In computer graphics the graphics Turing test is a variant of the Turing test, the twist being that a human judge viewing and interacting with an artificially generated world should be unable to reliably distinguish it from reality. The original formulation of the test is: "The subject views and interacts with a real or computer generated scene. The test is passed if the subject can not determine reality from simulated reality better than a random guess. (a) The subject operates a remotely controlled (or simulated) robotic arm and views a computer screen. (b) The subject enters a door to a controlled vehicle or motion simulator with computer screens for windows. An eye patch can be worn on one eye, as stereo vision is difficult to simulate." The "graphics Turing scale" of computer power is then defined as the computing power necessary to achieve success in the test. It was estimated in, as 1036.8 TFlops peak and 518.4 TFlops sustained. Actual rendering tests with a Blue Gene supercomputer showed that current supercomputers are not up to the task scale yet. A restricted form of the graphic Turing test has been investigated, where test subjects look into a box, and try to tell whether the contents are real or virtual objects. For the very simple case of scenes with a cardboard pyramid or a styrofoam sphere, subjects were not able to reliably tell reality and graphics apart.
Multi-model database
In the field of database design, a multi-model database is a database management system designed to support multiple data models against a single, integrated backend. In contrast, most database management systems are organized around a single data model that determines how data can be organized, stored, and manipulated. Document, graph, relational, and key–value models are examples of data models that may be supported by a multi-model database. == Background == The relational data model became popular after its publication by Edgar F. Codd in 1970. Due to increasing requirements for horizontal scalability and fault tolerance, NoSQL databases became prominent after 2009. NoSQL databases use a variety of data models, with document, graph, and key–value models being popular. A multi-model database is a database that can store, index and query data in more than one model. For some time, databases have primarily supported only one model, such as: relational database, document-oriented database, graph database or triplestore. A database that combines many of these is multi-model. This should not be confused with multimodal database systems such as Pixeltable or ApertureDB, which focus on unified management of different media types (images, video, audio, text) rather than different data models. For some time, it was all but forgotten (or considered irrelevant) that there were any other database models besides relational. The relational model and notion of third normal form were the default standard for all data storage. However, prior to the dominance of relational data modeling, from about 1980 to 2005, the hierarchical database model was commonly used. Since 2000 or 2010, many NoSQL models that are non-relational, including documents, triples, key–value stores and graphs are popular. Arguably, geospatial data, temporal data, and text data are also separate models, though indexed, queryable text data is generally termed a "search engine" rather than a database. The first time the word "multi-model" has been associated to the databases was on May 30, 2012 in Cologne, Germany, during the Luca Garulli's key note "NoSQL Adoption – What’s the Next Step?". Luca Garulli envisioned the evolution of the 1st generation NoSQL products into new products with more features able to be used by multiple use cases. The idea of multi-model databases can be traced back to Object–Relational Data Management Systems (ORDBMS) in the early 1990s and in a more broader scope even to federated and integrated DBMSs in the early 1980s. An ORDBMS system manages different types of data such as relational, object, text and spatial by plugging domain specific data types, functions and index implementations into the DBMS kernels. A multi-model database is most directly a response to the "polyglot persistence" approach of knitting together multiple database products, each handing a different model, to achieve a multi-model capability as described by Martin Fowler. This strategy has two major disadvantages: it leads to a significant increase in operational complexity, and there is no support for maintaining data consistency across the separate data stores, so multi-model databases have begun to fill in this gap. Multi-model databases are intended to offer the data modeling advantages of polyglot persistence, without its disadvantages. Operational complexity, in particular, is reduced through the use of a single data store. == Benchmarking multi-model databases == As more and more platforms are proposed to deal with multi-model data, there are a few works on benchmarking multi-model databases. For instance, Pluciennik, Oliveira, and UniBench reviewed existing multi-model databases and made an evaluation effort towards comparing multi-model databases and other SQL and NoSQL databases respectively. They pointed out that the advantages of multi-model databases over single-model databases are as follows : == Architecture == The main difference between the available multi-model databases is related to their architectures. Multi-model databases can support different models either within the engine or via different layers on top of the engine. Some products may provide an engine which supports documents and graphs while others provide layers on top of a key-key store. With a layered architecture, each data model is provided via its own component. == User-defined data models == In addition to offering multiple data models in a single data store, some databases allow developers to easily define custom data models. This capability is enabled by ACID transactions with high performance and scalability. In order for a custom data model to support concurrent updates, the database must be able to synchronize updates across multiple keys. ACID transactions, if they are sufficiently performant, allow such synchronization. JSON documents, graphs, and relational tables can all be implemented in a manner that inherits the horizontal scalability and fault-tolerance of the underlying data store. == Theoretical Foundation for Multi-Model Databases == The traditional theory of relations is not enough to accurately describe multi-model database systems. Recent research is focused on developing a new theoretical foundation for these systems. Category theory can provide a unified, rigorous language for modeling, integrating, and transforming different data models. By representing multi-model data as sets and their relationships as functions or relations within the Set category, we can create a formal framework to describe, manipulate, and understand various data models and how they interact.
