AI Detector Zero Chatgpt

AI Detector Zero Chatgpt — independent reviews, comparisons, pricing and step-by-step guides on Aizhi.

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  Confidential computing

  Confidential computing is a security and privacy-enhancing computational technique focused on protecting data in use. Confidential computing can be used in conjunction with storage and network encryption, which protect data at rest and data in transit respectively. It is designed to address software, protocol, cryptographic, and basic physical and supply-chain attacks, although some critics have demonstrated architectural and side-channel attacks effective against the technology. The technology protects data in use by performing computations in a hardware-based trusted execution environment (TEE). Confidential data is released to the TEE only once it is assessed to be trustworthy. Different types of confidential computing define the level of data isolation used, whether virtual machine, application, or function, and the technology can be deployed in on-premise data centers, edge locations, or the public cloud. It is often compared with other privacy-enhancing computational techniques such as fully homomorphic encryption, secure multi-party computation, and Trusted Computing. Confidential computing is promoted by the Confidential Computing Consortium (CCC) industry group, whose membership includes major providers of the technology. == Properties == Trusted execution environments (TEEs) "prevent unauthorized access or modification of applications and data while they are in use, thereby increasing the security level of organizations that manage sensitive and regulated data". Trusted execution environments can be instantiated on a computer's processing components such as a central processing unit (CPU) or a graphics processing unit (GPU). In their various implementations, TEEs can provide different levels of isolation including virtual machine, individual application, or compute functions. Typically, data in use in a computer's compute components and memory exists in a decrypted state and can be vulnerable to examination or tampering by unauthorized software or administrators. According to the CCC, confidential computing protects data in use through a minimum of three properties: Data confidentiality: "Unauthorized entities cannot view data while it is in use within the TEE". Data integrity: "Unauthorized entities cannot add, remove, or alter data while it is in use within the TEE". Code integrity: "Unauthorized entities cannot add, remove, or alter code executing in the TEE". In addition to trusted execution environments, remote cryptographic attestation is an essential part of confidential computing. The attestation process assesses the trustworthiness of a system and helps ensure that confidential data is released to a TEE only after it presents verifiable evidence that it is genuine and operating with an acceptable security posture. It allows the verifying party to assess the trustworthiness of a confidential computing environment through an "authentic, accurate, and timely report about the software and data state" of that environment. "Hardware-based attestation schemes rely on a trusted hardware component and associated firmware to execute attestation routines in a secure environment". Without attestation, a compromised system could deceive others into trusting it, claim it is running certain software in a TEE, and potentially compromise the confidentiality or integrity of the data being processed or the integrity of the trusted code. == Technical approaches == Technical approaches to confidential computing may vary in which software, infrastructure and administrator elements are allowed to access confidential data. The "trust boundary," which circumscribes a trusted computing base (TCB), defines which elements have the potential to access confidential data, whether they are acting benignly or maliciously. Confidential computing implementations enforce the defined trust boundary at a specific level of data isolation. The three main types of confidential computing are: Virtual machine isolation Application isolation, also known as process isolation Function isolation, also known as library isolation Virtual machine isolation removes the elements controlled by the computer infrastructure or cloud provider, but allows potential data access by elements inside a virtual machine running on the infrastructure. Application or process isolation permits data access only by authorized software applications or processes. Function or library isolation is designed to permit data access only by authorized subroutines or modules within a larger application, blocking access by any other system element, including unauthorized code in the larger application. == Threat model == As confidential computing is concerned with the protection of data in use, only certain threat models can be addressed by this technique. Other types of attacks are better addressed by other privacy-enhancing technologies. === In scope === The following threat vectors are generally considered in scope for confidential computing: Software attacks: including attacks on the host’s software and firmware. This may include the operating system, hypervisor, BIOS, other software and workloads. Protocol attacks: including "attacks on protocols associated with attestation as well as workload and data transport". This includes vulnerabilities in the "provisioning or placement of the workload" or data that could cause a compromise. Cryptographic attacks: including "vulnerabilities found in ciphers and algorithms due to a number of factors, including mathematical breakthroughs, availability of computing power and new computing approaches such as quantum computing". The CCC notes several caveats in this threat vector, including relative difficulty of upgrading cryptographic algorithms in hardware and recommendations that software and firmware be kept up-to-date. A multi-faceted, defense-in-depth strategy is recommended as a best practice. Basic physical attacks: including cold boot attacks, bus and cache snooping and plugging attack devices into an existing port, such as a PCI Express slot or USB port. Basic upstream supply-chain attacks: including attacks that would compromise TEEs through changes such as added debugging ports. The degree and mechanism of protection against these threats varies with specific confidential computing implementations. === Out of scope === Threats generally defined as out of scope for confidential computing include: Sophisticated physical attacks: including physical attacks that "require long-term and/or invasive access to hardware" such as chip scraping techniques and electron microscope probes. Upstream hardware supply-chain attacks: including attacks on the CPU manufacturing process, CPU supply chain in key injection/generation during manufacture. Attacks on components of a host system that are not directly providing the capabilities of the trusted execution environment are also generally out-of-scope. Availability attacks: confidential computing is designed to protect the confidentiality and integrity of protected data and code. It does not address availability attacks such as Denial of Service or Distributed Denial of Service attacks. == Use cases == Confidential computing can be deployed in the public cloud, on-premise data centers, or distributed "edge" locations, including network nodes, branch offices, industrial systems and others. === Data privacy and security === Confidential computing protects the confidentiality and integrity of data and code from the infrastructure provider, unauthorized or malicious software and system administrators, and other cloud tenants, which may be a concern for organizations seeking control over sensitive or regulated data. The additional security capabilities offered by confidential computing can help accelerate the transition of more sensitive workloads to the cloud or edge locations. === Multi-party analytics === Confidential computing can enable multiple parties to engage in joint analysis using confidential or regulated data inside a TEE while preserving privacy and regulatory compliance. In this case, all parties benefit from the shared analysis, but no party's sensitive data or confidential code is exposed to the other parties or system host. Examples include multiple healthcare organizations contributing data to medical research, or multiple banks collaborating to identify financial fraud or money laundering. Oxford University researchers proposed the alternative paradigm called "Confidential Remote Computing" (CRC), which supports confidential operations in Trusted Execution Environments across endpoint computers considering multiple stakeholders as mutually distrustful data, algorithm and hardware providers. === Confidential generative AI === Confidential computing technologies can be applied to various stages of a generative AI deployments to help increase data or model privacy, security, and regulatory compliance. TEEs and remote attestation can protect the integrity of data during AI model training, keep

