt - Kind of like how nothing in the Constitution says same-sex marriages can't happen so Righties propose Constitutional amendments to ban same-sex marriage?
– "If you in the GOP's big tent"
- Big tent? I wasn't aware "straight white Christian male" was really all encompassing. Or am I confusing that with the Tea party? Hard to tell the two apart these days.
@motivemagus - bob thinks Kagan is liberal because she believes in equality and fairness. Those are obviously liberal tenets. Conservatives believe that government should be for certain people only and that laws should only protect them – and let them have lots of guns.
You commenters speak of hand guns, but what the NRA really wants is the right to AK-47s to protect the compounds and bunkers they are setting up, stocking with years worth of food and non-hybrid seeds. Maybe a bit of gold and silver, too.
the cartoonist should change his last name to "Moron". No advocate for the 2nd Amendment right to own guns would approve or carry out a shooting in a public place, especially the USSC!
For upholding the Constitution, Liberals/Lefties are busy smearing and denigrating the 5 Justices. Did these same smearers read Justice Alito's majority opinion?
And to what is Moron referring, "our well-regulated militia" and "our free state"?????
The cartoonist is in an alternate universe, IMO.
The Bill of Rights in general, and 2-d Amendment in particular is about 'individual rights' - not militia rights. It allows the people to form militias … as well as to bear and keep arms.
Gun violence - Switzerland is much better armed nation than the US, as every able-bodied adult male must have an AUTOMATIC, loaded and ready for use rifle at home, and yet, the gun violence is very, very low - guns alone are not the reasons for gun violence;
Same-sex marriage: The constitution cannot address every individual behavior, but it is based upon over 5 millenniums of human civilization, which over time distilled marriage as being between one man and one woman. I doubt that the framers ever imagined any other 'type of marriage', and yet, lefties have the hubris to tell us that same sex marriage shall be considered as a norm - under the Constitution - a perfect example of bastardization of the Constitution.
Which one of them there articles or amendments sets the constitutional standard for marriage?
On the other hand, the words: "A well regulated Militia, being necessary to the security of a free State…" are in the constitution.
(Happy retirement JPS. Ya' got thissin right.)
Rik, I really wanna' see a bank robber using a battery charger!!! :-)))
@charliekane - Thank you.
@petergrt - As charliekane pointed out there is nothing in the Constitution that bars equal rights under the law for same-sex couples access to government-provided rights, protections, and benefits to protect their relationships and their children. That is precisely why Republicans keep trying to add an amendment. Yet, Congress shall make no law respecting the establishment of religion are also in the Constitution. Seems like Conservatives love the document when it comes to their guns but it's such an inconvenience when it involves their agenda of religious oppression.
Marriage is one of the "basic civil rights of man," fundamental to our very existence and survival…. To deny this fundamental freedom on so unsupportable a basis as the racial classifications embodied in these statutes, classifications so directly subversive of the principle of equality at the heart of the Fourteenth Amendment, is surely to deprive all the State's citizens of liberty without due process of law. The Fourteenth Amendment requires that the freedom of choice to marry not be restricted by invidious racial discrimination. Under our Constitution, the freedom to marry, or not marry, a person of another race resides with the individual and cannot be infringed by the State.
Search and replace the words 'race' with 'gender,' Sweetcheeks.
The Bill Of Rights was added by Liberials after Conservatives kept them out of the Constitution, they are there to protect us - the citizens - from abuse by the Govenment – The Bill of Rights were opposed by the Conservatives of that time, and have been opposed by Conservatives ever since.
So, what you are saying, is that we need guns so that we can fight our Government in the streets when they come to get us? Do you really believe that? They are really coming for you?
By the way what are you going to do when they show up in tanks and/armored vehicles?
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Illegal Jokes
Funny Jokes
South Dakota Dumb LawsHot 1 year ago
- It is illegal to lie down and fall asleep in a cheese factory.
- Movies that show police officers being struck, beaten, or treated in an offensive manner are forbidden.
