[{"data":1,"prerenderedAt":502},["ShallowReactive",2],{"method-museth2013vdb":3},{"method":4,"reference":44,"equipment":63,"figures":70,"results":71},{"id":5,"label":6,"shortName":7,"title":8,"year":9,"era":10,"cluster":11,"scope":12,"keyIdeaZh":13,"keyIdeaEn":14,"fulltextStatus":15,"publicationStatus":16,"recommendation":17,"constructionRelevance":18,"validationEnvironment":19,"strengths":20,"limitations":25,"sensors":31,"platform":32,"estimator":33,"association":33,"timeModel":33,"deskew":33,"loopClosure":33,"globalOptimization":34,"mapRepresentation":35,"prior":34,"outputGeometry":36,"compute":37,"codeUrl":38,"codeLicense":39,"relatedVersions":40},"museth2013vdb","Museth, 2013","VDB \u002F OpenVDB","VDB: High-resolution sparse volumes with dynamic topology",2013,"classic","C12","map_representation_or_reconstruction","VDB 是一種淺而寬、高度平衡的階層式稀疏體積資料結構，概念近似 B+ 樹：常見設定為以雜湊表或 std::map 實作的可動態擴充根節點，接兩層固定分支 32³ 與 16³ 的內部節點，最底層為 8³ 體素的葉節點，並以位元遮罩分開編碼拓樸與數值。由於深度與分支在編譯期固定，可直接由全域座標以位元運算求得各層偏移，隨機存取平均為 O(1)，再以快取最近走訪節點的反向（由下而上）走訪加速空間連貫的存取。原為電影特效的動態稀疏體積與位準集設計，後被 VDBFusion 用來儲存 TSDF。","A hierarchical, B+tree-like sparse volume data structure with a virtually infinite index space and average O(1) random access.","full_text_reviewed","peer_reviewed_published","supplementary","原文以電影特效的雲、流體與位準集示範，未涉及量測或營建；與本主題的關係在於 VDBFusion 等 LiDAR TSDF 管線採用其資料結構（推論）。",[],[21,22,23,24],"Fast average O(1) insert\u002Fretrieve\u002Fdelete without topology restrictions (abstract).","Level-set advection about 3.9x faster than DT-Grid on one thread and 30x to 35x faster when multithreaded (Table III).","Author summary: over 10x faster spatially coherent lookup, 3x to 4x faster writes, 7x faster dilation and over 100x faster CSG than DT-Grid (Sec. 7, Tables VI, VII, IX).","A dragon level set with 228 million active voxels needs 1 GB against about a quarter TB for a dense grid (Fig. 4).",[26,27,28,29,30],"Less memory efficient than DT-Grid for narrow-band level sets; the author states the difference is under 1.5x for [Hash,5,4,3] in Table II (the tabulated values give about 1.7x for the Enright set, 420 vs 253 MB, and 1.9x for the 8x variant, 2,257 vs 1,182 MB) and under 2x in the conclusion, because leaf nodes are only partly filled with active voxels (Sec. 6, 7, Tables II and IV).","Large branching factors make a single VDB a poor choice for multiresolution sampling; mipmapping within one tree is not supported (Sec. 6).","Out-of-core mode is read-only and does not support dynamic topology or stencil computations (Sec. 5.3, 6).","Random insertion and deletion are not thread safe; the authors use one grid per thread and merge (Appendix B).","Absolute random-access timings depend on the test, hardware and compiler; only relative times are reported (Sec. 5.1).",[],[],"not_applicable","none","shallow height-balanced B+tree-like sparse grid: dynamic root node (hash map or std::map) over internal nodes with 32^3 and 16^3 branching and 8^3-voxel leaf nodes; bit masks encode active topology and child pointers, values stored at any level as voxels or tiles; optional out-of-core leaf buffers","sparse volumetric grids such as narrow-band level sets and density volumes; meshes and rendered images are downstream products (Fig. 4, Sec. 4.5-4.7)","CPU, C++ templates; benchmarks on dual quad-core Intel Nehalem-EP W5590 with 48 GB RAM, single thread unless noted; e.g. one Enright step at 4096^3 took 39.1 s single-threaded and 4.39 s multithreaded (Sec. 5, Table III)","https:\u002F\u002Fgithub.com\u002FAcademySoftwareFoundation\u002Fopenvdb","Apache-2.0 (current AcademySoftwareFoundation\u002Fopenvdb