Contract management software
Contract management software constitutes software and associated data management used to support contract management, contract lifecycle management, and contractor management on projects in the procurement of goods and services. It may be used together with project management software. == History == Historically, contract management was seen as a "paper-intensive" process. Early steps from the early 2000's reported by the Aberdeen Group required extensive data conversion work to enable documents to be handled electronically. With the adoption of the European Union's General Data Protection Regulation (GDPR) in 2016, companies needed to take additional steps in regards to contract management. Each data responsible entity was obliged to sign data processing agreements (DPAs) with the various vendors, who treat personal data on behalf of the data responsible. DPAs need to be regularly controlled, adjusted and renewed, which adds an extra agreement to such vendors or at least an extra DPA addendum to each agreement. By 2018, Ardent Partner's research had found that software used for automating contract management activities was being more extensively used among major companies or businesses with "Best-in-Class" procurement teams. Contract management process automation was found to be closely linked with more effective internal business collaboration, standardization and risk management. == Advantages and key functions == Using contract management software can have multiple benefits compared to manually managing paper contracts. This software can help keep track of multiple activities and can have features for automating administration, ensuring compliance, monitoring risk, running reports and triggering alerts. In addition to these types of features, contract management software systems provide a centralized repository for employees to quickly access all contracts worldwide in one place. Contract management software is produced by many companies, working on a range of scales and offering varying degrees of customizability. Basic functions should include the ability to store contract documents, track changes to contract documents, search documents for a particular criterion, send key date alerts and to report required aspects of the contract. Other functions include managing a new contract request, capturing related data, following a document through a review and approval process, and collecting digital signatures. Contract management software may also be an aid to project portfolio management and spend analysis, and may also monitor KPIs. Leading contract management software provides contract visibility, monitoring, and compliance to automate and streamline the contract lifecycle process. Contract management software which uses artificial intelligence (AI) can identify contract types based on pattern recognition. AI contracting software trains its algorithms on a set of contract data to recognize patterns and extract variables such as clauses, dates, and parties. It also offers simple prediction capabilities, by sorting through a large volume of contracts and flagging individual contracts based on specified criteria. AI software can also read contracts in multiple formats and languages, extract contract data, and provide analytics. It can reduce the risk of human error in contract drafting and review. A centralized repository provides a critical advantage allowing for all contract documents to be stored within one location. Having contracts stored in multiple locations can delay and interrupt the contracting process. == Contract risk management software (CRMS) for capital projects == Very large enterprises, such as capital expenditure (capex) projects, involve multiple parties and high risk and uncertainty. They are unlike traditional operating contracts in that they are subject to shared deadlines in unique situations. As the complexity of these unique projects increases, the relationships between parties become more important. This requires contract management software, or contract risk management software (CRMS), to become more dynamic and responsive. The terms of these capex contracts necessarily involve assumptions at the start of the process and are likely to change over the lifetime of the project lifecycle. For this reason, CRMS must be capable of recording one single instance of agreed changes to contract terms and incorporating these changes in an auditable and legally robust way. With multiple decision makers involved, CRMS should also make accountability more transparent and enable faster decisions about variation proposals.
