Digital Michelangelo Project

The Digital Michelangelo Project was a pioneering initiative undertaken during the 1998–1999 academic year to digitize the sculptures and architecture of Michelangelo using advanced laser scanning technology. The project was led by a team of 30 faculty, staff, and students from Stanford University and the University of Washington, with the aim of creating high-resolution 3D models of Michelangelo's works for scholarly, educational, and preservation purposes. == Objectives == The primary goals of the Digital Michelangelo Project were: To apply recent advancements in laser rangefinder technology for digitizing large cultural artifacts. To create detailed digital archives of Michelangelo's sculptures and architectural spaces for future study and analysis. To explore potential educational and curatorial applications for 3D scanned data. === Artworks digitized === The project involved scanning several iconic works by Michelangelo, including: David The Unfinished Slaves (Atlas, Awakening, Bearded, and Youthful) St. Matthew The allegorical statues from the Medici tombs (Night, Day, Dawn, and Dusk) The architectural interiors of the Tribuna del David at the Galleria dell'Accademia and the New Sacristy in the Medici Chapels. == Technology and methodology == === 3D scanning === The project's primary scanner was a laser triangulation rangefinder mounted on a motorized gantry, custom-built by Cyberware Inc. The scanner used a laser sheet to project onto an object, capturing its shape through triangulation. Multiple scans were taken from various angles and combined into a single, detailed 3D mesh. The resolution achieved was fine enough to capture even Michelangelo's chisel marks, with triangles approximately 0.25 mm on each side. In addition to shape data, color data was captured using a spotlight and a secondary camera, enabling the creation of textured 3D models. === Data processing === The project developed a software suite for processing the scanned data. This included: Aligning and merging multiple scans into a seamless 3D model. Filling holes in the geometry caused by inaccessible areas. Correcting color data for lighting inconsistencies and shadowing. Non-photorealistic rendering techniques were also applied, highlighting surface features such as Michelangelo’s chisel marks for enhanced visualization. == Logistical challenges == The scale and complexity of the project presented several challenges: Data size: The dataset for David alone comprised 2 billion polygons and 7,000 color images, occupying 60 GB of storage. Artifact safety: Ensuring the safety of the statues during scanning required extensive crew training, foam-encased equipment, and collision-prevention mechanisms. == Applications and impact == The digitized models have numerous potential applications: Art history: Allowing precise measurements and geometric analysis, such as determining chisel types or evaluating structural balance. Education: Providing new ways to study art, including interactive viewing from unconventional angles and with custom lighting. Museum curation: Enhancing visitor experiences through interactive kiosks and virtual models. The project demonstrated the potential for 3D technology to preserve and disseminate cultural heritage. == Data distribution == The project's models are available through Stanford University for scholarly purposes, under strict licensing due to Italian intellectual property laws. === ScanView === To provide public access to the 3D models while respecting usage restrictions, the project developed ScanView, a client/server rendering system. ScanView allows users to view and interact with high-resolution 3D models without downloading the data. The client component consists of a freely available viewer program and simplified 3D models. Users can navigate these models locally, adjusting position, orientation, lighting, and surface appearance. When a user finalizes a view, the client queries a remote server for a high-resolution rendering of the model, which is sent back to overwrite the simplified version on the user’s screen. A typical query-response cycle takes 1–2 seconds, depending on network conditions. To protect the models from unauthorized reconstruction, the system employs several security measures, including: Encrypting queries Perturbing viewpoint and lighting parameters Adding noise and warping rendered images Compressing images before transmission ScanView operates on Windows-based PCs and provides access to selected models, including David and St. Matthew, as well as other artifacts such as fragments of the Forma Urbis Romae and items from the Stanford 3D Scanning Repository. == Sponsors == The Digital Michelangelo Project was supported by Stanford University, Interval Research Corporation, and the Paul G. Allen Foundation for the Arts.