LICENSE; licence of earlier releases not checked)",[41],{"relation":42,"title":43,"doi_or_url":38},"code_release","OpenVDB (open-source implementation of VDB, per VDBFusion Sec. 3)",{"id":5,"kind":45,"shortName":7,"title":8,"authors":46,"year":9,"venue":48,"venueType":49,"publisher":50,"volumeIssuePages":51,"doi":52,"arxivId":53,"url":54,"firstPublicDate":55,"publicationStatus":16,"metadataStatus":56,"fulltextStatus":15,"era":10,"classicReason":57,"codeUrl":38,"cluster":11,"topics":58,"mdpi":59,"verification":60,"label":6,"fulltextRoute":61,"versionRead":62,"addedByCensus":59},"component",[47],"Ken Museth","ACM Transactions on Graphics","journal","ACM","32(3):1-22","10.1145\u002F2487228.2487235",null,"https:\u002F\u002Fapi.crossref.org\u002Fworks\u002F10.1145\u002F2487228.2487235","2013-06","metadata_verified","necessary technical node: hierarchical sparse volume structure with average O(1) random access that VDBFusion builds on for TSDF mapping.",[11],false,"corrected","publisher OA","ACM TOG version of record, 32(3), Article 27, 22 pages (publication date June 2013), free-access ACM Digital Library PDF",[64],{"category":65,"model":66,"canonical":66,"role":67,"dataset":53,"specs":68,"locator":69},"compute","dual quad-core Intel Nehalem-EP W5590","compute for runtime","4x32KB L1, 4x256KB L2, 8MB L3, 48 GB DDR3-1333 RAM, Red Hat Enterprise Linux 5.4","Sec. 5",[],{"totalRows":72,"groupCount":73,"groups":74,"others":501},96,4,[75,265,372,437],{"slug":76,"group":77,"sourceId":5,"sourceLabel":6,"table":78,"selfRows":79,"metrics":80,"seqs":88,"entrants":95,"cells":141,"outcomes":258,"locators":259,"hardware":260,"wordings":262,"notes":263},"museth2013vdb-table-ii","museth2013vdb:Table II","Table II",48,[81,85],{"label":82,"unit":83,"statistic":84,"alignment":33},"relative random lookup time (top-down, Sec. 3.1)","relative time units","mean",{"label":86,"unit":87,"statistic":84,"alignment":33},"memory footprint (MB)","MB",[89,93],{"dataset":90,"sequence":91,"environment":92},"Enright test","4096^3","synthetic level-set benchmark",{"dataset":94,"sequence":91,"environment":92},"Enright 8x variant",[96,99,101,103,105,107,109,111,113,115,117,119,121,123,125,127,129,131,133,135,137,139],{"name":97,"methodId":5,"linkable":98,"proposed":98,"self":98},"[7,6,5,4,3]",true,{"name":100,"methodId":5,"linkable":98,"proposed":98,"self":98},"[6,5,4,3]",{"name":102,"methodId":5,"linkable":98,"proposed":98,"self":98},"[6,4,3]",{"name":104,"methodId":5,"linkable":98,"proposed":98,"self":98},"[10,3]",{"name":106,"methodId":5,"linkable":98,"proposed":98,"self":98},"[6,5,4,5]",{"name":108,"methodId":5,"linkable":98,"proposed":98,"self":98},"[6,5,4,4]",{"name":110,"methodId":5,"linkable":98,"proposed":98,"self":98},"[6,5,4,3] (row 7)",{"name":112,"methodId":5,"linkable":98,"proposed":98,"self":98},"[6,5,4,2]",{"name":114,"methodId":5,"linkable":98,"proposed":98,"self":98},"[6,6,6,6]",{"name":116,"methodId":5,"linkable":98,"proposed":98,"self":98},"[5,5,5,5]",{"name":118,"methodId":5,"linkable":98,"proposed":98,"self":98},"[4,4,4,4]",{"name":120,"methodId":5,"linkable":98,"proposed":98,"self":98},"[3,3,3,3]",{"name":122,"methodId":5,"linkable":98,"proposed":98,"self":98},"[Hash,4,3,2]",{"name":124,"methodId":5,"linkable":98,"proposed":98,"self":98},"[Hash,5,4,3]",{"name":126,"methodId":5,"linkable":98,"proposed":98,"self":98},"[Map,4,3,2]",{"name":128,"methodId":5,"linkable":98,"proposed":98,"self":98},"[Map,5,4,3]",{"name":130,"methodId":53,"linkable":59,"proposed":59,"self":59},"[F3DSF,3]",{"name":132,"methodId":53,"linkable":59,"proposed":59,"self":59},"[F3DSF,4]",{"name":134,"methodId":53,"linkable":59,"proposed":59,"self":59},"[F3DSF,5]",{"name":136,"methodId":53,"linkable":59,"proposed":59,"self":59},"Octree# (depth 