Targeted Maximum Likelihood Estimation (TMLE) (also more accurately referred to as Targeted Minimum Loss-Based Estimation) is a general statistical estimation framework for causal inference and semiparametric models. TMLE combines ideas from maximum likelihood estimation, semiparametric efficiency theory, and machine learning. It was introduced by Mark J. van der Laan and colleagues in the mid-2000s as a method that yields asymptotically efficient plug-in estimators while allowing the use of flexible, data-adaptive algorithms such as ensemble machine learning for nuisance parameter estimation. TMLE is used in epidemiology, biostatistics, and the social sciences to estimate causal effects in observational and experimental studies. Applications of TMLE include Longitudinal TMLE (LTMLE) for time-varying treatments and confounders. Variations in how the targeting step in TMLE is carried out have resulted in various versions of TMLE such as Collaborative TMLE (CTMLE) and Adaptive TMLE for improved finite-sample performance and automated variable selection. == History == The TMLE framework was first described by van der Laan and Rubin (2006) as a general approach for the construction of efficient plug-in estimators of smooth features of the data density. It was demonstrated in the context of causal inference and missing data problems. It was developed to address limitations of traditional doubly robust methods, such as Augmented Inverse Probability Weighting (AIPW), by respecting the plug-in principle in the sense that it respects that the target parameter is a function of the data density that is an element of the statistical model. TMLE estimates the data density or relevant parts of it with machine learning and targets these machine learning fits before it is plugged in the target parameter mapping. In this manner, a TMLE always respects global knowledge and satisfies known bounds such as that the target parameter is a probability . Since its introduction, TMLE has been developed in a series of theoretical and applied papers, culminating in book-length treatments of the method and its applications to survival analysis, adaptive designs, and longitudinal data. == Methodology == At its core, TMLE is a two-step estimation procedure: Initial estimation: Machine learning methods (such as the Super Learner ensemble) are used to obtain flexible estimates of nuisance parameters, such as outcome regressions and propensity scores. Targeting step: The initial estimate is updated by solving a score equation (the efficient influence function) so that the final estimator is consistent, asymptotically normal, and efficient under mild regularity conditions. The targeted machine learning fit is then mapped into the corresponding estimator of the target parameter by simply plugging it in the target parameter mapping. This approach balances the bias–variance trade-off by combining data-adaptive estimation with semiparametric efficiency theory. TMLE is doubly robust, meaning it remains consistent if either the outcome model or the treatment model is consistently estimated. === Formula === Here we explain the TMLE of the average treatment effect of a binary treatment on an outcome adjusting for baseline covariates. Consider i.i.d. observations O i = ( W i , A i , Y i ) {\displaystyle O_{i}=(W_{i},A_{i},Y_{i})} from a distribution P 0 {\displaystyle P_{0}} , where W {\displaystyle W} are baseline covariates, A {\displaystyle A} is a binary treatment, and Y {\displaystyle Y} is an outcome. Let Q ¯ ( a , w ) = E [ Y ∣ A = a , W = w ] {\displaystyle {\bar {Q}}(a,w)=\mathbb {E} [Y\mid A=a,W=w]} represent the outcome model and g ( a ∣ w ) = P ( A = a ∣ W = w ) {\displaystyle g(a\mid w)=P(A=a\mid W=w)} represent the propensity score. The average treatment effect (ATE) is given by ψ 0 = E { Q ¯ ( 1 , W ) − Q ¯ ( 0 , W ) } . {\displaystyle \psi _{0}=\mathbb {E} \{{\bar {Q}}(1,W)-{\bar {Q}}(0,W)\}.} A basic TMLE for the ATE proceeds as follows: Step 1: Estimate initial models. Obtain estimates Q ¯ ^ ( a , w ) {\displaystyle {\hat {\bar {Q}}}(a,w)} and g ^ ( a ∣ w ) {\displaystyle {\hat {g}}(a\mid w)} , often using flexible methods such as Super Learner. Step 2: Compute the clever covariate. Define: H ( A , W ) = A g ^ ( 1 ∣ W ) − 1 − A g ^ ( 0 ∣ W ) . {\displaystyle H(A,W)={\frac {A}{{\hat {g}}(1\mid W)}}-{\frac {1-A}{{\hat {g}}(0\mid W)}}.