- If there are more than 5 Native Americans on your property you may shoot them.
- Spearfish: If three or more Indians are walking down the street together, they can be considered a war party and fired upon.114
Offensive License PlatesHot 4 years ago
Michigan's Secretary of State is under fire for recalling a "vanity" auto license plate that was deemed offensive.
The plate reads "4 RU486", a reference to the "French" abortion-inducing drug. Critics of the action point out that other vanity plates which could be considered offensive, such as CAL-GIRL, GSPOT, HORNY, HUMP, I124Q, JUGS and NADS, have not been recalled.
Then there's Theresa Watt; she's had her name on her plate for 20 years: TWATT.
A state spokeswoman said that 4 RU486 was recalled under the "illegal activity or substance" portion of the license plate law, but the critics retort that neither RU486 nor abortion is illegal. (AP)
... Nor is it illegal to be horny, to have a G-spot.
Dumb Laws - FloridaHot 6 months ago
If an elephant is left tied to a parking meter, the parking fee has to be paid just as it would for a vehicle.
You may not fart in a public place after 6 P.M. on Thursdays. It is considered an offense to shower naked. You are not allowed to break more than three dishes per day, or chip the edges of more than four cups and/or saucers. Women may be fined for falling asleep under a hair dryer, as can the salon owner. A special law prohibits unmarried women from parachuting on Sunday or she shall risk arrest, fine, and/or jailing. It is illegal to sing in a public place while attired in a swimsuit. Men may not be seen publicly in any kind of strapless gown. It is illegal to skateboard without a license. Penalty for horse theft is death by hanging. It is illegal to block any traveled wagon road. In Florida it is illegal to fish while driving across a bridge.In Florida failure to tell your neighbor his house is on fire is illegal.Florida law forbids rats to leave the ships docked more...
Official InvestigationHot 3 years ago
Down around the Texas-Louisiana border, there has been a recent rash of illegal cock fighting, with quite a bit of gambling. The director of the Louisiana State Police finally bent to public pressure and sent an investigator to get to the bottom of the problem.
The crack investigator, Boudreaux, took an unmarked cruiser and headed for Mamou. He was gone for two days and arrived back in Baton Rouge to report to the director.
He reported that there were three major groups involved in the illegal cock fighting - Texas Aggies, Cajuns and the Mafia.
Of course, the boss wanted to know how he surmised this, and he replied that he knew there were Texas Aggies involved when he saw someone enter a duck into the fight.
He knew that there were Cajuns involved when someone bet on the duck.
He then stated that he was absolutely positive that the Mafia was involved when the duck won!
All Things to All PeopleHot 10 months ago
Critics say that Presidential candidate Barack Obama tries to "be all things to all people" and that he makes too many "pie-in-the-sky" promises. At a recent political rally, Obama tried to overcome these criticisms by emphasizing his commitment to principles. Afterwards, audience members lined up at a microphone to ask Obama questions. The first person at the microphone said, "I oppose the war in Iraq. If you are elected, what will you do about that?" "I will end the war in Iraq within two weeks of taking office," answered Obama. "All our troops will come home, and I will simultaneously make sure the Iraqi government is functioning and secure." The second person in line said, "I'm an illegal alien. What will you do for people like me?" "If I am elected," answered Obama, "every illegal alien will receive U.S. citizenship, free health coverage, and a scholarship to the university of your choice." The third more...
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- Illegal Aliens « Joke of the Day – Jokes of the Dayjokeoftheday.wordpress.com/…/illegal-aliens/1541
- Immigration Jokespoliticalhumor.about.com/…/immigration-jokes.htm15216
- Immigration Jokes - Late-Night Jokes About Immigration1132Read late-night jokes about immigration, immigration reform, and immigration protests.politicalhumor.about.com/…/immigration.htm Show More
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I can hear the sushi snobs already: "This know-it- all is saying the best sushi in America comes from a white dude. In a 1920s bungalow! In Texas?" But yes, that is what I'm saying. Tyson Cole is the Japanese-speaking, James Beard Award–winning perfectionist behind these Austin institutions. The quality—and diversity—of fish he sources is unparalleled, of course. But even more impressive than his UPS bill is the sheer creativity of his composed, nontraditional dishes, particularly at Uchiko—mackerel with potato-milk jam and green apple; smoked bonito with watermelon radish. This isn't your typical minimalist-chic sushi dining experience; this is Japanese-inspired small plates that only someone not bound by the constraints of tradition could pull off. And that may be Tyson's biggest legacy—making it possible for anyone to cook any kind of food he or she chooses.
