Cirurgias minimamente invasivas correspondem a uma importante especialidade da Medicina, cuja aplicação em larga escala depende do treinamento de novos cirurgiões em habilidades específicas que podem ser aprimoradas através do uso de simuladores virtuais de cirurgia. Entretanto, tais aplicações demandam alta qualidade visual das simulações de órgãos internos, que idealmente podem ser realizadas com base em aproximações de mais alta ordem da interação luz-matéria. Trabalhos recentes têm proposto abordagens híbridas onde dados da BRDF (Bidirectional Reflectance Distribution Function - Função de Distribuição de Reflectância Bidirecional) de órgãos vivos têm sido amostrados ou estimados, para orientar técnicas de rendering em tempo real. O presente trabalho propõe um pipeline para o rendering de estruturas orgânicas baseado em Física visando a simulação de cirurgia compatível com alto nível de aproximação da interação luz-matéria. Através de um novo método de amostragem da BRDF de órgãos vivos por meio de laparoscopias convencionais, e do estudo de formas de representação para os dados amostrados, imagens de órgãos humanos são geradas em sistemas de rendering de tempo real e sistemas baseados em algoritmos de iluminação global. A metodologia proposta foi aplicada em um experimento realizado através de uma Colecistectomia, cujos importantes resultados caracterizam-se pela cobertura de aproximadamente 22% da BRDF de um fígado humano vivo, configurando assim uma contribuição singular para técnicas de amostram de BRDF de órgãos e rendering de órgãos baseado em Física. / Minimally invasive surgeries are an important specialty of Medicine. Virtual simulators allow the development of the needed skills for new surgeons. Such simulators demand high visual quality of the internal organs that ideally can be performed based on higher-order approximations of the light-material interaction. Recent work proposes hybrid approaches where the BRDF (Bidirectional Reflectance Distribution Function) data for living organs was sampling or estimated to guide real-time rendering techniques. This work proposes a pipeline for physically-based rendering of organic structures with the goal of surgery simulations with a high level of approximation for the light-material interaction. We present a new sampling method for measuring BRDFs for living organs based on conventional laparoscopy. With this data we are able to render human organs in real-time and also improve global illumination results. The methodology was applied in an experiment performed through a Cholecystectomy. Our results achieved a high BRDF coverage of 22% for a living human liver, establishing a singular contribution for the sampling of BRDF in-vivo organs and physically-based rendering.

Orientador: Nilton Nobuhiro Imai / Resumo: O uso do UAV no sensoriamento remoto é uma área crescente de conhecimento e pressionou o desenvolvimento de câmeras multi e hiperespectrais leves, que poderiam ser usadas embarcadas em UAV. Como as informações espectrais dependem das condições de iluminação da cena, as imagens adquiridas por UAV exigem pesquisa para avaliar o processamento de imagens para melhor adaptar os conceitos já estabelecidos às imagens orbitais. Portanto, a correção radiométrica é de fundamental importância para a extração de dados de imagens com alta confiança, uma vez que se sabe que o fator de refletância é uma função da estrutura geométrica, ângulo solar e propriedades ópticas. Nesse sentido, foram desenvolvidas metodologias para corrigir imagens das diferenças de iluminação, utilizando as Funções de Distribuição de Refletância Bidirecional e os Modelos de Correção Topográfica, também conhecidos como correção de iluminação. Este trabalho utiliza a câmera hiperespectral Rikola a bordo de um UAV em latitudes tropicais. Ele avalia como a anisotropia pode influenciar a variabilidade na reflectância dos alvos e como os modelos de correção topográfica podem ser aplicados, usando a micro topografia, para atenuar esses efeitos. Três testes foram realizados para estudar i) as geometrias de visada da câmera hiperespectral Rikola e a disponibilidade de dados fora do Nadir, ii) a variação do fator de anisotropia entre os alvos nas geometrias de visada e iii) modelos de correção de microtopografia para corrigi... (Resumo completo, clicar acesso eletrônico abaixo) / Abstract: Use of UAV in remote sensing is a growing area of knowledge and pressed the development of lightweight multi and hyperspectral cameras, which could be used on board of UAV. Since the spectral information depends on the lighting condition of the scene, UAV acquired images demands research to assess image processing to better adapt the concepts already stablished to orbital images. Therefore, the radiometric correction is of main importance for data extraction from imagery with high confidence, once it is known that the reflectance factor is a function of geometric structure, solar angle and optical properties. In this regard, methodologies were developed to correct images from illumination differences, using the Bidirectional Reflectance Distribution Functions and the Topographic Correction Models, also known as illumination correction. This Work uses Rikola hyperspectral camera onboard of a UAV in tropical latitudes. It assesses how the anisotropy can influence variability in reflectance of targets, and how topographic correction models can be applied, using micro topography, to attenuate these effects. Three tests were done to study i) the view geometries of Rikola Hyperspectral camera and the no-Nadir data availability, ii) the variation of Anisotropy Factor between targets in the many view geometries and iii) Microtopography correction models to correct illumination differences using a highly detailed DSM (10 cm and 3 cm) to assess the micro relief. We applied the correcti... (Complete abstract click electronic access below) / Mestre