} Step 3: Estimate the fluctuation parameter. Fit a logistic regression of Y {\displaystyle Y} on H ( A , W ) {\displaystyle H(A,W)} with logit ( Q ¯ ^ ( A , W ) ) {\displaystyle \operatorname {logit} ({\hat {\bar {Q}}}(A,W))} as offset. This yields ε ^ {\displaystyle {\hat {\varepsilon }}} , the MLE that solves the score equation: 1 n ∑ i = 1 n H ( A i , W i ) { Y i − Q ¯ ^ ε ( A i , W i ) } = 0. {\displaystyle {\frac {1}{n}}\sum _{i=1}^{n}H(A_{i},W_{i}){\big \{}Y_{i}-{\hat {\bar {Q}}}^{\varepsilon }(A_{i},W_{i}){\big \}}=0.} Step 4: Update the initial estimate. Apply the "blip" to obtain the targeted estimate: Q ¯ ^ ∗ ( A , W ) = expit ( logit ( Q ¯ ^ ( A , W ) ) + ε ^ H ( A , W ) ) . {\displaystyle {\hat {\bar {Q}}}^{}(A,W)=\operatorname {expit} {\Big (}\operatorname {logit} {\big (}{\hat {\bar {Q}}}(A,W){\big )}+{\hat {\varepsilon }}\,H(A,W){\Big )}.} Step 5: Compute the TMLE. The ATE estimate is: ψ ^ TMLE = 1 n ∑ i = 1 n [ Q ¯ ^ ∗ ( 1 , W i ) − Q ¯ ^ ∗ ( 0 , W i ) ] . {\displaystyle {\hat {\psi }}_{\text{TMLE}}={\frac {1}{n}}\sum _{i=1}^{n}{\big [}{\hat {\bar {Q}}}^{}(1,W_{i})-{\hat {\bar {Q}}}^{}(0,W_{i}){\big ]}.} Inference. The efficient influence function (EIF) for the ATE is: D ∗ ( O ) = H ( A , W ) { Y − Q ¯ ∗ ( A , W ) } + Q ¯ ∗ ( 1 , W ) − Q ¯ ∗ ( 0 , W ) − ψ . {\displaystyle D^{}(O)=H(A,W)\{Y-{\bar {Q}}^{}(A,W)\}+{\bar {Q}}^{}(1,W)-{\bar {Q}}^{}(0,W)-\psi .} The variance is estimated by σ ^ 2 = n − 1 ∑ i = 1 n ( D ∗ ( O i ) ) 2 {\displaystyle {\hat {\sigma }}^{2}=n^{-1}\sum _{i=1}^{n}{\big (}D^{}(O_{i}){\big )}^{2}} , yielding Wald-type confidence intervals ψ ^ TMLE ± z 1 − α / 2 σ ^ / n {\displaystyle {\hat {\psi }}_{\text{TMLE}}\pm z_{1-\alpha /2}\,{\hat {\sigma }}/{\sqrt {n}}} . Remark. For continuous outcomes, a linear fluctuation Q ¯ ^ ∗ = Q ¯ ^ + ε ^ H {\displaystyle {\hat {\bar {Q}}}^{}={\hat {\bar {Q}}}+{\hat {\varepsilon }}\,H} may be used instead. For bounded continuous outcomes, the logistic fluctuation (after rescaling Y {\displaystyle Y} to [ 0 , 1 ] {\displaystyle [0,1]} ) is often preferred for improved finite-sample performance. == Applications == TMLE has been applied in: Epidemiology: Estimating causal effects of exposures and interventions in observational cohort studies. Clinical trials and real-world evidence: The Targeted Learning roadmap provides a structured framework for generating and validating real-world evidence (RWE), bridging randomized trials and observational data using TMLE and related estimation techniques. This approach enables transparency, sensitivity analysis, and stronger causal inference for regulatory and clinical trial contexts. High-dimensional settings: Integration with ensemble methods for causal effect estimation. TMLE has been successfully applied in pharmacoepidemiology where a large number of covariates are automatically selected to adjust for confounding. In a study of post–myocardial infarction statin use and 1-year mortality, TMLE demonstrated robust performance relative to inverse probability weighting in scenarios with hundreds of potential confounders. == Derivatives and extensions == Longitudinal TMLE (LTMLE): A methodological extension of TMLE for longitudinal data with time-varying treatments, confounders, and censoring. It allows the estimation of dynamic treatment regimes and intervention-specific causal effects over time. This framework was originally introduced by van der Laan & Gruber (2012). Collaborative TMLE (CTMLE): Enhances finite-sample performance and variable selection by collaboratively fitting the treatment mechanism in conjunction with the target parameter. == Software == Several R packages implement TMLE and related methods: tmle: Functions for binary, categorical, and continuous outcomes. ltmle: Implementation for longitudinal data with time-varying treatments and outcomes. ctmle: Algorithms for collaborative TMLE and adaptive variable selection. SuperLearner: A theoretically grounded, cross-validated ensemble learning method that combines predictions from multiple algorithms to minimize predictive risk. Widely used in TMLE for estimating nuisance parameters. The original implementation is available as the R package SuperLearner. Recent machine learning platforms like H2O AutoML implement similar ensemble strategies, combining diverse learners in parallel and leveraging stacking and blending techniques, effectively functioning as a large-scale Super Learner.