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  Texture filtering

  In computer graphics, texture filtering or texture smoothing is the method used to determine the texture color for a texture mapped pixel, using the colors of nearby texels (ie. pixels of the texture). Filtering describes how a texture is applied at many different shapes, size, angles and scales. Depending on the chosen filter algorithm, the result will show varying degrees of blurriness, detail, spatial aliasing, temporal aliasing and blocking. Depending on the circumstances, filtering can be performed in software (such as a software rendering package) or in hardware, eg. with either real time or GPU accelerated rendering circuits, or in a mixture of both. For most common interactive graphical applications, modern texture filtering is performed by dedicated hardware which optimizes memory access through memory cacheing and pre-fetch, and implements a selection of algorithms available to the user and developer. There are two main categories of texture filtering: magnification filtering and minification filtering. Depending on the situation, texture filtering is either a type of reconstruction filter where sparse data is interpolated to fill gaps (magnification), or a type of anti-aliasing (AA) where texture samples exist at a higher frequency than required for the sample frequency needed for texture fill (minification). There are many methods of texture filtering, which make different trade-offs between computational complexity, memory bandwidth and image quality. == The need for filtering == During the texture mapping process for any arbitrary 3D surface, a texture lookup takes place to find out where on the texture each pixel center falls. For texture-mapped polygonal surfaces composed of triangles typical of most surfaces in 3D games and movies, every pixel (or subordinate pixel sample) of that surface will be associated with some triangle(s) and a set of barycentric coordinates, which are used to provide a position within a texture. Such a position may not lie perfectly on the "pixel grid," necessitating some function to account for these cases. In other words, since the textured surface may be at an arbitrary distance and orientation relative to the viewer, one pixel does not usually correspond directly to one texel. Some form of filtering has to be applied to determine the best color for the pixel. Insufficient or incorrect filtering will show up in the image as artifacts (errors in the image), such as 'blockiness', jaggies, or shimmering. There can be different types of correspondence between a pixel and the texel/texels it represents on the screen. These depend on the position of the textured surface relative to the viewer, and different forms of filtering are needed in each case. Given a square texture mapped on to a square surface in the world, at some viewing distance the size of one screen pixel is exactly the same as one texel. Closer than that, the texels are larger than screen pixels, and need to be scaled up appropriately — a process known as texture magnification. Farther away, each texel is smaller than a pixel, and so one pixel covers multiple texels. In this case an appropriate color has to be picked based on the covered texels, via texture minification. Graphics APIs such as OpenGL allow the programmer to set different choices for minification and magnification filters. Note that even in the case where the pixels and texels are exactly the same size, one pixel will not necessarily match up exactly to one texel. It may be misaligned or rotated, and cover parts of up to four neighboring texels. Hence some form of filtering is still required. == Mipmapping == Mipmapping is a standard technique used to save some of the filtering work needed during texture minification. It is also highly beneficial for cache coherency - without it the memory access pattern during sampling from distant textures will exhibit extremely poor locality, adversely affecting performance even if no filtering is performed. During texture magnification, the number of texels that need to be looked up for any pixel is always four or fewer; during minification, however, as the textured polygon moves farther away potentially the entire texture might fall into a single pixel. This would necessitate reading all of its texels and combining their values to correctly determine the pixel color, a prohibitively expensive operation. Mipmapping avoids this by prefiltering the texture and storing it in smaller sizes down to a single pixel. As the textured surface moves farther away, the texture being applied switches to the prefiltered smaller size. Different sizes of the mipmap are referred to as 'levels', with Level 0 being the largest size (used closest to the viewer), and increasing levels used at increasing distances. == Filtering methods == This section lists the most common texture filtering methods, in increasing order of computational cost and image quality. === Nearest-neighbor interpolation === Nearest-neighbor interpolation is the simplest and crudest filtering method — it simply uses the color of the texel closest to the pixel center for the pixel color. While simple, this results in a large number of artifacts - texture 'blockiness' during magnification, and aliasing and shimmering during minification. This method is fast during magnification but during minification the stride through memory becomes arbitrarily large and it can often be less efficient than MIP-mapping due to the lack of spatially coherent texture access and cache-line reuse. === Nearest-neighbor with mipmapping === This method still uses nearest neighbor interpolation, but adds mipmapping — first the nearest mipmap level is chosen according to distance, then the nearest texel center is sampled to get the pixel color. This reduces the aliasing and shimmering significantly during minification but does not eliminate it entirely. In doing so it improves texture memory access and cache-line reuse through avoiding arbitrarily large access strides through texture memory during rasterization. This does not help with blockiness during magnification as each magnified texel will still appear as a large rectangle. === Linear mipmap filtering === Less commonly used, OpenGL and other APIs support nearest-neighbor sampling from individual mipmaps whilst linearly interpolating the two nearest mipmaps relevant to the sample. === Bilinear filtering === In Bilinear filtering, the four nearest texels to the pixel center are sampled (at the closest mipmap level), and their colors are combined by weighted average according to distance. This removes the 'blockiness' seen during magnification, as there is now a smooth gradient of color change from one texel to the next, instead of an abrupt jump as the pixel center crosses the texel boundary. Bilinear filtering for magnification filtering is common. When used for minification it is often used with mipmapping; though it can be used without, it would suffer the same aliasing and shimmering problems as nearest-neighbor filtering when minified too much. For modest minification ratios, however, it can be used as an inexpensive hardware accelerated weighted texture supersample. The Nintendo 64 used an unusual version of bilinear filtering where only three pixels are used known as 3-point texture filtering, instead of four due to hardware optimization concerns. This introduces a noticeable "triangulation bias" in some textures. === Trilinear filtering === Trilinear filtering is a remedy to a common artifact seen in mipmapped bilinearly filtered images: an abrupt and very noticeable change in quality at boundaries where the renderer switches from one mipmap level to the next. Trilinear filtering solves this by doing a texture lookup and bilinear filtering on the two closest mipmap levels (one higher and one lower quality), and then linearly interpolating the results. This results in a smooth degradation of texture quality as distance from the viewer increases, rather than a series of sudden drops. Of course, closer than Level 0 there is only one mipmap level available, and the algorithm reverts to bilinear filtering. === Anisotropic filtering === Anisotropic filtering is the highest quality filtering available in current consumer 3D graphics cards. Simpler, "isotropic" techniques use only square mipmaps which are then interpolated using bi– or trilinear filtering. (Isotropic means same in all directions, and hence is used to describe a system in which all the maps are squares rather than rectangles or other quadrilaterals.) When a surface is at a high angle relative to the camera, the fill area for a texture will not be approximately square. Consider the common case of a floor in a game: the fill area is far wider than it is tall. In this case, none of the square maps are a good fit. The result is blurriness and/or shimmering, depending on how the fit is chosen. Anisotropic filtering corrects this by sampling the texture as a non-square shape. The goal is

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  Josh (app)