Goal of this diploma thesis is to get knowledge about history and evolution of computer graphic in area of realistic image synthesis, get knowledge about rendering system mental ray and about writing shader for it and write several shader. Create manual about writing  shaders for mental ray. Get knowledge about program Maya and create a tutorial hot to get the shader into it.

In the computer graphics production environment, artists often must tweak specific lighting and material parameters to match a mind's eye vision of the appearance of a 3D scene. However, the interaction between a material and a lighting environment is often too complex to cognitively predict without visualization. Therefore, artists operate in a design cycle, where they tweak the parameters, wait for a visualization, and repeat, seeking to obtain a desired look. We propose the use of appearance-driven material design. Here, artists directly design the appearance of reflected light for a specific view, surface point, and time. In this thesis, we discuss several methods for appearance-driven design with homogeneous materials, spatially-varying materials, and appearance-matching materials, where each uses a unique modeling and optimization paradigm. Moreover, we present a novel treatment of the illumination integral using sampling theory that can utilize the computational power of the graphics processing unit (GPU) to provide real-time visualization of the appearance of various materials illuminated by complex environment lighting. As a system, the modeling, optimization and rendering steps all operate on arbitrary geometry and in detailed lighting environments, while still providing instant feedback to the designer. Thus, our approach allows materials to play an active role in the process of set design and story-telling, a capability that was, until now, difficult to achieve due to the unavailability of interactive tools appropriate for artists.

This dissertation presents three different aspects of the incorporation of directionality into the Monte Carlo ray-trace (MCRT) environment: (1) the development of a methodology for using directional surface optical data, (2) the measurement of the bi-directional reflectivity functions for two different surfaces, and (3) MCRT simulations performed using these directional data sets. The methodology presented is based upon a rigorous analytical formulation and is capable of performing simulations of radiation exchange involving directional emission, absorption and reflection given the bi-directional reflectivity functions (BDRF) of the participating surfaces. A wavelet compression technique is presented for the management of extremely large directional data sets. The BDRFs of two different surfaces were acquired using a Surface Optics Corporation model SOC-250 bi-directional reflectometer. These data were processed according to the methodology presented and an MCRT code was used to simulate the action of the SOC-250 in measuring radiant energy reflected from the surfaces of the two samples when illuminated by the source of the SOC-250. Another MCRT code was used to simulate the radiant energy reflected into a plane at the exit of an open-ended rectangular box when the entrance to the box is illuminated by source of the SOC-250. The RMS error between the MCRT simulations of sampling using the SOC-250 and the measured data were determined and then divided by the mean BDRF level of the measured data (RMS/mean[rho]) to provide an estimate of convergence. The RMS/mean[rho] was observed to fall from as much as 138 to 0.84 for the aluminum substrate coated with Krylon Shortcuts Hunter Green Satin aerosol paint as the number of energy bundles emitted in the MCRT simulation went from 103 to 106 at an incident zenith angle of 40 deg. The RMS/mean[rho] was observed to fall from as much as 2.2 to 0.2 for the Norton (150 Fine grit) all-purpose sandpaper coated with Krylon Shortcuts Hunter Green Satin aerosol paint as the number of energy bundles emitted in the MCRT simulation went from 103 to 106 at an incident zenith angle of 40 deg. / Ph. D.