Egocentric vision
Egocentric vision or first-person vision is a sub-field of computer vision that entails analyzing images and videos captured by a wearable camera, which is typically worn on the head or on the chest and naturally approximates the visual field of the camera wearer. Consequently, visual data capture the part of the scene on which the user focuses to carry out the task at hand and offer a valuable perspective to understand the user's activities and their context in a naturalistic setting. The wearable camera looking forwards is often supplemented with a camera looking inward at the user's eye and able to measure a user's eye gaze, which is useful to reveal attention and to better understand the user's activity and intentions. == History == The idea of using a wearable camera to gather visual data from a first-person perspective dates back to the 70s, when Steve Mann invented "Digital Eye Glass", a device that, when worn, causes the human eye itself to effectively become both an electronic camera and a television display. Subsequently, wearable cameras were used for health-related applications in the context of Humanistic Intelligence and Wearable AI. Egocentric vision is best done from the point-of-eye, but may also be done by way of a neck-worn camera when eyeglasses would be in-the-way. This neck-worn variant was popularized by way of the Microsoft SenseCam in 2006 for experimental health research works. The interest of the computer vision community into the egocentric paradigm has been arising slowly entering the 2010s and it is rapidly growing in recent years, boosted by both the impressive advances in the field of wearable technology and by the increasing number of potential applications. The prototypical first-person vision system described by Kanade and Hebert, in 2012 is composed by three basic components: a localization component able to estimate the surrounding, a recognition component able to identify object and people, and an activity recognition component, able to provide information about the current activity of the user. Together, these three components provide a complete situational awareness of the user, which in turn can be used to provide assistance to the user or to the caregiver. Following this idea, the first computational techniques for egocentric analysis focused on hand-related activity recognition and social interaction analysis. Also, given the unconstrained nature of the video and the huge amount of data generated, temporal segmentation and summarization were among the first problems addressed. After almost ten years of egocentric vision (2007–2017), the field is still undergoing diversification. Emerging research topics include: Social saliency estimation Multi-agent egocentric vision systems Privacy preserving techniques and applications Attention-based activity analysis Social interaction analysis Hand pose analysis Ego graphical User Interfaces (EUI) Understanding social dynamics and attention Revisiting robotic vision and machine vision as egocentric sensing Activity forecasting Gaze prediction == Technical challenges == Today's wearable cameras are small and lightweight digital recording devices that can acquire images and videos automatically, without the user intervention, with different resolutions and frame rates, and from a first-person point of view. Therefore, wearable cameras are naturally primed to gather visual information from our everyday interactions since they offer an intimate perspective of the visual field of the camera wearer. Depending on the frame rate, it is common to distinguish between photo-cameras (also called lifelogging cameras) and video-cameras. The former (e.g., Narrative Clip and Microsoft SenseCam), are commonly worn on the chest, and are characterized by a very low frame rate (up to 2fpm) that allows to capture