  Josh (stylized as JOSH) was a video-sharing social networking service but it has since evolved into a live call and chat application owned by VerSe Innovation – an Indian technology company based in Bangalore, India. Josh was an Indian short video app that was launched in immediately after the Indian Government banned TikTok and other Chinese apps in June 2020. The founders of the platform have promoted the app as the “Instagram for Bharat” referring to their focus on the Indian audience that speaks its own regional and state languages. Josh was among the top 10 most downloaded apps social and entertainment apps in India of 2021 and had 150 million monthly active users as per April 2022. The word 'Josh' translates to fervour or passion. The app was launched under the aegis of the Atmanirbhar Bharat campaign and to compete with the duopoly of Google and Facebook in India. Josh's parent company VerSe Innovations Pvt. Ltd. owns another startup Dailyhunt, which a content and news aggregator application. Both Dailyhunt and Josh are a part of the VerSe's focus on the "next billion" regional language users of India. Founders Virendra Gupta and Umang Bedi conceptualised Josh as a short-video platform that made content creation accessible to vernacular language users, essentially the non-English speaking audience in India. == Features == Josh is currently available in 12 Indian languages and allows users to upload, share, remix bite-sized videos of up to 120 seconds. There are various categories across the video section including viral, trending, glamour, dance, devotion, yoga and cooking among others. Similar to Instagram and TikTok, it has a video feed which is curated for individuals on the basis of their app behaviour. The app hosts many daily, weekly and monthly social media challenges. == Funding == In December 2020, within 3 months of its launch, Josh's parent app VerSe Innovation raised more than $100 million from investors including Alphabet Inc's Google and Microsoft. In February 2021, VerSe Innovation raised $100 million in Series H funding from Qatar Investment Authority, the sovereign wealth fund of the State of Qatar, and Glade Brook Capital Partners. In August 2021, VerSe raised over $450 million in its Series I financing round with a valuation of $1 billion. Investors included Canada Pension Plan Investment Board (CPPIB), Siguler Guff, Baillie Gifford, Carlyle Asia Partners Growth II affiliates, and others. The startup announced its plan to expand overseas and broaden its ecommerce play for both Dailyhunt and Josh. In April 2022, VerSe announced that it has raised $805 million in funding from investors at a valuation of nearly $5 billion. ByteDance Offloads Stake In Josh Parent VerSe, Exits At 56% Discount == Partnerships == In February 2021, Saregama and Josh signed a music licensing deal, wherein Josh expanded its musical library with 1.3 lakh songs from Saregama in 25 different languages. To improve their user experience, Josh partnered with computer vision company D-ID in August 2021. The company helped Josh introduce photo-to-video features, live portrait technology, animate their photos etc. In order to solidify their efforts in enhancing Josh, VerSe acquired Indian social networking platform GolBol in October 2021. The move came as an effort by the startup to strengthen their discovery initiatives on the platform and classify content at scale and understand the core behaviour of Indian regional audiences. Josh has also announced its plans to include live commerce as a potential revenue stream through its partnership with multiple large e-commerce players. == Notable campaigns == Say No To Dowry – In association with Josh, the Kerala Police partook in the #SayNo2Dowry online social media campaign that was started to highlight and stop the social evil in the state. Salute India – Josh entered the Guinness World Records by creating the largest online video album of people saluting (29,529). It organised an online campaign #SaluteIndia on the app during the 75th Independence Day of India during 10–15 August 2021.

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  Visible (mobile app)

  Visible is a health tracking mobile app for people with long COVID and myalgic encephalomyelitis/chronic fatigue syndrome (ME/CFS). The company was founded by a Harry Leeming, an engineer from London living with long Covid since 2020, and Luke Martin-Fuller. In November 2022, Visible released an open beta of an app that aims to help people pace their activities to avoid post-exertional malaise. The app gathers data on exertion levels, symptom severity, and heart-rate variability. HRV is approximated using a smartphone's camera via a technique called photoplethysmography, and according to the app's developers, can indicate how much someone needs rest. The app is currently free, but is expected to be freemium in the future. Users can also opt to allow their data be used for research purposes. In July 2023, Visible and Imperial College London announced the start of the first two studies. One is on the effects of the menstrual cycle on long COVID symptoms, and the other is on the condition's epidemiology and economic impact. Visible has announced plans to couple the app with activity trackers for continuous monitoring of heart-rate and actimetry data, which the developers claim will be more effective. As of 2022, no clinical trials on Visible's effectiveness have been conducted.

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  Image fusion

  The image fusion process is defined as gathering all the important information from multiple images, and their inclusion into fewer images, usually a single one. This single image is more informative and accurate than any single source image, and it consists of all the necessary information. The purpose of image fusion is not only to reduce the amount of data but also to construct images that are more appropriate and understandable for the human and machine perception. In computer vision, multisensor image fusion is the process of combining relevant information from two or more images into a single image. The resulting image will be more informative than any of the input images. In remote sensing applications, the increasing availability of space borne sensors gives a motivation for different image fusion algorithms. Several situations in image processing require high spatial and high spectral resolution in a single image. Most of the available equipment is not capable of providing such data convincingly. Image fusion techniques allow the integration of different information sources. The fused image can have complementary spatial and spectral resolution characteristics. However, the standard image fusion techniques can distort the spectral information of the multispectral data while merging. In satellite imaging, two types of images are available. The panchromatic image acquired by satellites is transmitted with the maximum resolution available and the multispectral data are transmitted with coarser resolution. This will usually be two or four times lower. At the receiver station, the panchromatic image is merged with the multispectral data to convey more information. Many methods exist to perform image fusion. The very basic one is the high-pass filtering technique. Later techniques are based on Discrete Wavelet Transform, uniform rational filter bank, and Laplacian pyramid. == Motivation == Multi sensor data fusion has become a discipline which demands more general formal solutions to a number of application cases. Several situations in image processing require both high spatial and high spectral information in a single image. This is important in remote sensing. However, the instruments are not capable of providing such information either by design or because of observational constraints. One possible solution for this is data fusion. == Methods == Image fusion methods can be broadly classified into two groups – spatial domain fusion and transform domain fusion. The fusion methods such as averaging, Brovey method, principal component analysis (PCA) and IHS based methods fall under spatial domain approaches. Another important spatial domain fusion method is the high-pass filtering based technique. Here the high frequency details are injected into upsampled version of MS images. The disadvantage of spatial domain approaches is that they produce spatial distortion in the fused image. Spectral distortion becomes a negative factor while we go for further processing, such as classification problem. Spatial distortion can be very well handled by frequency-domain approaches on image fusion. The multiresolution analysis has become a very useful tool for analysing remote sensing images. The discrete wavelet transform has become a very useful tool for fusion. Some other fusion methods are also there, such as Laplacian pyramid based, curvelet transform based etc. These methods show a better performance in spatial and spectral quality of the fused image compared to other spatial methods of fusion. The images used in image fusion should already be registered. Misregistration is a major source of error in image fusion. Some well-known image fusion methods are: High-pass filtering technique IHS transform based image fusion PCA-based image fusion Wavelet transform image fusion Pair-wise spatial frequency matching Comparative analysis of image fusion methods demonstrates that different metrics support different user needs, sensitive to different image fusion methods, and need to be tailored to the application. Categories of image fusion metrics are based on information theory features, structural similarity, or human perception. === Multi-focus image fusion === Multi-focus image fusion is used to collect useful and necessary information from input images with different focus depths in order to create an output image that ideally has all information from input images. In visual sensor network (VSN), sensors are cameras which record images and video sequences. In many applications of VSN, a camera can’t give a perfect illustration including all details of the scene. This is because of the limited depth of focus exists in the optical lens of cameras. Therefore, just the object located in the focal length of camera is focused and cleared and the other parts of image are blurred. VSN has an ability to capture images with different depth of focuses in the scene using several cameras. Due to the large amount of data generated by camera compared to other sensors such as pressure and temperature sensors and some limitation such as limited band width, energy consumption and processing time, it is essential to process the local input images to decrease the amount of transmission data. The aforementioned reasons emphasize the necessary of multi-focus images fusion. Multi-focus image fusion is a process which combines the input multi-focus images into a single image including all important information of the input images and it’s more accurate explanation of the scene than every single input image. == Applications == === In remote sensing === Image fusion in remote sensing has several application domains. An important domain is the multi-resolution image fusion (commonly referred to pan-sharpening). In satellite imagery we can have two types of images: Panchromatic images – An image collected in the broad visual wavelength range but rendered in black and white. Multispectral images – Images optically acquired in more than one spectral or wavelength interval. Each individual image is usually of the same physical area and scale but of a different spectral band. The SPOT PAN satellite provides high resolution (10m pixel) panchromatic data. While the LANDSAT TM satellite provides low resolution (30m pixel) multispectral images. Image fusion attempts to merge these images and produce a single high resolution multispectral image. The standard merging methods of image fusion are based on Red–Green–Blue (RGB) to Intensity–Hue–Saturation (IHS) transformation. The usual steps involved in satellite image fusion are as follows: Resize the low resolution multispectral images to the same size as the panchromatic image. Transform the R, G and B bands of the multispectral image into IHS components. Modify the panchromatic image with respect to the multispectral image. This is usually performed by histogram matching of the panchromatic image with Intensity component of the multispectral images as reference. Replace the intensity component by the panchromatic image and perform inverse transformation to obtain a high resolution multispectral image. Pan-sharpening can be done with Photoshop. Other applications of image fusion in remote sensing are available. === In medical imaging === Image fusion has become a common term used within medical diagnostics and treatment. The term is used when multiple images of a patient are registered and overlaid or merged to provide additional information. Fused images may be created from multiple images from the same imaging modality, or by combining information from multiple modalities, such as magnetic resonance image (MRI), computed tomography (CT), positron emission tomography (PET), and single-photon emission computed tomography (SPECT). In radiology and radiation oncology, these images serve different purposes. For example, CT images are used more often to ascertain differences in tissue density while MRI images are typically used to diagnose brain tumors. For accurate diagnosis, radiologists must integrate information from multiple image formats. Fused, anatomically consistent images are especially beneficial in diagnosing and treating cancer. With the advent of these new technologies, radiation oncologists can take full advantage of intensity modulated radiation therapy (IMRT). Being able to overlay diagnostic images into radiation planning images results in more accurate IMRT target tumor volumes.