Super-resolution optical fluctuation imaging

Super-resolution optical fluctuation imaging (SOFI) is a post-processing method for the calculation of super-resolved images from recorded image time series that is based on the temporal correlations of independently fluctuating fluorescent emitters. SOFI has been developed for super-resolution of biological specimen that are labelled with independently fluctuating fluorescent emitters (organic dyes, fluorescent proteins). In comparison to other super-resolution microscopy techniques such as STORM or PALM that rely on single-molecule localization and hence only allow one active molecule per diffraction-limited area (DLA) and timepoint, SOFI does not necessitate a controlled photoswitching and/ or photoactivation as well as long imaging times. Nevertheless, it still requires fluorophores that are cycling through two distinguishable states, either real on-/off-states or states with different fluorescence intensities. In mathematical terms SOFI-imaging relies on the calculation of cumulants, for what two distinguishable ways exist. For one thing an image can be calculated via auto-cumulants that by definition only rely on the information of each pixel itself, and for another thing an improved method utilizes the information of different pixels via the calculation of cross-cumulants. Both methods can increase the final image resolution significantly although the cumulant calculation has its limitations. Actually SOFI is able to increase the resolution in all three dimensions. == Principle == Likewise to other super-resolution methods SOFI is based on recording an image time series on a CCD- or CMOS camera. In contrary to other methods the recorded time series can be substantially shorter, since a precise localization of emitters is not required and therefore a larger quantity of activated fluorophores per diffraction-limited area is allowed. The pixel values of a SOFI-image of the n-th order are calculated from the values of the pixel time series in the form of a n-th order cumulant, whereas the final value assigned to a pixel can be imagined as the integral over a correlation function. The finally assigned pixel value intensities are a measure of the brightness and correlation of the fluorescence signal. Mathematically, the n-th order cumulant is related to the n-th order correlation function, but exhibits some advantages concerning the resulting resolution of the image. Since in SOFI several emitters per DLA are allowed, the photon count at each pixel results from the superposition of the signals of all activated nearby emitters. The cumulant calculation now filters the signal and leaves only highly correlated fluctuations. This provides a contrast enhancement and therefore a background reduction for good measure. As it is implied in the figure on the left the fluorescence source distribution: ∑ k = 1 N δ ( r → − r → k ) ⋅ ε k ⋅ s k ( t ) {\displaystyle \sum _{k=1}^{N}\delta ({\vec {r}}-{\vec {r}}_{k})\cdot \varepsilon _{k}\cdot s_{k}(t)} is convolved with the system's point spread function (PSF) U(r). Hence the fluorescence signal at time t and position r → {\displaystyle {\vec {r}}} is given by F ( r → , t ) = ∑ k = 1 N U ( r → − r → k ) ⋅ ε k ⋅ s k ( t ) . {\displaystyle F({\vec {r}},t)=\sum _{k=1}^{N}U({\vec {r}}-{\vec {r}}_{k})\cdot \varepsilon _{k}\cdot s_{k}(t).