images over a long period of time without the need of recharging the battery. Consequently, they offer considerable potential for inferring knowledge about e.g. behaviour patterns, habits or lifestyle of the user. However, due to the low frame-rate and the free motion of the camera, temporally adjacent images typically present abrupt appearance changes so that motion features cannot be reliably estimated. The latter (e.g., Google Glass, GoPro), are commonly mounted on the head, and capture conventional video (around 35fps) that allows to capture fine temporal details of interactions. Consequently, they offer potential for in-depth analysis of daily or special activities. However, since the camera is moving with the wearer head, it becomes more difficult to estimate the global motion of the wearer and in the case of abrupt movements, the images can result blurred. In both cases, since the camera is worn in a naturalistic setting, visual data present a huge variability in terms of illumination conditions and object appearance. Moreover, the camera wearer is not visible in the image and what he/she is doing has to be inferred from the information in the visual field of the camera, implying that important information about the wearer, such for instance as pose or facial expression estimation, is not available. == Applications == A collection of studies published in a special theme issue of the American Journal of Preventive Medicine has demonstrated the potential of lifelogs captured through wearable cameras from a number of viewpoints. In particular, it has been shown that used as a tool for understanding and tracking lifestyle behaviour, lifelogs would enable the prevention of noncommunicable diseases associated to unhealthy trends and risky profiles (such as obesity and depression). In addition, used as a tool of re-memory cognitive training, lifelogs would enable the prevention of cognitive and functional decline in elderly people. More recently, egocentric cameras have been used to study human and animal cognition, human-human social interaction, human-robot interaction, human expertise in complex tasks. Other applications include navigation/assistive technologies for the blind, monitoring and assistance of industrial workflows, and augmented reality interfaces.
TU Me
TU (formerly TU Me) is a digital platform developed by Telefónica and operated through its subsidiary Telefónica Innovación Digital. Initially launched in 2012 as a messaging app under the name TU Me, the brand was later revived in 2024 to designate a new suite of digital products focused on privacy, cybersecurity, and digital identity. == TU Me (2012–2014) == TU Me was a free mobile application released by Telefónica in May 2012. It allowed users to make voice calls, send texts, share photos and locations, and store conversation history in the cloud. The app was available for iOS and Android platforms, positioned as an alternative to services like WhatsApp and Viber. Despite early interest, TU Me was discontinued a few years later and removed from major app stores. Telefónica did not continue development of this version beyond its initial release cycle. == TU (2024–present) == In January 2024, Telefónica relaunched the brand TU through its technology subsidiary Telefónica Innovación Digital. Unlike its predecessor, the new TU is not a messaging app but a digital product platform offering solutions in cybersecurity, identity management, and cryptographic technology. The project includes a range of services built with technologies such as artificial intelligence, blockchain, and post-quantum cryptography. It operates independently from Movistar and targets both individual users and businesses. Notable products include: Latch: a digital access control system for securing user accounts. VerifAI: an AI-based tool for detecting manipulated media (images, audio, video). Metashield: software to identify and remove hidden metadata in documents. Wallet: a digital wallet for managing crypto-assets. Quantum Drop: encrypted file transfer system using post-quantum technology. Quantum Encryption: a security tool for IoT and private networks. Gallery: a blockchain-based digital art marketplace.