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  INaturalist

  iNaturalist is an American 501(c)(3) nonprofit social network of naturalists, citizen scientists, and biologists built on the concept of mapping and sharing observations of biodiversity across the globe. iNaturalist may be accessed via its website or from its mobile applications. iNaturalist includes an automated species identification tool, and users further assist each other in identifying organisms from photographs and sound recordings. As of 5 August 2025, iNaturalist users had contributed nearly 300 million observations of plants, animals, fungi, and other organisms worldwide, and 400,000 users were active in the previous 30 days. iNaturalist serves as an important resource of open data for biodiversity research, conservation, and education, describing itself as "an online social network of people sharing biodiversity information to help each other learn about nature." It is the primary application for crowd-sourced biodiversity data in places such as Mexico, southern Africa, and Australia, and the project has been called "a standard-bearer for natural history mobile applications." Most of iNaturalist's software is open source. It has contributed to over 4,000 research papers and is widely used by scientists, land managers, and conservationists worldwide. The platform has also been active in the discovery of new species and rediscovery of species previously assumed to be extinct. == History == iNaturalist began in 2008 as a UC Berkeley School of Information Master's final project of Nate Agrin, Jessica Kline, and Ken-ichi Ueda. Agrin and Ueda continued work on the site with Sean McGregor, a web developer. In 2011, Ueda began collaboration with Scott Loarie, a research fellow at Stanford University and lecturer at UC Berkeley. Ueda and Loarie are the current co-directors of iNaturalist.org. The organization merged with the California Academy of Sciences on 24 April 2014. In 2017, iNaturalist became a joint initiative between the California Academy of Sciences and the National Geographic Society. With these collaborations and growing popularity of the site since 2012, the number of participants and observations has roughly doubled each year. In 2014, iNaturalist reached 1 million observations. Later, as of October 2023, there were 181 million observations (163 million verifiable). On 11 July 2023 iNaturalist announced its status as a newly independent 501(c)(3) nonprofit organization. === Google AI controversy === On 9 June 2025 Google announced that iNaturalist would be part of its "Generative AI Accelerator". This announcement, paired with the initial lack of information on the iNaturalist site, led to outcry from many iNaturalist users in the blog comments and forum, worrying about the consequences for the environment, volunteer engagement, reliability and raised questions about the decision making within iNaturalist, while some saw the backlash as a sign that people want to resist 'corrosive technologies'. PZ Myers, a biology professor who uses iNaturalist in his teaching, published an article on his website Pharyngula stating that "any decision that drives people away and replaces them with a hallucinating bot is a bad decision". == Platforms == Users can interact with iNaturalist in the following ways: through the iNaturalist.org website, through two mobile apps: iNaturalist (iOS/Android) and Seek by iNaturalist (iOS/Android), or through partner organizations such as the Global Biodiversity Information Facility (GBIF) website. On the iNaturalist.org website, visitors can search the public dataset and interact with other people adding observations and identifications. The website provides tools for registered users to add, identify, and discuss observations, write journal posts, explore information about species, create project pages to recruit participation, and coordinate work on their topics of interest. On the iNaturalist mobile app, users can create and share nature observations to the online dataset, explore observations both nearby and around the world, and learn about different species. Seek by iNaturalist, a separate app marketed to families, requires no online account registration and all observations may remain private. Seek incorporates features of gamification, such as providing a list of nearby organisms to find and encouraging the collection of badges and participation in challenges. Seek was initially released in the spring of 2018. == Observations == The iNaturalist platform is based on crowdsourcing of observations and identifications. An iNaturalist observation records a person's encounter with an individual organism at a particular time and place. An iNaturalist observation may also record evidence of an organism, such as animal tracks, nests, or scat. The scope of iNaturalist excludes natural but inert subjects such as geologic or hydrologic features. Users typically upload photos as evidence of their findings, though audio recordings are also accepted, and such evidence is not a strict requirement. Users may share observation locations publicly, "obscure" them to display a less precise location or make the locations completely private. iNaturalist users can add identifications to each other's observations in order to confirm or improve the identification of the observation. Observations are classified as "Casual", "Needs ID" (needs identification), or "Research Grade" based on the quality of the data provided and the community identification process. Any quality of data can be downloaded from iNaturalist and "Research Grade" observations are often incorporated into other online databases such as the Global Biodiversity Information Facility and the Atlas of Living Australia. === Automated species identification === In addition to observations being identified by others in the community, iNaturalist includes an automated species identification tool, first released in 2017. Images can be identified via a computer vision model which has been trained on the large database of the observations on iNaturalist. Multiple species suggestions are typically provided with the suggestion that the software guesses to be most likely is at the top of the list. A broader taxon such as a genus or family is commonly provided if the model is unsure of the species. It is trained once or twice a year, and the threshold for species included in the training set has changed over time. It can be difficult for the model to guess correctly if the species in question is infrequently observed or hard to identify from images alone, or if the image submitted has poor lighting, is blurry, or contains multiple subjects. In February 2023, iNaturalist released v2.1 of its computer vision model, which was trained on a new source model which performed significantly better than the previous models trained using a different source model. In April 2025 iNaturalist released an updated app for iOS, changing the original version to "iNaturalist Classic." == Projects == Users have created and contributed to tens of thousands of different projects on iNaturalist. The platform is commonly used to record observations during bioblitzes, which are biological surveying events that attempt to record all the species that occur within a designated area, and a specific project type on iNaturalist. Other project types include collections of observations by location or taxon or documenting specific types of observations such as animal tracks and signs, the spread of invasive species, roadkill, fishing catches, or discovering new species. In 2011, iNaturalist was used as a platform to power the Global Amphibian and Global Reptile BioBlitzes, in which observations were used to help monitor the occurrence and distribution of the world's reptiles and amphibian species. The US National Park Service partnered with iNaturalist to record observations from the 2016 National Parks BioBlitz. That project exceeded 100,000 observations in August 2016. In 2017, the United Nations Environment Programme teamed up with iNaturalist to celebrate World Environment Day.. In 2022, Reef Ecologic teamed up with iNaturalist to celebrate World Oceans Day. === City Nature Challenge === In 2016, Lila Higgins from the Natural History Museum of Los Angeles County and Alison Young from the California Academy of Sciences co-founded the City Nature Challenge (CNC). In the first City Nature Challenge, naturalists in Los Angeles and the San Francisco Bay Area documented over 20,000 observations with the iNaturalist platform. In 2017, the CNC expanded to 16 cities across the United States and collected over 125,000 observations of wildlife in 5 days. The CNC expanded to a global audience in 2018, with 68 cities participating from 19 countries, with some cities using community science platforms other than iNaturalist to participate. In 4 days, over 17,000 people cataloged over 440,000 nature observations in urban regions around the world. In 2019, the CNC once again expanded, with 35,000 parti