Inverse depth parametrization
In computer vision, the inverse depth parametrization is a parametrization used in methods for 3D reconstruction from multiple images such as simultaneous localization and mapping (SLAM). Given a point p {\displaystyle \mathbf {p} } in 3D space observed by a monocular pinhole camera from multiple views, the inverse depth parametrization of the point's position is a 6D vector that encodes the optical centre of the camera c 0 {\displaystyle \mathbf {c} _{0}} when in first observed the point, and the position of the point along the ray passing through p {\displaystyle \mathbf {p} } and c 0 {\displaystyle \mathbf {c} _{0}} . Inverse depth parametrization generally improves numerical stability and allows to represent points with zero parallax. Moreover, the error associated to the observation of the point's position can be modelled with a Gaussian distribution when expressed in inverse depth. This is an important property required to apply methods, such as Kalman filters, that assume normality of the measurement error distribution. The major drawback is the larger memory consumption, since the dimensionality of the point's representation is doubled. == Definition == Given 3D point p = ( x , y , z ) {\displaystyle \mathbf {p} =(x,y,z)} with world coordinates in a reference frame ( e 1 , e 2 , e 3 ) {\displaystyle (e_{1},e_{2},e_{3})} , observed from different views, the inverse depth parametrization y {\displaystyle \mathbf {y} } of p {\displaystyle \mathbf {p} } is given by: y = ( x 0 , y 0 , z 0 , θ , ϕ , ρ ) {\displaystyle \mathbf {y} =(x_{0},y_{0},z_{0},\theta ,\phi ,\rho )} where the first five components encode the camera pose in the first observation of the point, being c 0 = ( x 0 , y 0 , z 0 ) {\displaystyle \mathbf {c_{0}} =(x_{0},y_{0},z_{0})} the optical centre, ϕ {\displaystyle \phi } the azimuth, θ {\displaystyle \theta } the elevation angle, and ρ = 1 ‖ p − c 0 ‖ {\displaystyle \rho ={\frac {1}{\left\Vert \mathbf {p} -\mathbf {c} _{0}\right\Vert }}} the inverse depth of p {\displaystyle p} at the first observation.
Condensation algorithm
The condensation algorithm (Conditional Density Propagation) is a computer vision algorithm. The principal application is to detect and track the contour of objects moving in a cluttered environment. Object tracking is one of the more basic and difficult aspects of computer vision and is generally a prerequisite to object recognition. Being able to identify which pixels in an image make up the contour of an object is a non-trivial problem. Condensation is a probabilistic algorithm that attempts to solve this problem. The algorithm itself is described in detail by Isard and Blake in a publication in the International Journal of Computer Vision in 1998. One of the most interesting facets of the algorithm is that it does not compute on every pixel of the image. Rather, pixels to process are chosen at random, and only a subset of the pixels end up being processed. Multiple hypotheses about what is moving are supported naturally by the probabilistic nature of the approach. The evaluation functions come largely from previous work in the area and include many standard statistical approaches. The original part of this work is the application of particle filter estimation techniques. The algorithm's creation was inspired by the inability of Kalman filtering to perform object tracking well in the presence of significant background clutter. The presence of clutter tends to produce probability distributions for the object state which are multi-modal and therefore poorly modeled by the Kalman filter. The condensation algorithm in its most general form requires no assumptions about the probability distributions of the object or measurements. == Algorithm overview == The condensation algorithm seeks to solve the problem of estimating the conformation of an object described by a vector x t {\displaystyle \mathbf {x_{t}} } at time t {\displaystyle t} , given observations z 1 , . . . , z t {\displaystyle \mathbf {z_{1},...,z_{t}} } of the detected features in the images up to and including the current time. The algorithm outputs an estimate to the state conditional probability density p ( x t | z 1 , . . . , z t ) {\displaystyle p(\mathbf {x_{t}} |\mathbf {z_{1},...,z_{t}} )} by applying a nonlinear filter based on factored sampling and can be thought of as a development of a Monte-Carlo method. p ( x t | z 1 , . . . , z t ) {\displaystyle p(\mathbf {x_{t}} |\mathbf {z_{1},...,z_{t}} )} is a representation of the probability of possible conformations for the objects based on previous conformations and measurements. The condensation algorithm is a generative model since it models the joint distribution of the object and the observer. The conditional density of the object at the current time p ( x t | z 1 , . . . , z t ) {\displaystyle p(\mathbf {x_{t}} |\mathbf {z_{1},...,z_{t}} )} is estimated as a weighted, time-indexed sample set { s t ( n ) , n = 1 , . . . , N } {\displaystyle \{s_{t}^{(n)},n=1,...,N\}} with weights π t ( n ) {\displaystyle \pi _{t}^{(n)}} . N is a parameter determining the number of sample sets chosen. A realization of p ( x t | z 1 , . . . , z t ) {\displaystyle p(\mathbf {x_{t}} |\mathbf {z_{1},...,z_{t}} )} is obtained by sampling with replacement from the set s t {\displaystyle s_{t}} with probability equal to the corresponding element of π t {\displaystyle \pi _{t}} . The assumptions that object dynamics form a temporal Markov chain and that observations are independent of each other and the dynamics facilitate the implementation of the condensation algorithm. The first assumption allows the dynamics of the object to be entirely determined by the conditional density p ( x t | x t − 1 ) {\displaystyle p(\mathbf {x_{t}} |\mathbf {x_{t-1}} )} . The model of the system dynamics determined by p ( x t | x t − 1 ) {\displaystyle p(\mathbf {x_{t}} |\mathbf {x_{t-1}} )} must also be selected for the algorithm, and generally includes both deterministic and stochastic dynamics. The algorithm can be summarized by initialization at time t = 0 {\displaystyle t=0} and three steps at each time t: === Initialization === Form the initial sample set and weights by sampling according to the prior distribution. For example, specify as Gaussian and set the weights equal to each other. === Iterative procedure === Sample with replacement N {\displaystyle N} times from the set { s 0 ( n ) , n = 1 , . . . , N } {\displaystyle \{s_{0}^{(n)},n=1,...,N\}} with probability { π 0 ( n ) , n = 1 , . . . , N } {\displaystyle \{\pi _{0}^{(n)},n=1,...,N\}} to generate a realization of p ( x t | z 1 , . . . , z t ) {\displaystyle p(\mathbf {x_{t}} |\mathbf {z_{1},...,z_{t}} )} . Apply the learned dynamics p ( x t | x t − 1 ) {\displaystyle p(\mathbf {x_{t}} |\mathbf {x_{t-1}} )} to each element of this new set, to generate a new set { s t ( n ) } {\displaystyle \{s_{t}^{(n)}\}} . To take into account the current observation z t {\displaystyle \mathbf {z_{t}} } , set π t ( n ) = p ( z t | s ( n ) ) ∑ j = 1 N p ( z t | s ( j ) ) {\displaystyle \pi _{t}^{(n)}={\frac {p(\mathbf {z_{t}} |s^{(n)})}{\sum _{j=1}^{N}p(\mathbf {z_{t}} |s^{(j)})}}} for each element { s t ( n ) } {\displaystyle \{s_{t}^{(n)}\}} . This algorithm outputs the probability distribution p ( x t | z 1 , . . . , z t ) {\displaystyle p(\mathbf {x_{t}} |\mathbf {z_{1},...,z_{t}} )} which can be directly used to calculate the mean position of the tracked object, as well as the other moments of the tracked object. Cumulative weights can instead be used to achieve a more efficient sampling. == Implementation considerations == Since object-tracking can be a real-time objective, consideration of algorithm efficiency becomes important. The condensation algorithm is relatively simple when compared to the computational intensity of the Ricatti equation required for Kalman filtering. The parameter N {\displaystyle N} , which determines the number of samples in the sample set, will clearly hold a trade-off in efficiency versus performance. One way to increase efficiency of the algorithm is by selecting a low degree of freedom model for representing the shape of the object. The model used by Isard 1998 is a linear parameterization of B-splines in which the splines are limited to certain configurations. Suitable configurations were found by analytically determining combinations of contours from multiple views, of the object in different poses, and through principal component analysis (PCA) on the deforming object. Isard and Blake model the object dynamics p ( x t | x t − 1 ) {\displaystyle p(\mathbf {x_{t}} |\mathbf {x_{t-1}} )} as a second order difference equation with deterministic and stochastic components: p ( x t | x t − 1 ) ∝ e − 1 2 | | B − 1 ( ( x t − x ¯ ) − A ( x t − 1 − x ¯ ) ) | | 2 ) {\displaystyle p(\mathbf {x_{t}} |\mathbf {x_{t-1}} )\propto e^{-{\frac {1}{2}}||B^{-1}((\mathbf {x_{t}} -\mathbf {\bar {x}} )-A(\mathbf {x_{t-1}} -\mathbf {\bar {x}} ))||^{2})}} where x ¯ {\displaystyle \mathbf {\bar {x}} } is the mean value of the state, and A {\displaystyle A} , B {\displaystyle B} are matrices representing the deterministic and stochastic components of the dynamical model respectively. A {\displaystyle A} , B {\displaystyle B} , and x ¯ {\displaystyle \mathbf {\bar {x}} } are estimated via Maximum Likelihood Estimation while the object performs typical movements. The observation model p ( z | x ) {\displaystyle p(\mathbf {z} |\mathbf {x} )} cannot be directly estimated from the data, requiring assumptions to be made in order to estimate it. Isard 1998 assumes that the clutter which may make the object not visible is a Poisson random