GRK 1773: Heterogeneous Image Systems
Final Report Abstract
Bildsysteme, das heißt Systeme zur Erzeugung, Verarbeitung und Übertragung von Bildern, spielen in vielen Anwendungsbereichen eine große Rolle, z.B. bei der medizinischen Bildverarbeitung, in Computerspielen oder beim Streaming von Videodaten. Solche Systeme sind in zweierlei Hinsicht heterogen: Zum einen sind Berechnungen innerhalb eines Systems auf verschiedene Komponenten verteilt, deren optimales Zusammenspiel wesentlich für die Leistungsfähigkeit des Gesamtsystems ist. Zum anderen sollen Anwendungen auf unterschiedlichen Bildsystemen ablaufen können, wobei die spezifischen Fähigkeiten der Systeme möglichst gut ausgenutzt werden sollen. Beide Arten von Heterogenität führen zu interessanten Forschungsfragestellungen, die im Graduiertenkolleg untersucht wurden. Ziel des Graduiertenkollegs war die Weiterentwicklung heterogener Hardware, heterogener Algorithmen und von Werkzeugen zur Softwareentwicklung auf heterogenen Plattformen. Das Graduiertenkolleg hat auf allen diesen Gebieten erfolgreich gearbeitet und konnte international sichtbare Ergebnisse erzielen. So wurden im Projektbereich A „Neue Hardwarearchitekturen“ neuartige Architekturen für Smart Cameras entwickelt, bei denen umfangreiche Bildoperationen sensornah durchgeführt werden. Schwerpunkte waren dabei die analoge Signalverarbeitung direkt auf dem Sensor oder mittels neuartiger 3D-Architekturen, sowie die energiegewahre Videokompression. Als besonders fruchtbar hat sich die Zusammenarbeit mit dem Projektbereich B „Methoden und Werkzeuge“ erwiesen. In diesem Bereich konnten neue Methoden und Werkzeuge entwickelt werden, die eine Modellierung, Abstraktion, Parallelisierung und Optimierung heterogener Bildsysteme möglich machen, und es wurde an Systemsoftware für heterogene Bildsysteme geforscht. Im Zusammenspiel zwischen den beiden Teilbereichen entstanden neue domänenspezifische Sprachen für einen durchgängigen, heterogenen Systementwurf. Auch im dritten Teilbereich C „Algorithmen und Anwendungen“ konnten sehr gute Forschungsergebnisse erzielt werden, vor allem auf dem Gebiet der medizinischen Bilddaten, der 3D-Geometrieerfassung und der 3D-Bildsynthese. Als Beispiele können neue Verfahren zur Rekonstruktion und Analyse von CT-Daten oder zur 3D-Erfassung und Veränderung von Gesichtern in Videos genannt werden. Gerade letztere Arbeit erzielte eine große öffentliche Aufmerksamkeit, auch außerhalb Deutschlands. Auch von Seiten der Anwendung erfolgte eine enge Kopplung an die anderen Projektbereiche, z.B. in Form einer durchgängigen Modellierung und Entwicklung einer Quadcopter-Steuerung. Der Erfolg und die internationale Sichtbarkeit spiegeln sich in den über 300 internationalen, begutachteten Publikationen, die in der Zeit des Graduiertenkollegs veröffentlicht werden konnten, wider. Das Graduiertenkolleg hat innerhalb der verschiedenen beteiligten Disziplinen der Informatik und der Elektrotechnik neue Brücken geschlagen und neue Themenfelder eröffnet. Im Rahmen des Graduiertenkollegs entstanden hochklassige Promotionen. Den Doktoranden wurden umfangreiche Möglichkeiten für Auslandsaufenthalte gegeben, bei denen internationale Kooperationen vertieft und neu geschaffen werden konnten. Das Graduiertenkolleg hat durch den Aufbau neuer Vorlesungen auch in der Lehre neue Schwerpunkte gesetzt. Ebenso ist es gelungen, begabte Studenten frühzeitig über Bachelor-, Master- und Projektarbeiten in das Graduiertenkolleg einzubinden, sie an die Forschungsarbeit heranzuführen und als Promovenden zum erfolgreichen Abschluss zu bringen.