} Within the above equations N is the amount of emitters, located at the positions r → k {\displaystyle {\vec {r}}_{k}} with a time-dependent molecular brightness ε k ⋅ s k {\displaystyle \varepsilon _{k}\cdot s_{k}} where ε k {\displaystyle \varepsilon _{k}} is a variable for the constant molecular brightness and s k ( t ) {\displaystyle s_{k}(t)} is a time-dependent fluctuation function. The molecular brightness is just the average fluorescence count-rate divided by the number of molecules within a specific region. For simplification it has to be assumed that the sample is in a stationary equilibrium and therefore the fluorescence signal can be expressed as a zero-mean fluctuation: δ F ( r → , t ) = F ( r → , t ) − ⟨ F ( r → , t ) ⟩ t {\displaystyle \delta F({\vec {r}},t)=F({\vec {r}},t)-\langle F({\vec {r}},t)\rangle _{t}} where ⟨ ⋯ ⟩ t {\displaystyle \langle \cdots \rangle _{t}} denotes time-averaging. The auto-correlation here e.g. the second-order can then be described deductively as follows for a certain time-lag τ {\displaystyle \tau } : δ F ( r → , t ) = ⟨ δ F ( r → , t + τ ) ⋅ δ F ( r → , t ) ⟩ t {\displaystyle \delta F({\vec {r}},t)=\langle \delta F({\vec {r}},t+\tau )\cdot \delta F({\vec {r}},t)\rangle _{t}} From these equations it follows that the PSF of the optical system has to be taken to the power of the order of the correlation. Thus in a second-order correlation the PSF would be reduced along all dimensions by a factor of 2 {\displaystyle {\sqrt {2}}} . As a result, the resolution of the SOFI-images increases according to this factor. === Cumulants versus correlations === Using only the simple correlation function for a reassignment of pixel values, would ascribe to the independency of fluctuations of the emitters in time in a way that no cross-correlation terms would contribute to the new pixel value. Calculations of higher-order correlation functions would suffer from lower-order correlations for what reason it is superior to calculate cumulants, since all lower-order correlation terms vanish. == Cumulant-calculation == === Auto-cumulants === For computational reasons it is convenient to set all time-lags in higher-order cumulants to zero so that a general expression for the n-th order auto-cumulant can be found: A C n ( r → , τ 1 … n − 1 = 0 ) = ∑ k = 1 N U n ( r → − r → k ) ε k n w k ( 0 ) {\displaystyle AC_{n}({\vec {r}},\tau _{1\ldots n-1}=0)=\sum _{k=1}^{N}U^{n}({\vec {r}}-{\vec {r}}_{k})\varepsilon _{k}^{n}w_{k}(0)} w k {\displaystyle w_{k}} is a specific correlation based weighting function influenced by the order of the cumulant and mainly depending on the fluctuation properties of the emitters. Albeit there is no fundamental limitation in calculating very high orders of cumulants and thereby shrinking the FWHM of the PSF there are practical limitations according to the weighting of the values assigned to the final image. Emitters with a higher molecular brightness will show a strong increase in terms of the pixel cumulant value assigned at higher-orders as well as this performance can be expected from a diverse appearance of fluctuations of different emitters. A wide intensity range of the resulting image can therefore be expected and as a result dim emitters can get masked by bright emitters in higher-order images:. The calculation of auto-cumulants can be realized in a very attractive way in a mathematical sense. The n-th order cumulant can be calculated with a basic recursion from moments K n ( r → ) = μ n ( r → ) − ∑ i = 1 n − 1 ( n − 1 i ) K n − i ( r → ) μ i ( r → ) {\displaystyle K_{n}({\vec {r}})=\mu _{n}({\vec {r}})-\sum _{i=1}^{n-1}{\begin{pmatrix}n-1\\i\end{pmatrix}}K_{n-i}({\vec {r}})\mu _{i}({\vec {r}})} where K is a cumulant of the index's order, likewise μ {\displaystyle \mu } represents the moments. The term within the brackets indicates a binomial coefficient. This way of computation is straightforward in comparison with calculating cumulants with standard formulas. It allows for the calculation of cumulants with only little time of computing and is, as it is well implemented, even suitable for the calculation of high-order cumulants on large images. === Cross-cumulants === In a more advanced approach cross-cumulants are calculated by taking the information of several pixels into account. Cross-cumulants can be described as follows: C C n ( r → , τ 1 … n − 1 = 0 ) = ∏ j < l n U ( r → j − r → l n ) ⋅ ∑ i = 1 N U n ( r → i − ∑ k n r → k n ) ε i n w i ( 0 ) {\displaystyle CC_{n}({\vec {r}},\tau _{1\ldots n-1}=0)=\prod _{j