13)",{"name":138,"methodId":53,"linkable":59,"proposed":59,"self":59},"Octree* (depth 18)",{"name":140,"methodId":53,"linkable":59,"proposed":59,"self":59},"DT-Grid",[142,146,149,151,153,155,157,160,162,164,166,168,170,172,174,176,178,180,182,184,185,186,187,189,191,193,195,197,199,201,203,204,205,206,207,209,211,214,216,218,221,222,224,226,227,228,230,231,232,235,237,239,241,243,245,248,250,252,253,256],[143,143,143,144,145,143,143,145,143],0,14,-1,[143,147,143,148,145,143,143,145,143],1,439,[143,147,147,150,145,143,143,145,143],2275,[147,143,143,152,145,143,143,145,143],10,[147,147,143,154,145,143,143,145,143],422,[147,147,147,156,145,143,143,145,143],2259,[158,143,143,159,145,143,143,145,143],2,7,[158,147,143,161,145,143,143,145,143],420,[158,147,147,163,145,143,143,145,143],2256,[165,143,143,165,145,143,143,145,143],3,[165,147,143,167,145,143,143,145,143],8723,[165,147,147,169,145,143,143,145,143],10492,[73,143,143,171,145,143,143,145,143],11,[73,147,143,173,145,143,143,145,143],1078,[73,147,147,175,145,143,143,145,143],5904,[177,143,143,171,145,143,143,145,143],5,[177,147,143,179,145,143,143,145,143],625,[177,147,147,181,145,143,143,145,143],3398,[183,143,143,152,145,143,143,145,143],6,[183,147,143,154,145,143,143,145,143],[183,147,147,156,145,143,143,145,143],[159,143,143,152,145,143,143,145,143],[159,147,143,188,145,143,143,145,143],389,[159,147,147,190,145,143,143,145,143],2076,[192,143,143,171,145,143,143,145,143],8,[192,147,143,194,145,143,143,145,143],1977,[192,147,147,196,145,143,143,145,143],11191,[198,143,143,171,145,143,143,145,143],9,[198,147,143,200,145,143,143,145,143],1072,[198,147,147,202,145,143,143,145,143],5899,[152,143,143,171,145,143,143,145,143],[152,147,143,179,145,143,143,145,143],[152,147,147,181,145,143,143,145,143],[171,143,143,171,145,143,143,145,143],[171,147,143,208,145,143,143,145,143],413,[171,147,147,210,145,143,143,145,143],2218,[212,143,143,213,145,143,143,145,143],12,18,[212,147,143,215,145,143,143,145,143],362,[212,147,147,217,145,143,143,145,143],1917,[219,143,143,220,145,143,143,145,143],13,17,[219,147,143,161,145,143,143,145,143],[219,147,147,223,145,143,143,145,143],2257,[144,143,143,225,145,143,143,145,143],25,[144,147,143,215,145,143,143,145,143],[144,147,147,217,145,143,143,145,143],[229,143,143,144,145,143,143,145,143],15,[229,147,143,161,145,143,143,145,143],[229,147,147,223,145,143,143,145,143],[233,147,143,234,145,143,143,145,143],16,33156,[233,147,147,236,145,143,143,145,143],34846,[220,147,143,238,145,143,143,145,143],4698,[220,147,147,240,145,143,143,145,143],7366,[213,147,143,242,145,143,143,145,143],1586,[213,147,147,244,145,143,143,145,143],6407,[246,147,143,247,145,143,143,145,143],19,390,[246,147,147,249,145,143,143,145,143],2048,[251,147,143,247,145,143,143,145,143],20,[251,147,147,249,145,143,143,145,143],[254,147,143,255,145,143,143,145,143],21,253,[254,147,147,257,145,143,143,145,143],1182,[],[78],[261],"Dual quad-core Intel Nehalem-EP W5590, 48 GB DDR3-1333, RHEL 5.4; single thread unless noted",[],[264],"Enright sphere and 8x variant at effective resolution 4096^3 (51,033,829 and 263,418,462 active voxels, 10-voxel band); relative time per random lookup (1 unit, about half a second for 10^7 x 100 lookups, equals the cached leaf-coherent VDB lookup); VDB times listed are the worst-case top-down traversal (Sec. 3.1); memory in MB as reported by the OS; single