Publications
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É. Sousa, A. Tanase, V. Lari, F. Hannig, J. Teich, J. Paul, W. Stechele, M. Kröhnert und T. Asfour
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É. Sousa, A. Tanase, F. Hannig und J. Teich
- „Atlas-based linear volume-of-interest (ABL-VOI) image correction“. In: SPIE Medical Imaging 2013. Hrsg. Von R. M. Nishikawa und B. R. Whiting. Bd. 8668. Lake Buena Vista (Orlando Area), Florida, USA, (2013), S. 8668–83
A. Maier, Z. Jiang, J. Jordan, C. Riess, H. Hofmann und J. Hornegger
(See online at https://doi.org/10.1117/12.2006843) - „Calibration of a Camera-Based Guidance Solution for Orthopedic and Trauma Surgery“. In: Bildverarbeitung für die Medizin 2013. Springer, (2013), S. 27– 32
J. Magaraggia, A. Egli, G. Kleinszig, R. Graumann, E. Angelopoulou und J. Hornegger
(See online at https://doi.org/10.1007/978-3-642-36480-8_7) - „CONRAD - A software framework for cone-beam imaging in radiology“. In: Medical Physics 40.11 (2013)
A. Maier, H. Hofmann, M. Berger, P. Fischer, C. Schwemmer, H. Wu, K. Müller, J. Hornegger, J.-H. Choi, C. Riess, A. Keil und R. Fahrig
(See online at https://doi.org/10.1118/1.4824926) - „Continuous Integration and Automation for Devops“. In: IAENG Transactions on Engineering Technologies Special Edition of the World Congress on Engineering and Computer Science 2011. Hrsg. von H. K. Kim, S.-I. Ao und B. B. Rieger. 1. Aufl. Lecture Notes in Electrical Engineering. Dordrecht, (2013), S. 345–358. ISBN: 9400747853
A. Schäfer, M. Reichenbach und D. Fey
(See online at https://doi.org/10.1007/978-94-007-4786-9_28) - „Dose Reduction Achieved by Dynamically Collimating the Redundant Rays in Fan-beam and Cone-beam CT“. In: Proceedings of the IEEE NSS/MIC 2013. Seoul, South Korea: IEEE, (2013), S. 1–4
Y. Xia, M. Berger, C. Riess, J. Hornegger und A. Maier
(See online at https://doi.org/10.1109/NSSMIC.2013.6829341) - „Fast image processing for optical metrology utilizing heterogeneous computer architectures“. In: Computers & Electrical Engineering (2013)
M. Reichenbach, R. Seidler, B. Pfundt und D. Fey
(See online at https://doi.org/10.1016/j.compeleceng.2013.09.008) - „Hyperspectral Image Visualization with a 3-D Selforganizing Map“. In: Hyperspectral Image and Signal Processing: Evolution in Remote Sensing (WHISPERS). IEEE, Juni (2013), S. 1–4
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(See online at https://doi.org/10.1109/WHISPERS.2013.8080607) - „Interactive Direct Volume Rendering with Many-light Methods and Transmittance Caching“. In: Vision, Modeling, and Visualization. Lugano: Eurographics Association, (2013), S. 195–202
C. Weber, A. Kaplanyan, M. Stamminger und C. Dachsbacher
(See online at https://doi.org/10.2312/PE.VMV.VMV13.195-202) - „Mean-shift Clustering for Interactive Multispectral Image Analysis“. In: IEEE International Conference on Image Processing. (Sep. 2013), S. 3790–3794
J. Jordan und E. Angelopoulou
(See online at https://doi.org/10.1109/ICIP.2013.6738781) - „Modeling the Energy Consumption of HEVC Intra Decoding“. In: Proc. IEEE International Conference on Systems, Signals and Image Processing (IWSSIP). Bukarest, Rumämien, (Juli 2013), S. 91–94
C. Herglotz, D. Springer, A. Eichenseer und A. Kaup
(See online at https://doi.org/10.1109/IWSSIP.2013.6623457) - „Real-time 3D Reconstruction at Scale using Voxel Hashing“. In: ACM Transactions on Graphics (TOG) 32.6 (2013), S. 1–11
M. Nießner, M. Zollhöfer, S. Izadi und M. Stamminger
