We describe a structure-from-motion framework that handles "generalized" cameras, such as moving rolling-shutter cameras, and works at an unprecedented scale-billions of images covering millions of linear kilometers of roads-by exploiting a good relative pose prior along vehicle paths. We exhibit a planet-scale, appearance-augmented point cloud constructed with our framework and demonstrate its practical use in correcting the pose of a street-level image collection.

We propose a finite element simulation method that addresses the full range of material behavior, from purely elastic to highly plastic, for physical domains that are substantially reshaped by plastic flow, fracture, or large elastic deformations. To mitigate artificial plasticity, we maintain a simulation mesh in both the current state and the rest shape, and store plastic offsets only to represent the non-embeddable portion of the plastic deformation. To maintain high element quality in a tetrahedral mesh undergoing gross changes, we use a dynamic meshing algorithm that attempts to replace as few tetrahedra as possible, and thereby limits the visual artifacts and artificial diffusion that would otherwise be introduced by repeatedly remeshing the domain from scratch. Our dynamic mesher also locally refines and coarsens a mesh, and even creates anisotropic tetrahedra, wherever a simulation requests it. We illustrate these features with animations of elastic and plastic behavior, extreme deformations, and fracture.

This paper presents a method for animating fluid using unstructured tetrahedral meshes that change at each time step. We show that meshes that conform well to changing boundaries and that focus computation in the visually important parts of the domain can be generated quickly and reliably using existing techniques. We also describe a new approach to two-way coupling of fluid and rigid bodies that, while general, benefits from remeshing. Overall, the method provides a flexible environment for creating complex scenes involving fluid animation.

This paper presents a method for animating gases on unstructured tetrahedral meshes to efficiently model the interaction of fluids with irregularly shaped obstacles. Because our discretization scheme parallels that of the standard staggered grid mesh. we are able to combine tetrahedral cells with regular hexahedral cells in a single mesh. This hybrid mesh offers both accuracy near obstacles and efficiency in open regions.