Black coatings essentially absorb incident light at all wavelengths from all directions. They are used when minimal reflection or maximum absorption is desired and therefore are effective in applications that require control of stray light. Our motivation stems from the use of black coating Lord Aeroglaze® Z302 in aerospace and remote sensing applications and the desire to support the development of bidirectional spectral models that can be used successfully to predict the performance of optical instruments such as telescopes. The bidirectional reflectance distribution function (BRDF) is an indispensable parameter in the optical characterization of such coatings. The current effort involves investigation of the BRDF of the commercial black coating Aeroglaze® Z302. An automated goniometer reflectometer has been designed, fabricated and successfully used for performing the BRDF measurements of Z302 at visible and ultraviolet wavelengths and at both polarizations. The current contribution involves study of Z302 samples prepared at different thicknesses and by different methods, which provides insight about influence of surface roughness on BRDF of Z302. / Master of Science / When light falls on different materials it undergoes various phenomenon such as reflection, refraction, absorption and scattering. The amount of each phenomenon varies with the optical nature of a material as well as the wavelength and direction of the light. Therefore, understanding the optical properties of materials at various wavelengths of light is necessary for effectively using those materialsin specific applications which require light to be efficiently reflected or absorbed. This research studies an optical property known as Bidirectional Reflectance Distribution Function (BRDF) of a black coating called Lord Aeroglaze Z302. Black coatings are materials that ideally absorb almost all light that falls on them irrespective of the light’s direction and wavelength. They are used in applications where maximum absorption of light is required. One such application which relates to the motivation for this research is absorbing unwanted light in instruments used in space such as telescopes and radiometers. Z302 is used in the Clouds and the Earth’s Radiant Energy System (CERES) instruments developed by NASA. BRDF is an important parameter which gives information about all other optical properties of a surface and can be used to know optical performance of that surface. The current work describes the experiments and an automated device developed, called reflectometer, to measure the BRDF of Z302 at different angles and wavelengths of light. The results are reported for different thickness samples of Z302 coating, and two different wavelengths of light that belong to the visible and ultraviolet spectrum of light.

The emergence of digital capture devices have enabled the developmentof 3D acquisition to scan the properties of a real object : its shape and itsappearance. This process provides a dense and accurate representation of realobjects and allows to avoid the costly process of physical simulation to modelan object. Thus, the issues have evolved and are no longer focus on modelingthe characteristics of a real object only but on the treatment of data fromacquisition to integrate a copy of reality in a process of image synthesis. In this thesis, we propose new representations for appearance functions from the acquisition with the aim of defining a set of multicale models of low complexity in size working in real time on the today's graphics hardware / L'émergence des périphériques de capture numériques ont permis le développement de l'acquisition 3D pour numériser les propriétés d'un objet réel : sa forme et son apparence. Ce processus fournit une représentation dense et précise d'objets réels et permet de s'abstraire d'un processus des imulation physique coûteux pour modéliser un objet. Ainsi, les problématiquesont évolué et portent non plus uniquement sur la modélisation descaractéristiques d'un objet réel mais sur les traitements de données issues de l'acquisition pour intégrer une copie de la réalité dans un processus de synthèse d'images. Dans ces travaux de thèse, nous proposons de nouvelles représentations pour les fonctions d'apparence issues de l'acquisition dont le but est de définir un ensemble de modèles multi-échelles, de faible complexité en taille, capable d'e^tre visualisé en temps réel sur le matériel graphique actuel.