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  Image-based modeling and rendering

  In computer graphics and computer vision, image-based modeling and rendering (IBMR) methods rely on a set of two-dimensional images of a scene to generate a three-dimensional model and then render some novel views of this scene. The traditional approach of computer graphics has been used to create a geometric model in 3D and try to reproject it onto a two-dimensional image. Computer vision, conversely, is mostly focused on detecting, grouping, and extracting features (edges, faces, etc.) present in a given picture and then trying to interpret them as three-dimensional clues. Image-based modeling and rendering allows the use of multiple two-dimensional images in order to generate directly novel two-dimensional images, skipping the manual modeling stage. == Light modeling == Instead of considering only the physical model of a solid, IBMR methods usually focus more on light modeling. The fundamental concept behind IBMR is the plenoptic illumination function which is a parametrisation of the light field. The plenoptic function describes the light rays contained in a given volume. It can be represented with seven dimensions: a ray is defined by its position ( x , y , z ) {\displaystyle (x,y,z)} , its orientation ( θ , ϕ ) {\displaystyle (\theta ,\phi )} , its wavelength ( λ ) {\displaystyle (\lambda )} and its time ( t ) {\displaystyle (t)} : P ( x , y , z , θ , ϕ , λ , t ) {\displaystyle P(x,y,z,\theta ,\phi ,\lambda ,t)} . IBMR methods try to approximate the plenoptic function to render a novel set of two-dimensional images from another. Given the high dimensionality of this function, practical methods place constraints on the parameters in order to reduce this number (typically to 2 to 4). == IBMR methods and algorithms == View morphing generates a transition between images Panoramic imaging renders panoramas using image mosaics of individual still images Lumigraph relies on a dense sampling of a scene Space carving generates a 3D model based on a photo-consistency check

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  Image texture

  An image texture is the small-scale structure perceived on an image, based on the spatial arrangement of color or intensities. It can be quantified by a set of metrics calculated in image processing. Image texture metrics give us information about the whole image or selected regions. Image textures can be artificially created or found in natural scenes captured in an image. Image textures are one way that can be used to help in segmentation or classification of images. For more accurate segmentation the most useful features are spatial frequency and an average grey level. To analyze an image texture in computer graphics, there are two ways to approach the issue: structured approach and statistical approach. == Structured approach == A structured approach sees an image texture as a set of primitive texels in some regular or repeated pattern. This works well when analyzing artificial textures. To obtain a structured description a characterization of the spatial relationship of the texels is gathered by using Voronoi tessellation of the texels. == Statistical approach == A statistical approach sees an image texture as a quantitative measure of the arrangement of intensities in a region. In general this approach is easier to compute and is more widely used, since natural textures are made of patterns of irregular subelements. === Edge detection === The use of edge detection is to determine the number of edge pixels in a specified region, helps determine a characteristic of texture complexity. After edges have been found the direction of the edges can also be applied as a characteristic of texture and can be useful in determining patterns in the texture. These directions can be represented as an average or in a histogram. Consider a region with N pixels. the gradient-based edge detector is applied to this region by producing two outputs for each pixel p: the gradient magnitude Mag(p) and the gradient direction Dir(p). The edgeness per unit area can be defined by F e d g e n e s s = | { p | M a g ( p ) > T } | N {\displaystyle F_{edgeness}={\frac {|\{p|Mag(p)>T\}|}{N}}} for some threshold T. To include orientation with edgeness histograms for both gradient magnitude and gradient direction can be used. Hmag(R) denotes the normalized histogram of gradient magnitudes of region R, and Hdir(R) denotes the normalized histogram of gradient orientations of region R. Both are normalized according to the size NR Then F m a g , d i r = ( H m a g ( R ) , H d i r ( R ) ) {\displaystyle F_{mag,dir}=(H_{mag}(R),H_{dir}(R))} is a quantitative texture description of region R. === Co-occurrence matrices === The co-occurrence matrix captures numerical features of a texture using spatial relations of similar gray tones. Numerical features computed from the co-occurrence matrix can be used to represent, compare, and classify textures. The following are a subset of standard features derivable from a normalized co-occurrence matrix: A n g u l a r 2 n d M o m e n t = ∑ i ∑ j p [ i , j ] 2 C o n t r a s t = ∑ i = 1 N g ∑ j = 1 N g n 2 p [ i , j ] , where | i − j | = n C o r r e l a t i o n = ∑ i = 1 N g ∑ j = 1 N g ( i j ) p [ i , j ] − μ x μ y σ x σ y E n t r o p y = − ∑ i ∑ j p [ i , j ] l n ( p [ i , j ] ) {\displaystyle {\begin{aligned}Angular{\text{ }}2nd{\text{ }}Moment&=\sum _{i}\sum _{j}p[i,j]^{2}\\Contrast&=\sum _{i=1}^{Ng}\sum _{j=1}^{Ng}n^{2}p[i,j]{\text{, where }}|i-j|=n\\Correlation&={\frac {\sum _{i=1}^{Ng}\sum _{j=1}^{Ng}(ij)p[i,j]-\mu _{x}\mu _{y}}{\sigma _{x}\sigma _{y}}}\\Entropy&=-\sum _{i}\sum _{j}p[i,j]ln(p[i,j])\\\end{aligned}}} where p [ i , j ] {\displaystyle p[i,j]} is the [ i , j ] {\displaystyle [i,j]} th entry in a gray-tone spatial dependence matrix, and Ng is the number of distinct gray-levels in the quantized image. One negative aspect of the co-occurrence matrix is that the extracted features do not necessarily correspond to visual perception. It is used in dentistry for the objective evaluation of lesions [DOI: 10.1155/2020/8831161], treatment efficacy [DOI: 10.3390/ma13163614; DOI: 10.11607/jomi.5686; DOI: 10.3390/ma13173854; DOI: 10.3390/ma13132935] and bone reconstruction during healing [DOI: 10.5114/aoms.2013.33557; DOI: 10.1259/dmfr/22185098; EID: 2-s2.0-81455161223; DOI: 10.3390/ma13163649]. === Laws texture energy measures === Another approach is to use local masks to detect various types of texture features. Laws originally used four vectors representing texture features to create sixteen 2D masks from the outer products of the pairs of vectors. The four vectors and relevant features were as follows: L5 = [ +1 +4 6 +4 +1 ] (Level) E5 = [ -1 -2 0 +2 +1 ] (Edge) S5 = [ -1 0 2 0 -1 ] (Spot) R5 = [ +1 -4 6 -4 +1 ] (Ripple) To these 4, a fifth is sometimes added: W5 = [ -1 +2 0 -2 +1 ] (Wave) From Laws' 4 vectors, 16 5x5 "energy maps" are then filtered down to 9 in order to remove certain symmetric pairs. For instance, L5E5 measures vertical edge content and E5L5 measures horizontal edge content. The average of these two measures is the "edginess" of the content. The resulting 9 maps used by Laws are as follows: L5E5/E5L5 L5R5/R5L5 E5S5/S5E5 S5S5 R5R5 L5S5/S5L5 E5E5 E5R5/R5E5 S5R5/R5S5 Running each of these nine maps over an image to create a new image of the value of the origin ([2,2]) results in 9 "energy maps," or conceptually an image with each pixel associated with a vector of 9 texture attributes. === Autocorrelation and power spectrum === The autocorrelation function of an image can be used to detect repetitive patterns of textures. == Texture segmentation == The use of image texture can be used as a description for regions into segments. There are two main types of segmentation based on image texture, region based and boundary based. Though image texture is not a perfect measure for segmentation it is used along with other measures, such as color, that helps solve segmenting in image. === Region based === Attempts to group or cluster pixels based on texture properties. === Boundary based === Attempts to group or cluster pixels based on edges between pixels that come from different texture properties.