(See online at https://doi.org/10.1145/2508363.2508374) - „Real-time Local Displacement using Dynamic GPU Memory Management“. In: Proceedings of the ACM SIGGRAPH Symposium on High Performance Graphics (HPG ’13). ACM, (2013), S. 63–72
H. Schäfer, B. Keinert und M. Stamminger
(See online at https://doi.org/10.1145/2492045.2492052) - „Smart Sensor Architectures for Embedded Biosignal Analysis“. In: Proceedings of the Conference on Design and Architectures for Signal and Image Processing. Cagliari, (2013)
B. Pfundt, M. Reichenbach, B. Eskofier und D. Fey
- „TV or not TV? That is the Question“. In: Fully Three-Dimensional Image Reconstruction in Radiology and Nuclear Medicine. Hrsg. von R. M. Leahy und J. Qi. Lake Tahoe, CA, USA, (2013), S. 341–344
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(See online at https://doi.org/10.1109/ACSSC.2014.7094471) - „3-D Mesh CompensatedWavelet Lifting for 3-D+t Medical CT Data“. In: Proc. Intl. Conf. on Image Processing (ICIP). Paris, France, (2014), S. 3631–3635
W. Schnurrer, T. Richter, J. Seiler, C. Herglotz und A. Kaup
(See online at https://doi.org/10.1109/ICIP.2014.7025737) - „A Cone-beam Reconstruction Algorithm for Dose-minimized Short Scan and Super Short Scan“. In: Proceedings of the Third International Conference on Image Formation in X-Ray ComputedTomography. Hrsg. von F. Noo. Salt Lake City, UT, USA, (2014), S. 178–181
Y. Xia, F. Dennerlein, S. Bauer, M. Berger, J. Hornegger und A. Maier
- „Accelerated Hybrid Image Reconstruction for Non-Regular Sampling Color Sensors“. In: Proc. IEEE International Conference on Visual Communications and Image Processing (VCIP). Valletta, Malta, (Dez. 2014), S. 217–220
M. Bätz, A. Eichenseer, M. Jonscher, J. Seiler und A. Kaup
(See online at https://doi.org/10.1109/VCIP.2014.7051543) - „An error-based recursive filling ordering for image error concealment“. In: Proceedings of ICIP. Paris, France, (Okt. 2014), S. 2517–2521
J. Koloda, J. Seiler, A. Kaup, V. Sánchez und A. M. Peinado
(See online at https://doi.org/10.1109/ICIP.2014.7025509) - „An Unsupervised Material Learning Method for Imaging Spectroscopy“. In: IEEE World Congress on Computational Intelligence. Beijing: IEEE, (2014), S. 2428–2435
J. Jordan, E. Angelopoulou und A. Robles-Kelly
(See online at https://doi.org/10.1109/IJCNN.2014.6889441) - „Automatic Removal of Externally Attached Fiducial Markers in Cone Beam Carm CT“. In: Bildverarbeitung für die Medizin 2014. Hrsg. von H. Handels und T. Deserno. Aachen, (2014), S. 168–173
M. Berger, C. Forman, C. Schwemmer, J. H. Choi, K. Müller, A. Maier, J. Hornegger und R. Fahrig
- „Code Generation for Embedded Heterogeneous Architectures on Android“. In: Proceedings of the Conference on Design, Automation and Test in Europe (DATE). IEEE. Dresden, Germany, 24.–28. (März 2014), S. 86:1–86:6
R. Membarth, O. Reiche, F. Hannig und J. Teich
(See online at https://doi.org/10.7873/DATE.2014.099) - „Code Generation for High-Level Synthesis of Multiresolution Applications on FPGAs“. In: Proceedings of the First International Workshop on FPGAs for Software Programmers (FSP). (Munich, Germany).1. Sep. 2014, S. 21–26
M. Schmid, O. Reiche, C. Schmitt, F. Hannig und J. Teich
(See online at https://doi.org/10.48550/arXiv.1408.4721) - „Code Generation from a Domain-specific Language for C-based HLS of Hardware Accelerators“. In: Proceedings of the International Conference on Hardware/Software Codesign and System Synthesis (CODES+ISSS). ACM. New Delhi, India, 12.–17. (Okt. 2014), 17:1–17:10
O. Reiche, M. Schmid, F. Hannig, R. Membarth und J. Teich