Les satellites glacés de Jupiter sont d'un grand intérêt scientifique dans la recherche d'habitabilité au sein de notre système solaire. Elles abritent probablement toutes trois des océans d'eau liquide sous leur croûte glacée. Leurs surfaces présentent différents stades d’évolution – celle de Callisto est très ancienne et entièrement recouverte de cratères, celle de Ganymede est un mélange de terrains sombres et cratérisés et de plaines claires et plus jeunes et la surface d’Europa est la plus jeune et présente des signes d’activité récente. Cette thèse porte sur la photométrie, c’est à dire l’étude de l’énergie lumineuse réfléchie par une surface, en fonction des géométries d’éclairement et d’observation. Les études photométriques permettent de déterminer l’état physique et la microtexture des surfaces (porosité, structure interne, forme des grains, rugosité, transparence…). Une bonne connaissance photométrique est également d'une importance cruciale dans la correction des jeux de données pour toute étude cartographique ou spectroscopique ainsi que pour les futures missions de cette décennie : Europa Clipper de la NASA et JUpiter ICy Moons Explorer de l’ESA.Deux types d’information sont nécessaires pour réaliser une étude photométrique : des données de réflectance et des données géométriques (conditions d’illumination et d'observation). Pour obtenir les premières, nous avons utilisé et calibré des images de missions spatiales passées - Voyager, New Horizons et Galileo. Pour obtenir les secondes, nous avons développé des outils permettant de corriger les métadonnées de ces images (ex : la position et l'orientation des sondes) afin d’obtenir des informations géométriques précises. Nous avons, d’autre part, développé un outil d’inversion pour estimer les paramètres photométriques de Hapke sur des régions d’Europa, Ganymede et Callisto sur l’ensemble du jeu de données en un seul calcul. Enfin, nous discutons des liens possibles entre les paramètres photométriques estimés, la microtexture de la surface et les processus endogènes/exogènes mis en jeu. / Jupiter's icy moons are of great interest in the search for habitability in our Solar System. They probably all harbor liquid water ocean underneath their icy crust. Their surfaces present different stages of evolution – Callisto is heavily cratered and the oldest, Ganymede shows a combination of dark cratered terrain and younger bright plains and Europa’s surface is the youngest with signs of recent and maybe current activity. This work focuses on photometry, i.e. the study of the light scattered by a surface in relation to the illumination and observation geometry. Photometric studies give us insight on the physical state and microtexture of the surface (compaction, internal structure, shape, roughness, transparency…). A good photometric knowledge is also of crucial importance in the correction of datasets for any mapping or spectroscopic study as well as for the future missions of this decade – NASA’s Europa Clipper and ESA’s JUpiter ICy moons Explorer.Two pieces of information are necessary to conduct a photometric study – reflectance data and geometric information (illumination, viewing conditions). For the former, we have used and calibrated images from past space missions – Voyager, New Horizons and Galileo. For the latter, we have developed tools to correct these images metadata (e.g. spacecraft position and orientation) to derive precise geometric information. Moreover, we have developed a Bayesian inversion tool to estimate Hapke’s photometric parameters on regions of Europa, Ganymede and Callisto. We estimate all parameters on our entire dataset at once. Finally, we discuss the possible links between the photometric parameters, the surface microtexture and endogenic/exogenic processes.

The goal of computer graphics is to precisely model the appearance of real objects. It includes of interactions of light with various materials. Polarisation is one of the fundamental properties of light. Incorporating polarisation parameter into an illumination model can significantly enhance the physical realism of rendered images in the case of scenes including multiple light bounces via specular surfaces, etc. However, recent rendering systems do not take polarisation into account because of complexity of such a solution. The key component for obtaining physically correct images are realistic, polarisation capable BRDF (Bidirectional Reflectance Distribution Function) models. Within this thesis, polarising versions of the following BRDF models were theoretically derived: Torrance Sparrow, He-Torrance-Sillion-Greenberg and Weidlich-Wilkie. For each of these models, Mueller matrices (the mathematical construct used to describe polarising surface reflectance) were systematically derived and their behaviour tested under various input parameters using Wolfram Mathematica. Derived polarising glossy BRDF models were further implemented using a rendering research system, ART (Advanced Rendering Toolkit). As far as we know, it is the very first usage of these BRDF models in a polarisation renderer....