Computer Graphics: Principles and Practice
Computer Graphics: Principles and Practice is a textbook written by James D. Foley, Andries van Dam, Steven K. Feiner, John Hughes, Morgan McGuire, David F. Sklar, and Kurt Akeley and published by Addison–Wesley. First published in 1982 as Fundamentals of Interactive Computer Graphics, it is widely considered a classic standard reference book on the topic of computer graphics. It is sometimes known as the bible of computer graphics (due to its size). == Editions == === First Edition === The first edition, published in 1982 and titled Fundamentals of Interactive Computer Graphics, discussed the SGP library, which was based on ACM's SIGGRAPH CORE 1979 graphics standard, and focused on 2D vector graphics. === Second Edition === The second edition, published 1990, was completely rewritten and covered 2D and 3D raster and vector graphics, user interfaces, geometric modeling, anti-aliasing, advanced rendering algorithms and an introduction to animation. The SGP library was replaced by SRGP (Simple Raster Graphics Package), a library for 2D raster primitives and interaction handling, and SPHIGS (Simple PHIGS), a library for 3D primitives, which were specifically written for the book. === Second Edition in C === In the second edition in C, published in 1995, all examples were converted from Pascal to C. New implementations for the SRGP and SPHIGS graphics packages in C were also provided. === Third Edition === A third edition covering modern GPU architecture was released in July 2013. Examples in the third edition are written in C++, C#, WPF, GLSL, OpenGL, G3D, or pseudocode. == Awards == The book has won a Front Line Award (Hall of Fame) in 1998.
I Am Rich
I Am Rich is a discontinued 2008 mobile app for iPhones which had minimal function and was priced at US$999.99 (equivalent to $1,495 in 2025). The app was pulled from the App Store less than 24 hours after its launch. Receiving negative reviews from critics, only eight copies were sold. In the years since, several similar applications have been released at lower prices. == Overview == I Am Rich was developed as a joke by German software developer, Armin Heinrich, after he saw iPhone users complaining about software priced above $0.99. The app only showed a glowing red gem and an icon that, when pressed, displayed the following mantra in large text: I am richI deserv [sic] itI am good,healthy & successful Heinrich told The New York Times that "I regard it as art. I did not expect many people to buy it and did not expect all the fuss about it." The application is described as "a work of art with no hidden function at all", with its only purpose being to show other people that they were able to afford it. Vox writer Zachary Crockett called it "the ultimate Veblen good in app form". == Release == Heinrich released and distributed I Am Rich through the App Store on 5 August 2008. The app was sold for US$999.99 (equivalent to $1,495 in 2025), €799.99 (equivalent to €1,078 in 2023), and £599.99 (equivalent to £978.12 in 2025)—the highest prices Apple allowed for App Store content. Without explanation, the application was removed from the App Store by Apple less than a day after its release. === Purchases === Eight people bought the application, at least one of whom claimed to have done so accidentally. Six US sales and two European sales netted $5,600 for Heinrich and $2,400 for Apple (respectively equivalent to $8,374 and $3,589 in 2025). In correspondence with the Los Angeles Times, Heinrich told the newspaper that Apple had refunded two purchasers of his app, and that he was happy to not have dissatisfied customers. == Reception == Discussing the app on the website Silicon Alley Insider, Dan Frommer described the program as a "scam", "worthless", and finally "a joke that smells like a scammy rip-off" on August 5, 6, and 8, respectively. Without purchasing the app, Fox News's Paul Wagenseil guessed that the secret mantra was "German for 'Sucker!'" (Heinrich is German). Wired's Brian X. Chen described I Am Rich as a waste of money to "prove you're a jerk", and contrasted the expenditure with donating to cancer foundations and Third World countries. Heinrich told the Los Angeles Times's Mark Milian that he had received correspondence from satisfied customers: "I've got e-mails from customers telling me that they really love the app [... and that they had] no trouble spending the money". In an interview with The New York Times, though, he told of receiving many insulting emails and telephone messages. == Similar applications == The next year, Heinrich released I Am Rich LE. Priced at US$9.99 (equivalent to $14.99 in 2025), the new app has several new features (including a calculator, "help system", and the "famous mantra without the spelling mistakes") to meet Apple's requirement that apps have "definable content". Some customers were disappointed by the new functionality, poorly rating the app due to its ostensible improvements. On 23 February 2009, CNET Asia reported on the "conceptually similar" app, I Am Richer, developed by Mike DG for Google's Android. The app was released on the Android Market for US$200 (equivalent to $300.14 in 2025), a limit imposed by Google, who had no objection to the application. With the same name, the I Am Rich that was released on the Windows Phone Marketplace on 22 December 2010, was developed by DotNetNuzzi. Described by MobileCrunch as equally useless as the original, this app cost US$499.99 (equivalent to $738.2 in 2025), the price cap imposed by Microsoft.