(See online at https://doi.org/10.1145/2656075.2656081) - „Coding of Distortion-Corrected Fisheye Video Sequences Using H.265/HEVC“. In: Proc. IEEE International Conference on Image Processing (ICIP). Paris, Frankreich, (Okt. 2014), S. 4132–4136
A. Eichenseer und A. Kaup
(See online at https://doi.org/10.1109/ICIP.2014.7025839) - „Defmacro for C: Lightweight, Ad Hoc Code Generation“. In: Proceedings of ELS 2014 7rd European Lisp Symposium. (2014), S. 80–87
K. Selgrad, A. Lier, M. Wittmann, D. Lohmann und M. Stamminger
- „Designing and Manufacturing of Real EmbeddedMulti-Core CPUs: A Holistic Teaching Approach in Computer Architecture“. In: Proceedings of the Tenth Workshop on Microelectronics Education. Tallin, (2014)
M. Reichenbach, B. Pfundt und D. Fey
(See online at https://doi.org/10.1109/EWME.2014.6877428) - „Effective One Step-iterative Fiducial Markerbased Compensation for Involuntary Motion inWeight-bearing C-arm Conebeam CT Scanning of Knees“. In: Proc. SPIE Medical Imaging 2014. San Diego, California, United States: SPIE, (2014), S. 9033–36
J.-H. Choi, A. Maier, M. Berger und R. Fahrig
(See online at https://doi.org/10.1117/12.2043771) - „Enhanced Sphere Tracing“. In: Proceedings of the Smart Tools and Apps for Graphics - Eurographics Italian Chapter Conference. Hrsg. von A. Giachetti. Cagliari, Italy: Eurographics Association, (2014), S. 1–8. ISBN: 978-3-905674-72-9
B. Keinert, H. Schäfer, J. Korndörfer, U. Ganse und M. Stamminger
(See online at https://dx.doi.org/10.2312/stag.20141233) - „Estimating Video Decoding Energies And Processing Times Utilizing Virtual Hardware“. In: Proceedings of 3PMCES Workshop. Design, Automation & Test in Europe (DATE). Hrsg. von EDAA. Dresden, 2014, S. 1–2
S. Berschneider, C. Herglotz, M. Reichenbach, D. Fey und A. Kaup
- „Estimation of missingfan-beam projections using frequency consistency conditions“. In: Proceedings of the third international conference on image formation in x-ray computed tomography. Hrsg. von F. Noo. Salt Lake City, UT, USA, (2014), S. 203– 207
M. Pohlmann, M. Berger, A. Maier, J. Hornegger und R. Fahrig
- „Fast and Generic Hardware Architecture for Stereo Block Matching Applications on Embedded Systems“. In: Proceedings of ReConFig’ 14. Hrsg. von R. Cumplido. Cancun, Mexico, (2014), S. 1–6
K. Häublein, M. Reichenbach und D. Fey
(See online at https://doi.org/10.1109/ReConFig.2014.7032518) - „Frequency selective extrapolation with residual filtering for image error concealment“. In: Proceedings of ICASSP. Florence, Italy, Mai 2014, S. 1976–1980
J. Koloda, J. Seiler, A. Kaup, V. Sánchez, und A.M. Peinado
(See online at https://doi.org/10.1109/ICASSP.2014.6853944) - „How to Avoid Model Interferencesfor Test-driven Agile Simulation based on Standardized UML Profiles“. In: Proc. of the Symposium on Theory of Modeling and Simulation. Tampa, FL, USA, Apr. (2014), S. 540–545
V. Schneider, A. Yupatova, W. Dulz und R. German
(See online at https://dl.acm.org/doi/10.5555/2665008.2665043) - „Improved trajectories in C-Arm computed tomography for non-circular fields of view“. In: Proceedings of the third international conference on image formation in x-ray computed tomography. Hrsg. von F. Noo. Salt Lake City, UT, USA, 2014, S. 274– 278
M. Herbst, F. Schebesch, M. Berger, R. Fahrig, J. Hornegger und A. Maier
- „Increasing the Credibility of MR Spectroscopy-Based Automatic Brain-Tumor Classification Systems“. In: 2014 IEEE International Symposium on Biomedical Imaging. Beijing, China: IEEE, (2014), S. 345–348. ISBN: 978-1-4673-1961-4
M. Berger, K. Sembritzki, J. Hornegger und C. Bauer