L'imagerie terrestre urbaine se développe grâce à la diffusion grand public de visualisateurs immersifs au niveau de la rue. L'objectif de cette thèse est de proposer une méthode physique d'estimation de la réflectance des matériaux d'une scène urbaine à partir des images d'un système mobile d'acquisition, comme par exemple le véhicule d'acquisition Stereopolis, développé au laboratoire MATIS de l'Institut National de l'Information Géographique et Forestière (IGN).Pour cela, on considère que l'on dispose d'un modèle 3D de la scène, segmenté en zones de réflectance homogène (décrite par un modèle paramétrique), d'un jeu d'images géoréférencées corrigées radiométriquement. On propose une méthode d'estimation des réflectances par minimisation de l'écart entre les images réelles acquises par le capteur et des images simulées depuis le même point de vue. Après une modélisation phénoménologique des différentes composantes de la luminance arrivant au niveau d'un capteur imageur dans le domaine visible, une méthode utilisant le lancer de rayons sert à simuler cette luminance. Cela constitue ici le problème direct. Cet outil de simulation nécessite la connaissance de l'illumination de la scène, i.e. la répartition et la puissance des sources de lumière. Pour une acquisition avec Stereopolis, on ne réalise généralement pas de mesures atmosphériques et/ou radiométriques permettant de déterminer l'illumination avec des codes de transfert radiatif ; c'est pourquoi on propose une méthode d'estimation de la luminance du ciel à partir des images, en utilisant les pixels qui voient le ciel. L'éclairement solaire direct, non accessible directement dans les images, est estimé par une méthode ombre-soleil grâce à une plaque de référence placée sur le toit du véhicule. L'algorithme d'inversion du système se fait par minimisation d'une fonction coût constituée par la différence pixel à pixel entre les images simulées avec certains paramètres de réflectance et les images réelles. Cela nécessite de nombreuses simulations par lancer de rayons, car l'algorithme est itératif en raison des réflexions multiples entre les objets qui doivent être calculées avec des paramètres de réflectances initiaux. Afin d'éviter ces très coûteux lancers de rayons, on propose un algorithme de lancer de rayons formel qui stocke la luminance simulée comme des fonctions des paramètres de réflectances au lieu d'une valeur numérique. Cela permet de mettre à jour les images de luminance simulées par simple évaluation de ces fonctions avec le jeu de paramètres courant. La minimisation elle-même est effectuée par la méthode du gradient conjugué. Des résultats sur des scènes synthétiques permettent de faire une première validation de la méthode. Cependant, l'application sur un jeu d'images issues de Stereopolis pose plusieurs difficultés, notamment liées l'étalonnage radiométrique et à la segmentation du modèle 3D utilisé en entrée / Urban terrestrial imagery is widely used through online viewers of street-level images. The MATIS of the French National Geographical and Forester Data Institute (IGN) has developed its own mobile-mapping vehicle, Stereopolis, dedicated to research purposes. In this thesis, we develop a physically-based method to retrieve the reflectance of urban materials from a set of images shot by a mobile-mapping vehicle. This method uses a 3D model of the scene (segmented in areas of homogeneous reflectance, modeled by a parametric formula) and a set of georeferenced and radiometrically corrected images. We present a method for the estimation of the reflectances of the materials by minimizing the difference between real acquired images and simulated images from the same point of view. A modelisation of the physical phenomena leading to the formation of optical images is presented. A code using ray-tracing algortihm is used to compute the radiance at the sensor level. This is the direct problem for our estimation of reflectances. The illumination of the scene must be an input of this simulation tool; now, in a typical urban mobile-mapping acquisition neither atmospheric nor radiometric measurements are performed, that could be used to determine the illumination with a radiative transfer code. We propose an estimation of the illumination using directly the sky pixels in the acquired images. The direct solar irradiance cannot be estimated from the images because of overexposure, but we can use a shadows casted on a dedicated reference plate placed on top of the vehicle. The reflectances estimation is performed by minimizing a cost function; this cost function is the pixel-wise difference between simulated images (with current reflectances parameters) and acquired images. This leads to numerous ray-tracing simulations as the algorithm is iterative due to interreflections between the objects of the scene, that are computed using initial parameters. In order to prevent these costly ray-tracing simulations, we propose a symbolic ray-tracing algorithm that computes the radiance as a symbolic function of the reflectances parameters instead of a numerical value. Then, each iteration of the minimization algorithm is only an evaluation of a symbolic function. Results are shown on synthetic scenes to perform a first validation the estimation method. Using this method on real Stereopolis images remains difficult, mainly due to the radiometric calibration of cameras and the segmentation on the 3D model