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  Office automation

  Office automation refers to the varied computer machinery and software used to digitally create, collect, store, manipulate, and relay office information needed for accomplishing basic tasks. Raw data storage, electronic transfer, and the management of electronic business information comprise the basic activities of an office automation system. Office automation helps in optimizing or automating existing office procedures. The backbone of office automation is a local area network, which allows users to transfer data, mail and voice across the network. All office functions, including dictation, typing, filing, copying, fax, telex, microfilm and records management, telephone and telephone switchboard operations, fall into this category. Office automation was a popular term in the 1970s and 1980s as the desktop computer exploded onto the scene. Advantages of office automation include that it can get many tasks accomplished faster, it eliminates the need for a large staff, less storage is required to store data, and multiple people can update data simultaneously in the event of changes in schedule. == Outline == Businesses can easily purchase and stock their wares with the aid of technology. Many of the manual tasks that used to be done by hand can now be done through hand held devices and UPC and SKU coding. In the retail setting, automation also increases choice. Customers can easily process their payments through automated credit card machines and no longer have to wait in line for an employee to process and manually type in the credit card numbers. Office payrolls have been automated, which means no one has to manually cut checks, and those checks that are cut can be printed through computer programs. Direct deposit can be automatically set up and this further reduces the manual process, and most employees who participate in direct deposit often find their paychecks come earlier than if they'd have to wait for their checks to be written and then cleared by the bank. Other ways automation has reduced employee manpower on tasks is automated voice direction. Through the use of prompts, automated phone menus and directed calls, the need for employees to be dedicated to answer the phones has been reduced, and in some cases, eliminated.

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  Shell Control Box

  Shell Control Box (SCB) is a network security appliance that controls privileged access to remote IT systems, records activities in replayable audit trails, and prevents malicious actions. For example, it records as a system administrator updates a file server or a third-party network operator configures a router. The recorded audit trails can be replayed like a movie to review the events as they occurred. The content of the audit trails is indexed to make searching for events and automatic reporting possible. SCB is a Linux-based device developed by Balabit. It is an application level proxy gateway. In 2017, Balabit changed the name of the product to Privileged Session Management (PSM) and repositioned it as the core module of its Privileged Access Management solution. == Main Features == Balabit’s Privileged Session Management (PSM), Shell Control Box (SCB) is a device that controls, monitors, and audits remote administrative access to servers and network devices. It is a tool to oversee system administrators by controlling the encrypted connections used for administration. PSM (SCB) has full control over the SSH, RDP, Telnet, TN3270, TN5250, Citrix ICA, and VNC connections, providing a framework (with solid boundaries) for the work of the administrators. === Gateway Authentication === PSM (SCB) acts as an authentication gateway, enforcing strong authentication before users access IT assets. PSM can also integrate to user directories (for example, a Microsoft Active Directory) to resolve the group memberships of the users who access the protected servers. Credentials for accessing the server are retrieved transparently from PSM’s credential store or a third-party password management system by PSM impersonating the authenticated user. This automatic password retrieval protects the confidentiality of passwords as users can never access them. === Access Control === PSM controls and audits privileged access over the most wide-spread protocols such as SSH, RDP, or HTTP(s). The detailed access management helps to control who can access what and when on servers. It is also possible to control advanced features of the protocols, like the type of channels permitted. For example, unneeded channels like file transfer or file sharing can be disabled, reducing the security risk on the server. With PSM policies for privileged access can be enforced in one single system. === 4-eyes Authorization === To avoid accidental misconfiguration and other human errors, PSM supports the 4-eyes authorization principle. This is achieved by requiring an authorizer to allow administrators to access the server. The authorizer also has the possibility to monitor – and terminate - the session of the administrator in real-time, as if they were watching the same screen. === Real-time Monitoring and Session Termination === PSM can monitor the network traffic in real time, and execute various actions if a certain pattern (for example, a suspicious command, window title or text) appears on the screen. PSM can also detect specific patterns such as credit card numbers. In case of detecting a suspicious user action, PSM can send an e-mail alert or immediately terminate the connection. For example, PSM can block the connection before a destructive administrator command, such as the „rm” comes into effect. === Session Recording === PSM makes user activities traceable by recording them in tamper-proof and confidential audit trails. It records the selected sessions into encrypted, timestamped, and digitally signed audit trails. Audit trails can be browsed online, or followed real-time to monitor the activities of the users. PSM replays the recorded sessions just like a movie – actions of the users can be seen exactly as they appeared on their monitor. The Balabit Desktop Player enables fast forwarding during replays, searching for events (for example, typed commands or pressing Enter) and texts seen by the user. In the case of any problems (database manipulation, unexpected shutdown, etc.) the circumstances of the event are readily available in the trails, thus the cause of the incident can be identified. In addition to recording audit trails, transferred files can be also recorded and extracted for further analysis.

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  Snap (computer graphics)

  In computer graphics, snapping allows an object to be easily positioned in alignment with grid lines, guide lines or another object, by causing it to automatically jump to an exact position when the user drags it to the proximity of the desired location. Some CAD software provides a "Snap" pull-down menu with diverse options as preferences for the practice of the operation. In Windows, with the "snap windows" option enabled, snapping a window against the top (or side) edge of the screen causes it to change into full screen (or half-screen for multitasking). Software snapping is analogous to hardware detents which serve to indicate discrete values or steps of an input device.