thread",{"slug":266,"group":267,"sourceId":5,"sourceLabel":6,"table":268,"selfRows":269,"metrics":270,"seqs":272,"entrants":284,"cells":295,"outcomes":365,"locators":367,"hardware":368,"wordings":369,"notes":370},"museth2013vdb-table-iv","museth2013vdb:Table IV","Table IV",24,[271],{"label":86,"unit":87,"statistic":84,"alignment":33},[273,275,277,279,280,282],{"dataset":90,"sequence":274,"environment":92},"512^3",{"dataset":90,"sequence":276,"environment":92},"1024^3",{"dataset":90,"sequence":278,"environment":92},"2048^3",{"dataset":90,"sequence":91,"environment":92},{"dataset":90,"sequence":281,"environment":92},"8192^3",{"dataset":90,"sequence":283,"environment":92},"16384^3",[285,286,287,289,291,293],{"name":140,"methodId":53,"linkable":59,"proposed":59,"self":59},{"name":132,"methodId":53,"linkable":59,"proposed":59,"self":59},{"name":288,"methodId":5,"linkable":98,"proposed":98,"self":98},"[Hash,4,3,2] in-core",{"name":290,"methodId":5,"linkable":98,"proposed":98,"self":98},"[Hash,4,3,2] out-of-core",{"name":292,"methodId":5,"linkable":98,"proposed":98,"self":98},"[Hash,5,4,3] in-core",{"name":294,"methodId":5,"linkable":98,"proposed":98,"self":98},"[Hash,5,4,3] out-of-core",[296,298,300,302,303,305,307,309,311,313,315,317,319,321,323,325,327,329,331,332,334,336,338,340,342,344,346,348,350,352,354,356,357,359,361,363],[143,143,143,297,145,143,143,145,143],4.3,[147,143,143,299,145,143,143,145,143],10.5,[158,143,143,301,145,143,143,145,143],5.7,[165,143,143,147,145,143,143,145,143],[73,143,143,304,145,143,143,145,143],6.7,[177,143,143,306,145,143,143,145,143],0.4,[143,143,147,308,145,143,143,145,143],16.9,[147,143,147,310,145,143,143,145,143],45.9,[158,143,147,312,145,143,143,145,143],22.7,[165,143,147,314,145,143,143,145,143],3.6,[73,143,147,316,145,143,143,145,143],26.5,[177,143,147,318,145,143,143,145,143],1.9,[143,143,158,320,145,143,143,145,143],69.8,[147,143,158,322,145,143,143,145,143],215.6,[158,143,158,324,145,143,143,145,143],90.8,[165,143,158,326,145,143,143,145,143],17.2,[73,143,158,328,145,143,143,145,143],105.3,[177,143,158,330,145,143,143,145,143],7.1,[143,143,165,255,145,143,143,145,143],[147,143,165,333,145,143,143,145,143],1114.2,[158,143,165,335,145,143,143,145,143],361.9,[165,143,165,337,145,143,143,145,143],68.7,[73,143,165,339,145,143,143,145,143],420.2,[177,143,165,341,145,143,143,145,143],29.8,[143,143,73,343,145,143,143,145,143],904.9,[147,143,73,345,145,143,143,145,143],6501.2,[158,143,73,347,145,143,143,145,143],1444.3,[165,143,73,349,145,143,143,145,143],274,[73,143,73,351,145,143,143,145,143],1679.4,[177,143,73,353,145,143,143,145,143],117.2,[143,143,177,355,145,143,143,145,143],3619.7,[147,143,177,53,143,143,143,145,143],[158,143,177,358,145,143,143,145,143],5780.1,[165,143,177,360,145,143,143,145,143],1097.6,[73,143,177,362,145,143,143,145,143],6722.9,[177,143,177,364,145,143,143,145,143],468.2,[366],"failed (more than 48,000 MB; ran out of memory on the 48 GB workstation)",[268],[261],[],[371],"Memory footprint (MB) of the standard Enright dataset; VDB given in-core and partially out-of-core; no compression or quantization in-core; F3DSF block size 16^3",{"slug":373,"group":374,"sourceId":5,"sourceLabel":6,"table":375,"selfRows":212,"metrics":376,"seqs":380,"entrants":388,"cells":393,"outcomes":430,"locators":431,"hardware":432,"wordings":434,"notes":435},"museth2013vdb-table-iii","museth2013vdb:Table III","Table III",[377],{"label":378,"unit":379,"statistic":84,"alignment":33},"CPU time per integration step (s)","s",[381,383,384,385,386,387],{"dataset":90,"sequence":274,"environment":382},"synthetic