[{"data":1,"prerenderedAt":234},["ShallowReactive",2],{"method-pfister2000surfels":3},{"method":4,"reference":44,"equipment":64,"figures":71,"results":72},{"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":24,"sensors":29,"platform":30,"estimator":31,"association":31,"timeModel":31,"deskew":31,"loopClosure":31,"globalOptimization":32,"mapRepresentation":33,"prior":34,"outputGeometry":35,"compute":36,"codeUrl":37,"codeLicense":38,"relatedVersions":39},"pfister2000surfels","Pfister et al., 2000","Surfels","Surfels: surface elements as rendering primitives",2000,"classic","C12","map_representation_or_reconstruction","作者把面元（surfel）定義為帶有形狀與著色屬性、可局部近似物體表面的零維 n 元組，沒有顯式連接關係。前處理時以光線追蹤沿三個正交方向取樣，得到三張層狀深度影像組成的層狀深度立方體（LDC），並以八元樹組成 LDC 樹，每個面元儲存深度、法向量索引、材質索引與三層預先濾波的紋理色彩（surfel mipmap）；渲染時以階層式前向投影把區塊投到 z 緩衝，以可見性潑濺（visibility splatting）偵測孔洞，再進行著色與影像重建。此表示後來被即時稠密重建與 LiDAR SLAM 借用作地圖元素。","Introduces surfels, connectivity-free point primitives with normals and attributes, rendered via hierarchical forward warping and visibility splatting.","full_text_reviewed","peer_reviewed_published","background","純電腦繪圖研究，未涉及營建；僅作為 surfel 地圖的概念來源。作者指出面元不適合表示牆面等平坦表面（渲染情境），對以牆面為主的建築掃描是否同樣成立未經驗證（推論）。",[],[21,22,23],"Low rendering cost with complex shape support, suited to hardware implementation (abstract).","The unoptimized surfel renderer reached 2.7 fps on the 128k-polygon wasp against 1.7 fps for Mesa OpenGL and 3 fps for Microsoft OpenGL in software (Sec. 8).","Visibility splatting detects holes well; holes appear only in extreme close-ups below about one surfel per 30 square pixels (Sec. 8).",[25,26,27,28],"Thin structures smaller than the sampling grid (spokes, wires, hair) cannot be represented correctly, worse after 3-to-1 reduction (Sec. 8).","Surfels are not well suited to flat surfaces such as walls or backgrounds, where large textured polygons give better quality at lower cost; periodic textures are stored explicitly (Sec. 1, 8).","Only rigid-body animation is supported; deformable objects are difficult, and holes can appear after 3-to-1 reduction or in high-curvature areas (Sec. 8).","No transparency support; the LDC tree is about 1.3 times larger than the sampled LDC and is not compressed (Sec. 8).",[],[],"not_applicable","none","LDC tree: octree whose nodes (blocks, typically b = 16) store layered depth cubes of surfels, each surfel with 32-bit depth, normal-table index, material-table index and three prefiltered texture mipmap colors (about 20 bytes); optional 3-to-1 reduction to single LDIs","geometric object models","rendered images; surfel set (no explicit connectivity)","unoptimized C on a 700 MHz Pentium III with 256 MB SDRAM: 0.6 to 11.2 fps depending on model and output resolution (Table 3); preprocessing about one hour for a typical object with 6 LOD surfel mipmaps (Sec. 8)",null,"not_verified",[40],{"relation":41,"title":42,"doi_or_url":43},"preprint","Surfels: Surface Elements as Rendering Primitives (MERL TR2000-10)","https:\u002F\u002Fwww.merl.com\u002Fpublications\u002Fdocs\u002FTR2000-10.pdf",{"id":5,"kind":45,"shortName":7,"title":8,"authors":46,"year":9,"venue":51,"venueType":52,"publisher":53,"volumeIssuePages":54,"doi":55,"arxivId":37,"url":43,"firstPublicDate":56,"publicationStatus":16,"metadataStatus":57,"fulltextStatus":15,"era":10,"classicReason":58,"codeUrl":37,"cluster":11,"topics":59,"mdpi":60,"verification":61,"label":6,"fulltextRoute":62,"versionRead":63,"addedByCensus":60},"component",[47,48,49,50],"Hanspeter Pfister","Matthias Zwicker","Jeroen van Baar","Markus Gross","Proceedings of the 27th Annual Conference on Computer Graphics and Interactive Techniques (SIGGRAPH '00)","conference","ACM Press","pp. 335-342","10.1145\u002F344779.344936","2000","metadata_verified","principle reused: the surfel (oriented point primitive with normal and attributes, no explicit connectivity) is the representation adopted by point-based fusion and SuMa.",[11],false,"confirmed","publisher OA","ACM SIGGRAPH 2000 version of record pp. 335-342 (free-access ACM Digital Library PDF); MERL TR2000-10 (2000-03-29) also downloaded and confirmed to carry the same title and abstract",[65],{"category":66,"model":67,"canonical":67,"role":68,"dataset":37,"specs":69,"locator":70},"compute","700 MHz Pentium III","compute for runtime","256 MB SDRAM; unoptimized C","Sec. 8",[],{"totalRows":73,"groupCount":74,"groups":75,"others":233},24,3,[76,138,205],{"slug":77,"group":78,"sourceId":5,"sourceLabel":6,"table":79,"selfRows":80,"metrics":81,"seqs":89,"entrants":98,"cells":104,"outcomes":132,"locators":133,"hardware":134,"wordings":135,"notes":136},"pfister2000surfels-table-2","pfister2000surfels:Table 