process with spatial density λ {\displaystyle \lambda } and that any true target measurement is unbiased and normally distributed with standard deviation σ {\displaystyle \sigma } . The basic condensation algorithm is used to track a single object in time. It is possible to extend the condensation algorithm using a single probability distribution to describe the likely states of multiple objects to track multiple objects in a scene at the same time. Since clutter can cause the object probability distribution to split into multiple peaks, each peak represents a hypothesis about the object configuration. Smoothing is a statistical technique of conditioning the distribution based on both past and future measurements once the tracking is complete in order to reduce the effects of multiple peaks. Smoothing cannot be directly done in real-time since it requires information of future measurements. == Applications == The algorithm can be used for vision-based robot localization of mobile robots. Instead of tracking the position of an object in the scene, however, the position of the camera platform is tracked. This allows the camera platform to be globally localized given a visual map of the environment. Extensions of the condensation algorithm have also been used to recognize human gestures in image sequences. This application of the condensation algorithm impacts the ran
Cloud Native Computing Foundation
The Cloud Native Computing Foundation (CNCF) is a subsidiary of the Linux Foundation founded in 2015 to support cloud-native computing. == History == It was announced alongside Kubernetes 1.0, an open source container cluster manager, which was contributed to the Linux Foundation by Google as a seed technology. Founding members include Google, CoreOS, Mesosphere, Red Hat, Twitter, Huawei, Intel, RX-M, Cisco, IBM, Docker, Univa, and VMware. Today, CNCF is supported by over 450 members. In August 2018 Google announced that it was handing over operational control of Kubernetes to the community. == Projects == Argo is a collection of tools for getting work done with Kubernetes. Among its main features are Workflows and Events. It was accepted to CNCF on March 26, 2020 at the Incubating maturity level and then moved to the Graduated maturity level on December 6, 2022. cert-manager provisions and manages TLS certificates in Kubernetes. It was accepted to CNCF on November 10, 2020, moved to the Incubating maturity level on September 19, 2022, and then moved to the Graduated maturity level on September 29, 2024. Cilium provides networking, security, and observability for Kubernetes deployments using eBPF technology. It joined the CNCF at incubation level in October 2021 and the CNCF announced its graduation in October 2023. containerd is an industry-standard core container runtime. It is currently available as a daemon for Linux and Windows, which can manage the complete container lifecycle of its host system. In 2015, Docker donated the OCI Specification to The Linux Foundation with a reference implementation called runc. Since February 28, 2019 it is an official CNCF project. Its general availability and intention to donate the project to CNCF was announced by Docker in 2017. CoreDNS is a DNS server that chains plugins. Its graduation was announced in 2019. Dapr, the distributed application runtime, provides APIs for building secure and reliable microservices and agentic AI systems. Dapr was donated to the CNCF in November 2021 and joined at incubation level. The CNCF announced its graduation in November 2024. Envoy: Originally built at Lyft to move their architecture away from a monolith, Envoy is a high-performance open source edge and service proxy that makes the network transparent to applications. Lyft contributed Envoy to Cloud Native Computing Foundation in September 2017. etcd is a distributed key value store, providing a method of storing data across a cluster of machines. It became a CNCF incubating project in 2018 at KubeCon+CloudNativeCon North America in Seattle that year. Falco is an open source and cloud native runtime security initiative. It is the "de facto Kubernetes threat detection engine". It became an incubating project in January 2020 and graduated in February 2024. Flux is an open source project for powering GitOps in Kubernetes clusters. It provides the GitOps Toolkit, a set of Kubernetes APIs that allow you to define how configuration source code is securely pulled into your cluster and deployed by popular Kubernetes manifests rendering engines like Kustomize and Helm. The most recommended source mechanism is the OCIRepository API, which provides enhanced security and benefits from container image tooling out there. Flux has also notification integrations with popular services like Prometheus Alertmanager, PagerDuty, Slack and so on. Flux has graduated