Application permissions
Permissions are a means of controlling and regulating access to specific system- and device-level functions by software. Typically, types of permissions cover functions that may have privacy implications, such as the ability to access a device's hardware features (including the camera and microphone), and personal data (such as storage devices, contacts lists, and the user's present geographical location). Permissions are typically declared in an application's manifest, and certain permissions must be specifically granted at runtime by the user—who may revoke the permission at any time. Permission systems are common on mobile operating systems, where permissions needed by specific apps must be disclosed via the platform's app store. == Mobile devices == On mobile operating systems for smartphones and tablets, typical types of permissions regulate: Access to storage and personal information, such as contacts, calendar appointments, etc. Location tracking. Access to the device's internal camera and/or microphone. Access to biometric sensors, including fingerprint readers and other health sensors.. Internet access. Access to communications interfaces (including their hardware identifiers and signal strength where applicable, and requests to enable them), such as Bluetooth, Wi-Fi, NFC, and others. Making and receiving phone calls. Sending and reading text messages The ability to perform in-app purchases. The ability to "overlay" themselves within other apps. Installing, deleting and otherwise managing applications. Authentication tokens (e.g., OAuth tokens) from web services stored in system storage for sharing between apps. Prior to Android 6.0 "Marshmallow", permissions were automatically granted to apps at runtime, and they were presented upon installation in Google Play Store. Since Marshmallow, certain permissions now require the app to request permission at runtime by the user. These permissions may also be revoked at any time via Android's settings menu. Usage of permissions on Android are sometimes abused by app developers to gather personal information and deliver advertising; in particular, apps for using a phone's camera flash as a flashlight (which have grown largely redundant due to the integration of such functionality at the system level on later versions of Android) have been known to require a large array of unnecessary permissions beyond what is actually needed for the stated functionality. iOS imposes a similar requirement for permissions to be granted at runtime, with particular controls offered for enabling of Bluetooth, Wi-Fi, and location tracking. == WebPermissions == WebPermissions is a permission system for web browsers. When a web application needs some data behind permission, it must request it first. When it does it, a user sees a window asking him to make a choice. The choice is remembered, but can be cleared lately. Currently the following resources are controlled: geolocation desktop notifications service workers sensors audio capturing devices, like sound cards, and their model names and characteristics video capturing devices, like cameras, and their identifiers and characteristics == Analysis == The permission-based access control model assigns access privileges for certain data objects to application. This is a derivative of the discretionary access control model. The access permissions are usually granted in the context of a specific user on a specific device. Permissions are granted permanently with few automatic restrictions. In some cases permissions are implemented in 'all-or-nothing' approach: a user either has to grant all the required permissions to access the application or the user can not access the application. There is still a lack of transparency when the permission is used by a program or application to access the data protected by the permission access control mechanism. Even if a user can revoke a permission, the app can blackmail a user by refusing to operate, for example by just crashing or asking user to grant the permission again in order to access the application. The permission mechanism has been widely criticized by researchers for several reasons, including; Intransparency of personal data extraction and surveillance, including the creation of a false sense of security; End-user fatigue of micro-managing access permissions leading to a fatalistic acceptance of surveillance and intransparency; Massive data extraction and personal surveillance carried out once the permissions are granted. Some apps, such as XPrivacy and Mockdroid spoof data in order to act as a measure for privacy. Further transparency methods include longitudinal behavioural profiling and multiple-source privacy analysis of app data access.