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Exclusive Video: Youngblood Hawke performs 'We Come Running' at Summerfest
The Los Angeles-based indie pop band Youngblood Hawke spent a few minutes with Tap Milwaukee before the group's show tonight at the Harley-Davidson Roadhouse. Watch Nik Hughes, Alice Katz, Simon Katz, Sam Martin, Omar Ahmed and Tasso Smith perform an acoustic version of their single "We Come Running" outside the Summerfest grounds. »Read Full Blog Post
Eat words: Edible Books Show at Woodland Pattern on April 6
Maybe you like to chew on what you've read. Woodland Pattern Book Center, 720 E. Locust St., is having its annual Edible Books Show on April 6, a display of book-related works made of food.
Families, students, chefs and others still can submit entries by calling the bookstore to reserve spots. »Read Full Blog Post
Foodie things to do this week in Milwaukee
Fine foods
That aroma in the air might be spring. On the other hand, it might be from this week's tasty food-related events. »Read Full Article


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Dear visitors, we are proudly present the newest C&C community site: C&C Society. C&C Society is created as a community site that will focus on C&C Universums, And a bit Computer Graphics & Basic Game Design.
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- ITV Report
V&A launches David Bowie exhibition
Live updates
Bowie tribute concert to be held in Islington tonight
David Bowie's life will be celebrated at a tribute concert this evening, a week after the musical pioneer died from cancer.
Three pews at London's Union Chapel in Islington will be reserved for friends and collaborators of the singer.
The line-up remains a closely-guarded secret, although more than 20 performers were rumored to be appearing appear.
Stefan Simanowitz, event organiser, said: "The massive response from musicians and from the public has been staggering but not surprising."
What it was like to be at the Brixton Bowie remembrance gig
Mike Urban runs a news and music website in Brixton and organised a special remembrance gig in memory of David Bowie. He tells us how the singer's life was celebrated in the area he came from.
I've been a huge fan of Bowie since I was a kid and - like many other people - was completely destroyed by news of his death.
As soon as I heard, I knew I had to do something that night in Brixton to celebrate the man.
Bowie is both a personal hero and a Brixton icon, so I thought the best place to host the night would be in Brixton's last rock'n'roll bar, The Prince Albert in Coldharbour Lane.
By 5pm, the pub was rammed, and by 7pm a queue stretched 200 metres down Coldharbour Lane!
I got three other DJs to join me - all massive Bowie fans - and collectively we probably had almost all of Bowie's recorded output on vinyl.
I'd also compiled a reel of Bowie's videos and film rarities to show during the night.
The atmosphere was wonderful inside the pub, with Bowie fans singing his greatest hits - and lesser known songs - with emotion and passion.
There were tears and laughter but, most of all, a sense that we'd all come together to celebrate Brixton's most brilliant son in the best possible way, by dancing and singing through the night to his wonderful music.
Even when the lights went on and the music stopped at the end of the evening, the crowd kept on singing in the streets which resonated with Bowie's great tunes.
- ITV Report
Where to celebrate David Bowie in London this weekend
Dancing the blues this weekend? Here are some of the best Bowie parties happening across London.Read the full story ›
David Bowie exhibition to be beamed into cinemas
David Bowie fans across the country will have a chance to look around the sell-out exhibition at the V&A Museum without paying the cost of a ticket or even a fare to London.