in CNCF in 2022. Harbor is an "open source trusted cloud native registry project that stores, signs, and scans content." It became an incubating project in September 2019 and graduated in June 2020. Helm is a package manager that helps developers "easily manage and deploy applications onto the Kubernetes cluster." It joined the incubating level in June 2018 and graduated in April 2020. Istio is a service mesh technology. It was accepted by CNCF in September 2022 and graduated on July 12, 2023. Jaeger, Created by Uber Engineering, Jaeger is an open source distributed tracing system inspired by Google Dapper paper and OpenZipkin community. It can be used for tracing microservice-based architectures, including distributed context propagation, distributed transaction monitoring, root cause analysis, service dependency analysis, and performance/latency optimization. The Cloud Native Computing Foundation Technical Oversight Committee voted to accept Jaeger as the 12th hosted project in September 2017 and became a graduated project in 2019. In 2020 it became an approved and fully integrated part of the CNCF ecosystem. Kubernetes is an open source framework for automating deployment and managing applications in a containerized and clustered environment. "It aims to provide better ways of managing related, distributed components across the varied infrastructure." It was originally designed by Google and donated to The Linux Foundation to form the Cloud Native Computing Foundation with Kubernetes as the seed technology. The "large and diverse" community supporting the project has made its staying power more robust than other, older technologies of the same ilk. In January 2020, the CNCF annual report showed significant growth in interest, training, event attendance and investment related to Kubernetes. Linkerd is CNCF's fifth member project, and the project that coined the term "service mesh". Linkerd adds observability, security, and reliability features to applications by adding them to the platform rather than the application layer, and features a "micro-proxy" to maximize speed and security of its data plane. Linkerd graduated from CNCF in July 2021. Open Policy Agent (OPA) is "an open source general-purpose policy engine and language for cloud infrastructure." It became a CNCF incubating project in April 2019. OPA graduated from CNCF in February 2021. Prometheus is a cloud monitoring tool sponsored by SoundCloud in early iterations. In August 2018, the tool was designated a graduated project by the Cloud Native Computing Foundation. It is now a Cloud Native Computing Foundation member project. Rook is CNCF's first cloud native storage project. It became an incubation level project in 2018 and graduated in October 2020. SPIFFE is an open standard and framework for workload identity, much the same way that OAuth is an open standard and framework for human identity. It is built from the ground up to accommodate modern computing environments, which operate with systems scale and velocity (as opposed to human scale and velocity), while still maintaining interoperability with existing technologies like OAuth and X.509 Public key infrastructure. Unlike other identity standards, SPIFFE supports multiple credential types for a single identity, ensuring that the highly varied needs of production environments are consistently met without compromise. SPIFFE joined the CNCF as a sandbox project in 2018, was accepted to incubation in 2020, and graduated in 2022. SPIRE is an open source identity provider for workloads based on the SPIFFE framework. It is highly pluggable, and fills the attestation and issuance needs required by any workload identity solution. The plugin interfaces it exposes allows users to write integrations with in-house systems, build internal self-service portals, and more. It is a very powerful building block for issuing short-lived identity credentials to dynamic cloud workloads. SPIRE became a CNCF Graduated project in 2022. The Update Framework (TUF) helps developers to secure new or existing software update systems, which are often found to be vulnerable to many known attacks. TUF addresses this widespread problem by providing a comprehensive, flexible security framework that developers can integrate with any software update system. TUF was CNCF's first security-focused project and the ninth project overall to graduate from the foundation's hosting program. TiKV provides a distributed key–value database. Vitess is a database clustering system for horizontal scaling of MySQL, first created for internal use by YouTube. It became a CNCF project in 2018 and graduated in November 2019. Contour is a management server for Envoy that can direct the management of Kubernetes' traffic. Contour also provides routing features that are more advanced than Kubernetes' out-of-the-box Ingress specification. VMWare contributed the project to CNCF in July 2020. Cortex offers horizontally scalable, multi-tenant, long-term storage for Prometheus and works alongside Amazon DynamoDB, Google Bigtable, Cassandra, S3, GCS, and Microsoft Azure. It was introduced into the ecosystem incubator alongside Thanos in August 2020. CRI-O is an Open Container Initiative (OCI) based "implementation of Kubernetes Container Runtime Interface". CRI-O allows Kubernetes to be container runtime-agnostic. It became an incubating project in 2019. gRPC is a "modern open source high performance RPC framework that can run in any environment." The project was formed in 2015 when Google decided to open sou