level-set simulation",{"dataset":90,"sequence":276,"environment":382},{"dataset":90,"sequence":278,"environment":382},{"dataset":90,"sequence":91,"environment":382},{"dataset":90,"sequence":281,"environment":382},{"dataset":90,"sequence":283,"environment":382},[389,390,391],{"name":140,"methodId":53,"linkable":59,"proposed":59,"self":59},{"name":100,"methodId":5,"linkable":98,"proposed":98,"self":98},{"name":392,"methodId":5,"linkable":98,"proposed":98,"self":98},"[6,5,4,3] multithreaded",[394,396,398,400,402,404,406,408,410,412,414,416,418,420,422,424,426,428],[143,143,143,395,145,143,143,145,143],2.4,[147,143,143,397,145,143,143,145,143],0.61,[158,143,143,399,145,143,147,145,143],0.08,[143,143,147,401,145,143,143,145,143],9.56,[147,143,147,403,145,143,143,145,143],2.46,[158,143,147,405,145,143,147,145,143],0.29,[143,143,158,407,145,143,143,145,143],37.8,[147,143,158,409,145,143,143,145,143],9.75,[158,143,158,411,145,143,147,145,143],1.13,[143,143,165,413,145,143,143,145,143],154,[147,143,165,415,145,143,143,145,143],39.1,[158,143,165,417,145,143,147,145,143],4.39,[143,143,73,419,145,143,143,145,143],613,[147,143,73,421,145,143,143,145,143],157,[158,143,73,423,145,143,147,145,143],17.7,[143,143,177,425,145,143,143,145,143],2454,[147,143,177,427,145,143,143,145,143],636,[158,143,177,429,145,143,147,145,143],70.8,[],[375],[261,433],"Dual quad-core Intel Nehalem-EP W5590, 8 cores",[],[436],"CPU seconds for one Enright time step (advection, three renormalizations, narrow-band rebuild; TVD-RK3, WENO5, band 10); [6,5,4,3]|| is multithreaded on two quad-core CPUs",{"slug":438,"group":439,"sourceId":5,"sourceLabel":6,"table":440,"selfRows":212,"metrics":441,"seqs":444,"entrants":451,"cells":458,"outcomes":494,"locators":496,"hardware":497,"wordings":498,"notes":499},"museth2013vdb-table-vii","museth2013vdb:Table VII","Table VII",[442],{"label":443,"unit":379,"statistic":84,"alignment":33},"dilation time (s)",[445,446,447,448,449,450],{"dataset":90,"sequence":274,"environment":92},{"dataset":90,"sequence":276,"environment":92},{"dataset":90,"sequence":278,"environment":92},{"dataset":90,"sequence":91,"environment":92},{"dataset":90,"sequence":281,"environment":92},{"dataset":90,"sequence":283,"environment":92},[452,454,456],{"name":453,"methodId":53,"linkable":59,"proposed":59,"self":59},"DT-Grid Optimal",{"name":455,"methodId":5,"linkable":98,"proposed":98,"self":98},"[6,5,4,3] Optimal",{"name":457,"methodId":5,"linkable":98,"proposed":98,"self":98},"[6,5,4,3] Brute-Force",[459,461,462,464,466,468,470,472,474,476,478,480,482,484,486,488,490,492],[143,143,143,460,145,143,143,145,143],0.03,[147,143,143,53,143,143,143,145,143],[158,143,143,463,145,143,143,145,143],0.05,[143,143,147,465,145,143,143,145,143],0.07,[147,143,147,467,145,143,143,145,143],0.01,[158,143,147,469,145,143,143,145,143],0.18,[143,143,158,471,145,143,143,145,143],0.28,[147,143,158,473,145,143,143,145,143],0.04,[158,143,158,475,145,143,143,145,143],0.73,[143,143,165,477,145,143,143,145,143],1.17,[147,143,165,479,145,143,143,145,143],0.17,[158,143,165,481,145,143,143,145,143],2.9,[143,143,73,483,145,143,143,145,143],4.6,[147,143,73,485,145,143,143,145,143],0.7,[158,143,73,487,145,143,143,145,143],11.61,[143,143,177,489,145,143,143,145,143],17.93,[147,143,177,491,145,143,143,145,143],2.7,[158,143,177,493,145,143,143,145,143],46.53,[495],"reported as \u003C 0.01 s",[440],[261],[],[500],"CPU seconds for dilating the Enright narrow band by one voxel; Optimal = fastest available algorithm, Brute-Force = VDB random-access insertion",[],1790510666025]