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  Sanchar Saathi

  Sanchar Saathi (lit. 'Communication Partner' or 'Communication Companion') is an Indian state-owned app and web portal, operated by the Department of Telecommunications, designed to assist Indian mobile users in tracking and blocking stolen or lost mobile devices. In late 2025, a government order requiring Sanchar Saathi to be pre-installed on all mobile devices sold nationwide, with explicit provisions on preventing users from deleting the app or disabling any of its broad functionalities, triggered widespread backlash. The order was subsequently withdrawn. == Background == The Telecommunications Act 2023 introduced an exceptionally broad definition of the term "telecommunications" and conferred wide-ranging powers on the government. Although the Department of Telecommunications (DoT) assured reporters that this definition would not be used to justify government overreach, a November 2024 amendment to the Telecom Cyber Security Rules expanded it further and introduced the concept of the Telecommunication Identifier User Entity (TIEU), enabling users to be personally identified through their phone numbers. Sanchar Saathi was launched amid a widespread rise in cybercrime and hacking, as part of the Indian government's effort to prevent stolen phones from being used for fraud and to promote a state-backed application. In an official statement, the DoT said, "India has big second-hand mobile device market. Cases have also been observed where stolen or blacklisted devices are being re-sold. It makes the purchaser abettor in crime and causes financial loss to them." == Launch == Sanchar Saathi was originally launched as a web portal in May 2023. It was later launched as a mobile app in January 2025. Describing itself as a "citizen-centric" safety tool, Sanchar Saathi allows users to check a device's IMEI, report and block lost or stolen phones, and flag suspected fraud communications. Under Sanchar Saathi's privacy policy, it can make and manage phone calls, view and send messages, read call logs, access photos and files, access the location and camera of the device in which the app is used, as well as read and write into the device's storage. According to official government data, by December 2025, the Sanchar Saathi app had helped recover more than 700,000 lost and stolen mobile devices across India. Users report around 2,000 fraud incidents through the app each day. == Pre-installation controversy == On 28 November 2025, the Bharatiya Janata Party government, led by prime minister Narendra Modi, privately ordered phone manufacturers, including Apple, Samsung, Xiaomi, Vivo, Oppo, among others, to pre-install the Sanchar Saathi app on new devices sold in the country, alongside mandating that old devices get issued a software update for the installation of the app. The order had a 90-day deadline and further included explicit provisions to ensure that the app is to be "readily visible and accessible to the end users at the time of first use or device setup" and that users should neither be able to delete the app nor disable or restrict any of its broad functionalities. The order caused widespread political backlash. K. C. Venugopal, a general secretary of the main opposition party, the Indian National Congress (or simply the Congress), called the order "beyond unconstitutional" and said, "A pre-loaded government app that cannot be uninstalled is a dystopian tool to monitor every Indian. It is a means to watch over every movement, interaction and decision of each citizen", adding, "Big Brother cannot watch us." Another Congress general secretary, Priyanka Gandhi, termed Sanchar Saathi a "snooping app", and attacked the government for "turning this country into a dictatorship". Uddhav Thackeray, former chief minister of Maharashtra, compared Sanchar Saathi to the Pegasus spyware. Sanjay Hegde, a senior advocate at the Supreme Court of India, said "Here in the garb of security, the intrusion is vast, unfettered, unguided and is totally disproportionate. The app ought to be struck down on that account". The Internet Freedom Foundation (IFF), an Indian digital rights advocacy organisation, said, "Forcing every smartphone to carry a permanent government app for a simple verification task is excessive and violates the Puttaswamy proportionality standard", referring to Puttaswamy v. Union of India, a 2017 landmark decision of the Supreme Court, which asserted that the right to privacy should be protected as a fundamental right. The IFF further said, "For this to work in practice, the app will almost certainly need system level or root level access, similar to carrier or OEM system apps, so that it cannot be disabled. That design choice erodes the protections that normally prevent one app from peering into the data of others, and turns Sanchar Saathi into a permanent, non-consensual point of access sitting inside the operating system of every Indian smartphone user." Moreover, the organisation said that while the app was being "framed as a benign IMEI checker", a server-side update could allow the app to engage in "client side scanning for 'banned' applications, flag VPN usage, correlate SIM activity, or trawl SMS logs in the name of fraud detection. Nothing in the order constrains these possibilities." In reaction to the controversy, Jyotiraditya Scindia, the union minister of communications, said, "There is no snooping or call monitoring", adding, "Obviously you can delete it. There is no problem. This is a matter of customer protection. It is not mandatory. If you don't want to register, and don't want to use the app, don't use it; don't register, and it will lay dormant." Scindia compared the app to other pre-installed mobile apps such as Google Maps, which he said could be deleted if users wished so. However, contrary to Scindia's statement, on many phone brands, such pre-installed apps cannot be deleted, although users can disable them. Furthermore, upon enquiry, Scindia did not clarify whether his remarks applied to the app after the order took effect, making no comment on the provision in the order that would prevent users from deleting the app. When Congress member Renuka Chowdhury submitted an adjournment motion notice in the Rajya Sabha seeking the suspension of all other matters to discuss the Sanchar Saathi issue, Kiren Rijiju, the union minister of parliamentary affairs, accused the opposition of "manufacturing issues" to stall session proceedings. By 2 December, it had been reported that Apple did not plan to comply with the order, citing privacy and security concerns for the iOS ecosystem and the fact that the order would violate its internal policy against the pre-installation of third-party software in iPhones. Although it was clarified that Apple did not intend to take the matter to court or publicly oppose the government, it was said that Apple "can't do this. Period." The order would have also required Google to create a custom version of Android solely for India which would include the Sanchar Saathi app, a requirement described to "not be acceptable to the company". Following the backlash, the order was revoked on 3 December 2025. In a press release, the government said, "Given Sanchar Saathi's increasing acceptance, Government has decided not to make the pre-installation mandatory for mobile manufacturers".