Ray tracing (graphics)
In 3D computer graphics, ray tracing is a technique for modeling light transport for use in a wide variety of rendering algorithms for generating digital images. On a spectrum of computational cost and visual fidelity, ray tracing-based rendering techniques, such as ray casting, recursive ray tracing, distribution ray tracing, photon mapping and path tracing, are generally slower and higher fidelity than scanline rendering methods. Thus, ray tracing was first deployed in applications where taking a relatively long time to render could be tolerated, such as still CGI images, and film and television visual effects (VFX), but was less suited to real-time applications such as video games, where speed is critical in rendering each frame. Since 2018, however, hardware acceleration for real-time ray tracing has become standard on new commercial graphics cards, and graphics APIs have followed suit, allowing developers to use hybrid ray tracing and rasterization-based rendering in games and other real-time applications with a lesser hit to frame render times. Ray tracing is capable of simulating a variety of optical effects, such as reflection, refraction, soft shadows, scattering, depth of field, motion blur, caustics, ambient occlusion and dispersion phenomena (such as chromatic aberration). It can also be used to trace the path of sound waves in a similar fashion to light waves, making it a viable option for more immersive sound design in video games by rendering realistic reverberation and echoes. In fact, any physical wave or particle phenomenon with approximately linear motion can be simulated with ray tracing. Ray tracing–based rendering techniques that sample light over a domain typically generate multiple rays and often rely on denoising to reduce the resulting noise. == History == The idea of ray tracing comes from as early as the 16th century, when it was described by Albrecht Dürer, who is credited for its invention. Dürer described multiple techniques for projecting 3-D scenes onto an image plane. Some of these project chosen geometry onto the image plane, as is done with rasterization today. Others determine what geometry is visible along a given ray, as is done with ray tracing. Using a computer for ray tracing to generate shaded pictures was first accomplished by Arthur Appel in 1968. Appel used ray tracing for primary visibility (determining the closest surface to the camera at each image point) by tracing a ray through each point to be shaded into the scene to identify the visible surface. The closest surface intersected by the ray was the visible one. This non-recursive ray tracing-based rendering algorithm is today called "ray casting". His algorithm then traced secondary rays to the light source from each point being shaded to determine whether the point was in shadow or not. Later, in 1971, Goldstein and Nagel of MAGI (Mathematical Applications Group, Inc.) published "3-D Visual Simulation", wherein ray tracing was used to make shaded pictures of solids. At the ray-surface intersection point found, they computed the surface normal and, knowing the position of the light source, computed the brightness of the pixel on the screen. Their publication describes a short (30-second) film "made using the University of Maryland's display hardware outfitted with a 16mm camera. The film showed the helicopter and a simple ground-level gun emplacement. The helicopter was programmed to undergo a series of maneuvers including turns, take-offs, and landings, etc., until it eventually is shot down and crashed." A CDC 6600 computer was used. MAGI produced an animation video called MAGI/SynthaVision Sampler in 1974. Another early instance of ray casting came in 1976, when Scott Roth created a flip book animation in Bob Sproull's computer graphics course at Caltech. The scanned pages are shown as a video in the accompanying image. Roth's computer program noted an edge point at a pixel location if the ray intersected a bounded plane different from that of its neighbors. Of course, a ray could intersect multiple planes in space, but only the surface point closest to the camera was noted as visible. The platform was a DEC PDP-10, a Tektronix storage-tube display, and a printer which would create an image of the display on rolling thermal paper. Roth extended the framework, introduced the term ray casting in the context of computer graphics and solid modeling, and in 1982 published his work while at GM Research