2","Table 2",12,[82,86],{"label":83,"unit":84,"statistic":85,"alignment":31},"number of surfels (k in table)","surfels","not_reported",{"label":87,"unit":88,"statistic":85,"alignment":31},"file size","MB",[90,94,96],{"dataset":91,"sequence":92,"environment":93},"synthetic surfel objects","Salamander (81k polygons)","synthetic models",{"dataset":91,"sequence":95,"environment":93},"Wasp (128k polygons)",{"dataset":91,"sequence":97,"environment":93},"Cab (155k polygons)",[99,102],{"name":100,"methodId":5,"linkable":101,"proposed":101,"self":101},"LDC tree, 3 LDIs",true,{"name":103,"methodId":5,"linkable":101,"proposed":101,"self":101},"LDC tree, 3-to-1 reduced",[105,109,112,114,115,117,119,121,123,126,128,130],[106,106,106,107,108,106,108,108,106],0,112000,-1,[106,110,106,111,108,106,108,108,106],1,5,[110,106,106,113,108,106,108,108,106],70000,[110,110,106,74,108,106,108,108,106],[106,106,110,116,108,106,108,108,106],369000,[106,110,110,118,108,106,108,108,106],15,[110,106,110,120,108,106,108,108,106],204000,[110,110,110,122,108,106,108,108,106],8,[106,106,124,125,108,106,108,108,106],2,744000,[106,110,124,127,108,106,108,108,106],28,[110,106,124,129,108,106,108,108,106],539000,[110,110,124,131,108,106,108,108,106],20,[],[79],[],[],[137],"Model sizes: number of surfels and file size for the full (3 LDIs) and 3-to-1 reduced LDC trees; three LODs and three surfel mipmap levels",{"slug":139,"group":140,"sourceId":5,"sourceLabel":6,"table":141,"selfRows":142,"metrics":143,"seqs":148,"entrants":171,"cells":174,"outcomes":198,"locators":199,"hardware":200,"wordings":202,"notes":203},"pfister2000surfels-table-3","pfister2000surfels:Table 3","Table 3",11,[144],{"label":145,"unit":146,"statistic":147,"alignment":31},"fps","frames\u002Fs","mean",[149,151,153,155,157,159,161,163,165,167,169],{"dataset":91,"sequence":150,"environment":93},"Salamander, output 256 x 256",{"dataset":91,"sequence":152,"environment":93},"Wasp, output 256 x 256",{"dataset":91,"sequence":154,"environment":93},"Cab, output 256 x 256",{"dataset":91,"sequence":156,"environment":93},"Salamander, output 480 x 480",{"dataset":91,"sequence":158,"environment":93},"Wasp 3to1, output 480 x 480",{"dataset":91,"sequence":160,"environment":93},"Wasp 3LDI, output 480 x 480",{"dataset":91,"sequence":162,"environment":93},"Wasp SS, output 480 x 480",{"dataset":91,"sequence":164,"environment":93},"Cab, output 480 x 480",{"dataset":91,"sequence":166,"environment":93},"Salamander, output 1024 x 1024",{"dataset":91,"sequence":168,"environment":93},"Wasp, output 1024 x 1024",{"dataset":91,"sequence":170,"environment":93},"Cab, output 1024 x 1024",[172],{"name":173,"methodId":5,"linkable":101,"proposed":101,"self":101},"surfel renderer",[175,177,179,181,183,186,187,189,192,193,195],[106,106,106,176,108,106,106,108,106],11.2,[106,106,110,178,108,106,106,108,106],6,[106,106,124,180,108,106,106,108,106],2.5,[106,106,74,182,108,106,106,108,106],4.6,[106,106,184,185,108,106,106,108,106],4,2.7,[106,106,111,124,108,106,106,108,106],[106,106,178,188,108,106,106,108,106],1.3,[106,106,190,191,108,106,106,108,106],7,1.4,[106,106,122,188,108,106,106,108,106],[106,106,194,110,108,106,106,108,106],9,[106,106,196,197,108,106,106,108,106],10,0.6,[],[141],[201],"700 MHz Pentium III, 256 MB SDRAM",[],[204],"Frame rates averaged over one minute of arbitrary rotation, unoptimized C, pull-push reconstruction; all models 3-to-1 reduced except Wasp 3LDI; Wasp SS = 2x2 supersampling",{"slug":206,"group":207,"sourceId":5,"sourceLabel":6,"table":208,"selfRows":110,"metrics":209,"seqs":212,"entrants":215,"cells":221,"outcomes":226,"locators":227,"hardware":228,"wordings":230,"notes":231},"pfister2000surfels-text-sec-8","pfister2000surfels:Text Sec. 8","Text Sec. 8",[210],{"label":211,"unit":146,"statistic":147,"alignment":31},"average fps",[213],{"dataset":91,"sequence":214,"environment":93},"Wasp",[216,218,220],{"name":217,"methodId":37,"linkable":60,"proposed":60,"self":60},"Microsoft OpenGL (opengl32.lib)",{"name":219,"methodId":37,"linkable":60,"proposed":60,"self":60},"Mesa OpenGL",{"name":173,"methodId":5,"linkable":101,"proposed":101,"self":101},[222,223,225],[106,106,106,74,108,106,106,108,106],[110,106,106,224,108,106,106,108,106],1.7,[124,106,106,185,108,106,110,108,106],[],[70],[229,201],"not_reported (Sec. 8 does not state the machine used for the software OpenGL runs)",[],[232],"Wasp model: 128k polygons with 2.3 MB of textures rendered by software-only OpenGL on Windows NT with GL_LINEAR_MIPMAP_NEAREST, versus the unoptimized surfel renderer",[],1790510665919]