(See online at https://doi.org/10.1109/ISBI.2014.6867879) - „Interactive modelbased reconstruction of the human head using an RGB-D sensor“. In: Comp. Anim. Virtual Worlds, 25. 2014, S. 213–222
M. Zollhöfer, J. Thies, M. Colaianni, M. Stamminger und G. Greiner
(See online at https://doi.org/10.1002/cav.1584) - „Local Painting and Deformation of Meshes on the GPU“. In: Computer Graphics Forum (2014)
H. Schäfer, B. Keinert, M. Nießner und M. Stamminger
(See online at https://doi.org/10.1111/cgf.12456) - „Low-Cost Real-Time 3D Reconstruction of Large-Scale Excavation Sites using an RGB-D Camera“. In: EUROGRAPHICS Workshop on Graphics and Cultural Heritage. Hrsg. Von R. Klein und P. Santos. Darmstadt, (2014)
M. Zollhöfer, C. Siegl, B. Riffelmacher, M. Vetter, B. Dreyer, M. Stamminger und F. Bauer
(See online at https://doi.org/10.2312/gch.20141298) - „Modeling the Energy Consumption of HEVC P- and B-Frame Decoding“. In: Proc. Intl. Conf. on Image Processing (ICIP). Hrsg. von IEEE und IEEE. Paris, Frankreich, (2014), S. 3661-3665
C. Herglotz, D. Springer und A. Kaup
(See online at https://doi.org/10.1109/ICIP.2014.7025743) - „Motion Compensated Fan-BeamCT by Enforcing Fourier Properties of the Sinogram“. In: Proceedings of the third international conference on image formation in x-ray computed tomography. Hrsg. von F. Noo. Salt Lake City, UT, USA, (2014), S. 329–332
M. Berger, A. Maier, Y. Xia, J. Hornegger und R. Fahrig
- „Multi Sloth: An Efficient Multi-Core RTOS using Hardware-Based Scheduling“. In: Proceedings of the 26th Euromicro Conference on Real-Time Systems (ECRTS). Hrsg. von I. C. Society. Madrid, Spain, (2014), S. 189–198. ISBN: 978-1-4799-5798-9
R. Müller, D. Danner, W. Schröder-Preikschat und D. Lohmann
(See online at https://doi.org/10.1109/ECRTS.2014.30) - „On the accuracy of a video-based drill-guidance solution for orthopedic and trauma surgery: preliminary results“. In: SPIE Medical Imaging. International Society for Optics und Photonics. (2014), S. 903610–903610
J. Magaraggia, G. Kleinszig, W. Wei, M. Weiten, R. Graumann, E. Angelopoulou und J. Hornegger
(See online at https://doi.org/10.1117/12.2043508) - „Patient-bounded Extrapolation for 3D Region of Interest Reconstruction in C-arm CT“. In: Proceedings of the third international conference on image formation in x-ray computed tomography. Hrsg. von F. Noo. Salt Lake City, UT, USA, (2014), S. 414–417
Y. Xia, S. Bauer, A. Maier, M. Berger und J. Hornegger
- „Prozessflexible Steuerung von Industrierobotern“. In: wt Werkstattstechnik online 9 (2014), S. 535–540
M. Brossog, C. Hartmann, J. Kohl, J. Merhof, M. Reichenbach, D. Fey und J. Franke
- „Real-Time Deformation of Subdivision Surfaces from Object Collisions“. In: Proceedings of the 6th High-Performance Graphics Conference. ACM / Eurographics. (2014)
H. Schäfer, B. Keinert, M. Nießner, C. Buchenau, M. Guthe und M. Stamminger
(See online at https://doi.org/10.2312/hpg.20141097) - „Real-Time Motion Classification of HD Video Sequences on Embedded Systems.“ In: Proc. IEEE 6th European Embedded Design in Education and Research Conference (EDERC). Milano, Italy, 2014, S. 157-161
D. Springer, C. Herglotz, F. Simmet, D. Niederkorn und A. Kaup
(See online at https://doi.org/10.1109/EDERC.2014.6924379) - „Real-time Non-rigid Reconstruction using an RGB-D Camera“. In: ACM Transactions on Graphics (TOG) 33.4 (2014), S. 1–12
M. Zollhöfer, M. Nießner, S. Izadi, C. Rhemann, C. Zach, M. Fisher, C. Wu, A. Fitzgibbon, C. Loop, C. Theobalt und M. Stamminger