Labs. Turner Whitted was the first to show recursive ray tracing for mirror reflection and for refraction through translucent objects, with an angle determined by the solid's index of refraction, and to use ray tracing for anti-aliasing. Whitted also showed ray traced shadows. He produced a recursive ray traced film called The Compleat Angler in 1979 while an engineer at Bell Labs. Whitted's deeply recursive ray tracing algorithm reframed rendering from being primarily a matter of surface visibility determination to being a matter of light transport. His paper inspired a series of subsequent work by others that included distribution ray tracing and finally unbiased path tracing, which provides the rendering equation framework that has allowed computer-generated imagery to be faithful to reality. For decades, global illumination in major films using computer-generated imagery was approximated with additional lights. Ray tracing-based rendering eventually changed that by enabling physically based light transport. Early feature films rendered entirely using path tracing include Monster House (2006), Cloudy with a Chance of Meatballs (2009), and Monsters University (2013). == Algorithm overview == Optical ray tracing describes a method for producing visual images constructed in 3D computer graphics environments, with more photorealism than either ray casting or scanline rendering techniques. It works by tracing a path from an imaginary eye through each pixel in a virtual screen, and calculating the color of the object visible through it. Scenes in ray tracing are described mathematically by a programmer or by a visual artist (normally using intermediary tools). Scenes may also incorporate data from images and models captured by means such as digital photography. Typically, each ray must be tested for intersection with some subset of all the objects in the scene. Once the nearest object has been identified, the algorithm will estimate the incoming light at the point of intersection, examine the material properties of the object, and combine this information to calculate the final color of the pixel. Certain illumination algorithms and reflective or translucent materials may require more rays to be re-cast into the scene. It may at first seem counterintuitive or "backward" to send rays away from the camera, rather than into it (as actual light does in reality), but doing so is many orders of magnitude more efficient. Since the overwhelming majority of light rays from a given light source do not make it directly into the viewer's eye, a "forward" simulation could potentially waste a tremendous amount of computation on light paths that are never recorded. Therefore, the shortcut taken in ray tracing is to presuppose that a given ray intersects the view frame. After either a maximum number of reflections or a ray traveling a certain distance without intersection, the ray ceases to travel and the pixel's value is updated. === Calculate rays for rectangular viewport === On input we have (in calculation we use vector normalization and cross product): E ∈ R 3 {\displaystyle E\in \mathbb {R^{3}} } eye position T ∈ R 3 {\displaystyle T\in \mathbb {R^{3}} } target position θ ∈ [ 0 , π ] {\displaystyle \theta \in [0,\pi ]} field of view - for humans, we can assume ≈ π / 2 rad = 90 ∘ {\displaystyle \approx \pi /2{\text{ rad}}=90^{\circ }} m , k ∈ N {\displaystyle m,k\in \mathbb {N} } numbers of square pixels on viewport vertical and horizontal direction i , j ∈ N , 1 ≤ i ≤ k ∧ 1 ≤ j ≤ m {\displaystyle i,j\in \mathbb {N} ,1\leq i\leq k\land 1\leq j\leq m} numbers of actual pixel v → ∈ R 3 {\displaystyle {\vec {v}}\in \mathbb {R^{3}} } vertical vector which indicates where is up and down, usually v → = [ 0 , 1 , 0 ] {\displaystyle {\vec {v}}=[0,1,0]} - roll component which determine viewport rotation around point C (where the axis of rotation is the ET section) The idea is to find the position of each viewport pixel center P i j {\displaystyle P_{ij}} which allows us to find the line going from eye E {\displaystyle E} through that pixel and finally get the ray described by point E {\displaystyle E} and vector R → i j = P i j − E {\displaystyle {\vec {R}}_{ij}=P_{ij}-E} (or its normalization r → i j {\displaystyle {\vec {r}}_{ij}} ). First we need to find the coordinates of the bottom left viewport pixel P 1 m {\displaystyle P_{1m}} and find the next pixel by making a shift along directions parallel to viewport (vectors b → n {\displaystyle {\vec {b}}_{n