On 13 August, curators and "special guests" will lead a virtual tour of the exhibition that will be beamed into more than 200 cinemas. It will be directed by Hamish Hamilton, who received a Bafta for his work on the Olympic and Paralympic ceremony coverage.
Some 200,000 people have visited the London museum to see around 300 items and photos from the Bowie archive. The exhibition draws to a close in August before moving on to Toronto in Canada and Sao Paolo in Brazil.
V&A director Martin Roth said: "Visitors have gone to great lengths for a chance to see our exhibition so we wanted to give everyone across the country one last opportunity to experience it for themselves."
Tickets will go on sale on Friday 28 June and will cost £10-£14. See whether your local cinema is participating here.
Street artist unveils David Bowie mural in Brixton
A large scale portrait of David Bowie will be unveiled in Brixton today by artist Jimmy C.
The Opera Gallery London is set to unveil a collection of David Bowie inspired art for their summer exhibition on June 21.
Bowie exhibition opens
A new exhibition devoted to David Bowie is about to open at the V&A.
Costumes, artwork and his lyrics have been brought together for the show, which is already a sell-out.
Lucrezia Millarini took a tour with one of Bowie's oldest friends.
- ITV Report
V&A launches David Bowie exhibition
The Victoria and Albert Museum is launching a new exhibition dedicated to music legend David Bowie.Read the full story ›
The return of David Bowie
After years out of the spotlight, David Bowie has released his first new single for a decade. The music legend celebrated his 66th birthday by surprising fans and the music industry with his new song - a ballad called 'Where are we Now'. He hasn't performed in public since 2006.
Faye Barker has the full story of Bowie's surprise return to music.
'Avoiding the industry treadmill is very David Bowie'
David Bowie has released his first album and single today in over a decade. The release coincides with a major Bowie exhibition which is due to be staged at London's V&A in March. A spokesperson for the iconic artist said:
Throwing shadows and avoiding the industry treadmill is very David Bowie despite his extraordinary track record that includes album sales in excess of 130 million not to mention his massive contributions in the area of art, fashion, style, sexual exploration and social commentary. It goes without saying that he has sold out stadiums and broken ticket records throughout the world during this most influential of careers
Bowie releases new album and surprise single
Music legend David Bowie has broken years of silence and speculation to release his first single and album in a decade.
The glam-rock singer, who shot to fame in the late 60s with Space Oddity, has released the recording Where are we now? on iTunes to coincide with his 66th birthday.
A follow-up album called The Next Day is set to be released in March.
Bowie has not performed live since 2006 and has rarely been seen in public since then, leading to rumours of possible ill-health which were denied by his spokesman.


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Should Minot's Roosevelt Park swimming pool still be open?
No lifeguards--no pool. simple. maybe a couple of the swimming instructors in Minot could pitch in the last couple weeks before school.
8 Agrees | 1 Disagrees | Report Abuse »
In your own article it stated the reason the pool closed, no staff. This poll question sounds like a passive aggressive swipe at the park district. It would be great if these poll questions actually had some common sense every once in awhile. How about developing some journalistic instincts and following-up on previous stories or tracking down community rumors to find out if they are fact or fiction. Ask a tough question to a city, state, or federal official.
3 Agrees | 0 Disagrees | Report Abuse »
Passive-aggressive is right. They should change this newspaper's name:
The Passive-Aggressive Daily Pot Stir.
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Seriously, Minot has a pool? It's hard to imagine the amount of money that has flowed down the drain to keep an outdoor pool open two months a year in Minot ND.
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I'm pretty sure the pool closing is one of those very real consequences of the MDN churning out negativity and nastiness on a daily basis. Were it not for the MDN partisanship, division and rancor into daily discourse, I'm pretty sure we would have kids swimming in the pool at least until mid-September. I'm pretty sure Fox News had a hand in this as well.
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Yes, now that the weather is finally gotten hotter, then it is closed! I can understand that it has to due with staffing having to return to school....etc..etc...but I think the public could be better informed as to its closing date!
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