(See online at https://doi.org/10.1145/2601097.2601165) - „Realtime Shading-based Refinement for Consumer Depth Cameras“. In: ACM Transactions on Graphics 33.6 (2014), S. 1–10
C. Wu, M. Zollhöfer, M. Nießner, M. Stamminger, S. Izadi und C. Theobalt
(See online at https://doi.org/10.1145/2661229.2661232) - „Redundancies in X-ray images due to the epipolar geometry for transmission imaging“. In: Proceedings of the third international conference on image formation in x-ray computed tomography. Hrsg. von F. Noo. Salt Lake City, UT, USA, (2014), S. 333–337
A. Aichert, N. Maass, Y. Deuerling-Zheng, M. Berger, M. Manhart, J. Hornegger, A. Maier und A. Doerfler
- „Region of Interest Reconstruction from Dose-minimized Super Short Scan Data“. In: Bildverarbeitung für die Medizin 2014. Aachen: Springer, (2014), S. 48–53
Y. Xia, A. Maier, M. Berger und J. Hornegger
(See online at https://doi.org/10.1007/978-3-642-54111-7_14) - „Remote Powered Medical Implants for Telemonitoring“. In: Proceedings of the IEEE 102.11 (Nov. 2014), S. 1811–1832. ISSN: 0018-9219
J. Walk, J. Weber, C. Söll, R. Weigel, G. Fischer und T. Ußmüller
(See online at https://doi.org/10.1109/JPROC.2014.2359517) - „Runtime Reconfigurable Bus Arbitration for Concurrent Applications on Heterogeneous MPSoC Architectures“. In: Proceedings of the 17th Euromicro Conference on Digital Systems Design (DSD). (Verona, Italy). IEEE, (Aug. 2014), S. 74–81. ISBN: 978-1-4799-5793-4
É. Sousa, D. Gangadharan, F. Hannig und J. Teich
(See online at https://doi.org/10.1109/DSD.2014.105) - „Safer Sloth: Efficient, Hardware-Tailored Memory Protection“. In: Proceedings of the 20th Real-Time and Embedded Technology and Applications Symposium (RTAS). Hrsg. von R. West. Berlin, Germany, 2014, S. 37–47. ISBN: 978-1-4799-4691-4
D. Danner, R. Müller, W. Schröder-Preikschat, W. Hofer und D. Lohmann
(See online at https://doi.org/10.1109/RTAS.2014.6925989) - „Self-Adaptive Harris Corner Detector on Heterogeneous Many-Core Processor“. In: Proceedings of the Conference on Design and Architectures for Signal and Image Processing (DASIP). (Madrid, Spain). IEEE, 8.–10. (Okt. 2014). ISBN: 979-10-92279-05-4
J. Paul, W. Stechele, É. Sousa, V. Lari, F. Hannig, J. Teich, M. Kröhnert und T. Asfour
(See online at https://doi.org/10.1109/DASIP.2014.7115616) - „State of the Art Report on Real-time Rendering with Hardware Tessellation“. In: Proceedings of Eurographics 2014 (EG ’14). Wiley, (2014), S. 93–117
H. Schäfer, M. Nießner, B. Keinert, M. Stamminger und C. Loop
(See online at https://doi.org/10.2312/egst.20141037) - „Stateless Level of Detail Lighting for Automotive Visualization“. In: Proc. Smart Tools and Apps for Graphics. Hrsg. von A. Giachetti. Cagliari, Italy, (2014), S. 29–36
C. Weber und M. Stamminger
(See online at https://doi.org/10.2312/stag.20141236) - „Test-Driven Agile Simulation for Design of Image Processing Systems“. In: Proc. of 16th International Conference on Advances In System Testing and Validation Life Cycle (VALID). (2014)
A. Yupatova, V. Schneider, W. Dulz und R. German
- „Towards a Performance-portable Description of Geometric Multigrid Algorithms using a Domain-specific Language“. In: Journal of Parallel and Distributed Computing (JPDC) 74.12 (Dez. 2014), S. 3191–3201
R. Membarth, O. Reiche, C. Schmitt, F. Hannig, J. Teich, M. Stürmer und H. Köstler
(See online at https://doi.org/10.1016/j.jpdc.2014.08.008) - (2015). „Real-Time Reconstruction of Static and Dynamic Scenes.” Dissertation, Verlag Dr. Hut. ISBN: 978-3-8439-2116-9
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