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  Visual servoing

  Visual servoing, also known as vision-based robot control and abbreviated VS, is a technique which uses feedback information extracted from a vision sensor (visual feedback) to control the motion of a robot. One of the earliest papers that talks about visual servoing was from the SRI International Labs in 1979. == Visual servoing taxonomy == There are two fundamental configurations of the robot end-effector (hand) and the camera: Eye-in-hand, or end-point open-loop control, where the camera is attached to the moving hand and observing the relative position of the target. Eye-to-hand, or end-point closed-loop control, where the camera is fixed in the world and observing the target and the motion of the hand. Visual Servoing control techniques are broadly classified into the following types: Image-based (IBVS) Position/pose-based (PBVS) Hybrid approach IBVS was proposed by Weiss and Sanderson. The control law is based on the error between current and desired features on the image plane, and does not involve any estimate of the pose of the target. The features may be the coordinates of visual features, lines or moments of regions. IBVS has difficulties with motions very large rotations, which has come to be called camera retreat. PBVS is a model-based technique (with a single camera). This is because the pose of the object of interest is estimated with respect to the camera and then a command is issued to the robot controller, which in turn controls the robot. In this case the image features are extracted as well, but are additionally used to estimate 3D information (pose of the object in Cartesian space), hence it is servoing in 3D. Hybrid approaches use some combination of the 2D and 3D servoing. There have been a few different approaches to hybrid servoing 2-1/2-D Servoing Motion partition-based Partitioned DOF Based == Survey == The following description of the prior work is divided into 3 parts Survey of existing visual servoing methods. Various features used and their impacts on visual servoing. Error and stability analysis of visual servoing schemes. === Survey of existing visual servoing methods === Visual servo systems, also called servoing, have been around since the early 1980s , although the term visual servo itself was only coined in 1987. Visual Servoing is, in essence, a method for robot control where the sensor used is a camera (visual sensor). Servoing consists primarily of two techniques, one involves using information from the image to directly control the degrees of freedom (DOF) of the robot, thus referred to as Image Based Visual Servoing (IBVS). While the other involves the geometric interpretation of the information extracted from the camera, such as estimating the pose of the target and parameters of the camera (assuming some basic model of the target is known). Other servoing classifications exist based on the variations in each component of a servoing system , e.g. the location of the camera, the two kinds are eye-in-hand and hand–eye configurations. Based on the control loop, the two kinds are end-point-open-loop and end-point-closed-loop. Based on whether the control is applied to the joints (or DOF) directly or as a position command to a robot controller the two types are direct servoing and dynamic look-and-move. Being one of the earliest works the authors proposed a hierarchical visual servo scheme applied to image-based servoing. The technique relies on the assumption that a good set of features can be extracted from the object of interest (e.g. edges, corners and centroids) and used as a partial model along with global models of the scene and robot. The control strategy is applied to a simulation of a two and three DOF robot arm. Feddema et al. introduced the idea of generating task trajectory with respect to the feature velocity. This is to ensure that the sensors are not rendered ineffective (stopping the feedback) for any the robot motions. The authors assume that the objects are known a priori (e.g. CAD model) and all the features can be extracted from the object. The work by Espiau et al. discusses some of the basic questions in visual servoing. The discussions concentrate on modeling of the interaction matrix, camera, visual features (points, lines, etc..). In an adaptive servoing system was proposed with a look-and-move servoing architecture. The method used optical flow along with SSD to provide a confidence metric and a stochastic controller with Kalman filtering for the control scheme. The system assumes (in the examples) that the plane of the camera and the plane of the features are parallel., discusses an approach of velocity control using the Jacobian relationship s˙ = Jv˙ . In addition the author uses Kalman filtering, assuming that the extracted position of the target have inherent errors (sensor errors). A model of the target velocity is developed and used as a feed-forward input in the control loop. Also, mentions the importance of looking into kinematic discrepancy, dynamic effects, repeatability, settling time oscillations and lag in response. Corke poses a set of very critical questions on visual servoing and tries to elaborate on their implications. The paper primarily focuses the dynamics of visual servoing. The author tries to address problems like lag and stability, while also talking about feed-forward paths in the control loop. The paper also, tries to seek justification for trajectory generation, methodology of axis control and development of performance metrics. Chaumette in provides good insight into the two major problems with IBVS. One, servoing to a local minima and second, reaching a Jacobian singularity. The author show that image points alone do not make good features due to the occurrence of singularities. The paper continues, by discussing the possible additional checks to prevent singularities namely, condition numbers of J_s and Jˆ+_s, to check the null space of ˆ J_s and J^T_s . One main point that the author highlights is the relation between local minima and unrealizable image feature motions. Over the years many hybrid techniques have been developed. These involve computing partial/complete pose from Epipolar Geometry using multiple views or multiple cameras. The values are obtained by direct estimation or through a learning or a statistical scheme. While others have used a switching approach that changes between image-based and position-based on a Lyapnov function. The early hybrid techniques that used a combination of image-based and pose-based (2D and 3D information) approaches for servoing required either a full or partial model of the object in order to extract the pose information and used a variety of techniques to extract the motion information from the image. used an affine motion model from the image motion in addition to a rough polyhedral CAD model to extract the object pose with respect to the camera to be able to servo onto the object (on the lines of PBVS). 2-1/2-D visual servoing developed by Malis et al. is a well known technique that breaks down the information required for servoing into an organized fashion which decouples rotations and translations. The papers assume that the desired pose is known a priori. The rotational information is obtained from partial pose estimation, a homography, (essentially 3D information) giving an axis of rotation and the angle (by computing the eigenvalues and eigenvectors of the homography). The translational information is obtained from the image directly by tracking a set of feature points. The only conditions being that the feature points being tracked never leave the field of view and that a depth estimate be predetermined by some off-line technique. 2-1/2-D servoing has been shown to be more stable than the techniques that preceded it. Another interesting observation with this formulation is that the authors claim that the visual Jacobian will have no singularities during the motions. The hybrid technique developed by Corke and Hutchinson, popularly called portioned approach partitions the visual (or image) Jacobian into motions (both rotations and translations) relating X and Y axes and motions related to the Z axis. outlines the technique, to break out columns of the visual Jacobian that correspond to the Z axis translation and rotation (namely, the third and sixth columns). The partitioned approach is shown to handle the Chaumette Conundrum discussed in. This technique requires a good depth estimate in order to function properly. outlines a hybrid approach where the servoing task is split into two, namely main and secondary. The main task is keep the features of interest within the field of view. While the secondary task is to mark a fixation point and use it as a reference to bring the camera to the desired pose. The technique does need a depth estimate from an off-line procedure. The paper discusses two examples for which depth estimates are obtained from robot odometry and by assuming that all

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  E-on Vue

  Vue is a software tool for world generation by Bentley Systems, with support for many visual effects, animations, and various other features. The tool has been used in several feature-length films. In 2024, Bentley Systems announced that Vue would be discontinued, and be freely available to those that still wish to use it. == Versions == == Features == This is a list of features as of the 2023 release of Vue: === Terrains === Heightfield terrains Procedural terrains Infinite terrains Planetary terrains Real-world terrains 3D terrain sculpting Terrain export === EcoSystem Instancing Technology === Material-based EcoSystems Global EcoSystems Dynamic EcoSystems 360° EcoSystem Population Paint EcoSystem instances EcoParticles Export EcoSystem populations === Vegetation === Built-in Plant editor Compatible with PlantFactory Vegetation assets === Atmosphere, Skies and Clouds === Standard atmospheric model Spectral atmospheric model Photometric atmospheric model Atmosphere presets Procedural Volumetric 3D cloud layers Standalone 3D Metaclouds Convert meshes to Clouds Cloud morphing Import OpenVDB Export standalone and cloud layer zones to OpenVDB Export skies as HDRI === Modeling === Primitive and Feature modeling 3D Text edition tool Metablobbing Hyperblobs Export baked hyperblobs Splines Built in Road Construction toolkit Random rock generator Export rocks === Texturing and UVs === Material presets PBR Substance support Node-based procedural materials Volumetric materials and Hypertextures Stacked UVs Unwrapped UVs Ptex === Interoperability, Integration And Export === Export single assets to generic 3D formats Full scene export Integration plugins Import and Export Camera data as FBX and Nuke.chan Python API ZBrush GoZ bridge === Animation === Animate objects, materials, atmospheres, clouds, waves... Automatic wind and breeze Localized wind effects per plant / per EcoSystem population Omni and directional ventilators for local modifications of plants Time spline editor Automatic keyframe creation Automatic synchronization of cameras and lights Animation export as AfterEffects Import motion tracking information === Lighting === Global illumination, Global Radiosity, Ambient occlusion Subsurface Scattering HDRI image based lighting Point light, Quadratic point light, Spotlight, Quadratic spotlight, Directional light Use IES distribution profiles on photometric lights Area lights, light panels, light portals Physically accurate caustics computation === Rendering === Render with Ray Tracer Render with Path Tracer Stereoscopic rendering 360/180 VR Panorama Render Option Spherical panoramic rendering Tone mapping options Multipass & G-Buffer Network rendering with HyperVue / RenderCows Network rendering with RenderNodes == Users == Blue Sky Studios Digital Domain DreamWorks Animation: Kung Fu Panda Industrial Light & Magic: Indiana Jones and the Kingdom of the Crystal Skull, Pirates of the Caribbean: Dead Man's Chest Sony Pictures Imageworks Warner Bros. Interactive Entertainment Weta Digital

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  Joint constraints

  Joint constraints are rotational constraints on the joints of an artificial system. They are used in an inverse kinematics chain, in fields including 3D animation or robotics. Joint constraints can be implemented in a number of ways, but the most common method is to limit rotation about the X, Y and Z axis independently. An elbow, for instance, could be represented by limiting rotation on X and Z axis to 0 degrees, and constraining the Y-axis rotation to 130 degrees. To simulate joint constraints more accurately, dot-products can be used with an independent axis to repulse the child bones orientation from the unreachable axis. Limiting the orientation of the child bone to a border of vectors tangent to the surface of the joint, repulsing the child bone away from the border, can also be useful in the precise restriction of shoulder movement.

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