Document mosaicing
Document mosaicing is a process that stitches multiple, overlapping snapshot images of a document together to produce one large, high resolution composite. The document is slid under a stationary, over-the-desk camera by hand until all parts of the document are snapshotted by the camera's field of view. As the document slid under the camera, all motion of the document is coarsely tracked by the vision system. The document is periodically snapshotted such that the successive snapshots are overlap by about 50%. The system then finds the overlapped pairs and stitches them together repeatedly until all pairs are stitched together as one piece of document. The document mosaicing can be divided into four main processes. Tracking Feature detecting Correspondences establishing Images mosaicing. == Tracking (simple correlation process) == In this process, the motion of the document slid under the camera is coarsely tracked by the system. Tracking is performed by a process called simple correlation process. In the first frame of snapshots, a small patch is extracted from the center of the image as a correlation template. The correlation process is performed in the four times size of the patch area of the next frame. The motion of the paper is indicated by the peak in the correlation function. The peak in the correlation function indicates the motion of the paper. The template is resampled from this frame and the tracking continues until the template reaches the edge of the document. After the template reaches the edge of the document, another snapshot is taken and the tracking process performs repeatedly until the whole document is imaged. The snapshots are stored in an ordered list to facilitate pairing the overlapped images in later processes. == Feature detecting for efficient matching == Feature detection is the process of finding the transformation that aligns one image with another. There are two main approaches for feature detection. Feature-based approach : Motion parameters are estimated from point correspondences. This approach is suitable for the case that there is plenty supply of stable and detectable features. Featureless approach : When the motion between the two images is small, the motion parameters are estimated using optical flow. On the other hand, when the motion between the two images is large, the motion parameters are estimated using generalised cross-correlation. However, this approach requires a computationally expensive resources. Each image is segmented into a hierarchy of columns, lines, and words to match the organised sets of features across images. Skew angle estimation and columns, lines and words finding are the examples of feature detection operations. === Skew angle estimation === Firstly, the angle that the rows of text make with the image raster lines (skew angle) is estimated. It is assumed to lie in the range of ±20°. A small patch of text in the image is selected randomly and then rotated in the range of ±20° until the variance of the pixel intensities of the patch summed along the raster lines is maximised. To ensure that the found skew angle is accurate, the document mosaic system performs calculation at many image patches and derive the final estimation by finding the average of the individual angles weighted by the variance of the pixel intensities of each patch. === Columns, lines and words finding === In this operation, the de-skewed document is intuitively segmented into a hierarchy of columns, lines and words. The sensitivity to illumination and page coloration of the de-skewed document can be removed by applying a Sobel operator to the de-skewed image and thresholding the output to obtain the binary gradient, de-skewed image. The operation can be roughly separated into 3 steps: column segmentation, line segmentation and word segmentation. Columns are easily segmented from the binary gradient, de-skewed images by summing pixels vertically. Baselines of each row are segmented in the same way as the column segmentation process but horizontally. Finally, individual words are segmented by applying the vertical process at each segmented row. These segmentations are important because the document mosaic is created by matching the lower right corners of words in overlapping images pair. Moreover, the segmentation operation can organize the list of images in the context of a hierarchy of rows and column reliably. The segmentation operation involves a considerable amount of summing in the binary gradient, de-skewed images, which done by construct a matrix of partial sums whose elements are given by p i y = ∑ u = 1 i ∑ v = 1 j b u v {\displaystyle p_{iy}=\sum _{u=1}^{i}\sum _{v=1}^{j}b_{uv}} The matrix of partial sums is calculated in one pass through the binary gradient, de-skewed image. ∑ u = u 1 u 2 ∑ v = v 1 v 2 b u v = p u 2 v 2 + p u 1 v 1 − p u 1 v 2 − p u 2 v 1 {\displaystyle \sum _{u=u_{1}}^{u_{2}}\sum _{v=v_{1}}^{v_{2}}b_{uv}=p_{u_{2}v_{2}}+p_{u_{1}v_{1}}-p_{u_{1}v_{2}}-p_{u_{2}v_{1}}} == Correspondences establishing == The two images are now organized in hierarchy of linked lists in following structure : image=list of columns row=list of words column=list of row word=length (in pixels) At the bottom of the structure, the length of each word is recorded for establishing correspondence between two images to reduce to search only the corresponding structures for the groups of words with the matching lengths. === Seed match finding === A seed match finding is done by comparing each row in image1 with each row in image2. The two rows are then compared to each other by every word. If the length (in pixel) of the two words (one from image1 and one from image2) and their immediate neighbours agree with each other within a predefined tolerance threshold (5 pixels, for example), then they are assumed to match. The row of each image is assumed a match if there are three or more word matches between the two rows. The seed match finding operation is terminated when two pairs of consecutive row match are found. === Match list building === After finishing a seed match finding operation, the next process is to build the match list to generate the correspondences points of the two images. The process is done by searching the matching pairs of rows away from the seed row. == Images mosaicing == Given the list of corresponding points of the two images, finding the transformation of the overlapping portion of the images is the next process. Assuming a pinhole camera model, the transformation between pixels (u,v) of image 1 and pixels (u0, v0) of image 2 is demonstrated by a plane-to-plane projectivity. [ s u ′ s v ′ s ] = [ p 11 p 12 p 13 p 21 p 22 p 23 p 31 p 32 1 ] [ u v 1 ] E q .1 {\displaystyle \left[{\begin{array}{c}su'\\sv'\\s\end{array}}\right]=\left[{\begin{array}{ccc}p_{11}&p_{12}&p_{13}\\p_{21}&p_{22}&p_{23}\\p_{31}&p_{32}&1\end{array}}\right]\left[{\begin{array}{c}u\\v\\1\end{array}}\right]\qquad Eq.1} The parameters of the projectivity is found from four pairs of matching points. RANSAC regression technique is used to reject outlying matches and estimate the projectivity from the remaining good matches. The projectivity is fine-tuned using correlation at the corners of the overlapping portion to obtain four correspondences to sub-pixel accuracy. Therefore, image1 is then transformed into image2's coordinate system using Eq.1. The typical result of the process is shown in Figure 5. === Many images coping === Finally, the whole page composition is built up by mapping all the images into the coordinate system of an "anchor" image, which is normally the one nearest the page center. The transformations to the anchor frame are calculated by concatenating the pair-wise transformations found earlier. The raw document mosaic is shown in Figure 6. However, there might be a problem of non-consecutive images that are overlap. This problem can be solved by performing Hierarchical sub-mosaics. As shown in Figure 7, image1 and image2 are registered, as are image3 and image4, creating two sub-mosaics. These two sub-mosaics are later stitched together in another mosaicing process. == Applied areas == There are various areas that the technique of document mosaicing can be applied to such as : Text segmentation of images of documents Document Recognition Interaction with paper on the digital desk Video mosaics for virtual environments Image registration techniques == Relevant research papers == Huang, T.S.; Netravali, A.N. (1994). "Motion and structure from feature correspondences: A review". Proceedings of the IEEE. 82 (2): 252–268. doi:10.1109/5.265351. D.G. Lowe. [1] Perceptual Organization and Visual Recognition. Kluwer Academic Publishers, Boston, 1985. Irani, M.; Peleg, S. (1991). "Improving resolution by image registration". CVGIP: Graphical Models and Image Processing. 53 (3): 231–239. doi:10.1016/1049-9652(91)90045-L. S2CID 4834546. Shivakumara, P.; Kumar, G. Hemantha; Guru, D. S.; Nagabhushan, P. (2006). "