Pixorial

Pixorial was a cloud-based consumer photo sharing, video sharing and video editing platform. The company was formed in 2007 in Centennial, Colorado as a media conversion service. In 2013, Pixorial was chosen as one of two video storage companies to partner with the launch of Google Drive. Pixorial allowed users to edit and share videos on social channels by connecting through their Pixorial account. The company closed on July 18, 2014, and its assets were acquired by LifeLogger Technologies Corp in November 2015. == History == The company was founded in 2007 and launched in 2009 by former Netscape employee Andres Espineira. Changing its focus to video editing software in 2009, Pixorial began developing an app that would be launched for iOS and Android devices in 2011. Later developments in the app in 2012 would also included real time filters, which were later removed. With the launch of Google Drive in 2012, Pixorial was chosen as an integrated video partner. This integration with Google Drive allowed users to access videos stored in Google Drive within the web app of Pixorial. After the Google Drive launch, Pixorial developed a crowdsourced, location-based video sharing app, Krowds. The app was cited in July 2012 by PC Magazine as one of "The 8 Best Apps for Making and Sharing Videos on Your iPhone". In late July, Pixorial replaced its original mobile app with the MyPlayer HD app that optimized HD video viewing for large screen viewing including tablets and smart televisions. Pixorial's services terminated on July 18, 2014. == Products == === Krowds App === Pixorial's app was launched in April 2013 for iOS, and in May for Android, as a tool to aggregate event videos through location based collections. The app was launched to generally positive reviews. === Movie Creator === Launched July 12, 2012 Pixorial's Movie Creator allowed users to edit movies in a simple story-telling platform Movie Creator's features include transitions, text boxes, access to free music tracks, credits, and social media sharing capabilities. The Pixorial platform allowed users to view, share, and edit videos without modifying the original. Movie Creator integrated pictures and video to create user movies. == Awards == 2012 Apex Award from the Colorado Technology Association, for Best Technology Project of the Year 2010 Computerworld Laureate for Media, Arts and Entertainment

Blackmagic Design

Blackmagic Design Pty Ltd is an Australian company that develops digital cinema technology and manufactures professional video production hardware and software. Headquartered in South Melbourne, it is known for producing high-end digital movie cameras and a range of broadcast and post-production equipment. The company also develops software applications, including the DaVinci Resolve application for non-linear video editing, color correction, color grading, visual effects, and audio post-production. == History == Blackmagic Design Pty Ltd was founded on 7 September 2001 by Grant Petty. Its first product, DeckLink, introduced in 2002, was a video capture card for macOS that supported uncompressed 10-bit video, marking a shift toward professional-grade yet affordable video workflows. Subsequent versions—including the DeckLink 2, Pro SDI, HD Plus, and Multibridge—added capabilities such as color correction, Windows support, and compatibility with major editing software like Adobe Premiere Pro, to broaden the product's appeal. At the 2012 NAB Show, Blackmagic announced its first Cinema Camera, a digital movie camera. Blackmagic made several acquisitions over the next decade. In 2009, it acquired da Vinci Systems, known for its color-grading tools. In 2010, it acquired Echolab's ATEM switcher line, in 2014, it added eyeon Software (developer of the Blackmagic Fusion compositing software) and London's Cintel (film scanning and restoration), and in 2016, it acquired Fairlight, an audio technology company known for its CMI synthesizers as well as mixing consoles. == Products == List of all products developed by the company. Editing, Color Correction and Audio Post Production DaVinci Resolve (free version) and DaVinci Resolve Studio (paid version), computer software for non-linear video editing, color correction, color grading, visual effects, and audio post-production. Audio/Video Controller Consoles: Editor Keyboard, Speed Editor, DaVinci Resolve Replay Editor, Micro Panel, Mini Panel, DaVinci Resolve Micro Color Panel, Advanced Panel, Fairlight Console Channel Fader, Fairlight Console Channel Control, Fairlight Console LCD Monitor, Fairlight Console Audio Editor, Fairlight Desktop Audio Editor, Fairlight Desktop Console, Fairlight Audio Interface Cintel Film Scanner (Generations 1-3) Live Production Home Streaming: ATEM Mini, ATEM Mini Pro/ISO, ATEM Mini Extreme, ATEM Mini Extreme ISO (The ATEM Mini series has both HDMI and SDI variants) Production Switchers: ATEM 1,2 & 4 M/E Constellation HD, ATEM 1,2 & 4 M/E Constellation 4K, ATEM Constellation 8K, ATEM 1,2 & 4 M/E Production Studio 4K, ATEM Television Studio HD8 & HD8 ISO Switcher & Camera Controllers: ATEM Camera Control Panel, ATEM 1 M/E Advanced Panel, ATEM 2 M/E Advanced Panel, ATEM 4 M/E Advanced Panel Chroma Keyers: Ultimatte 12 HD Mini, Ultimatte 12 HD, Ultimatte 12 4K, Ultimatte 12 8K Recording and Storage: HyperDeck Studio HD Mini, HyperDeck Studio HD Plus, HyperDeck Studio HD Plus, HyperDeck Studio 4K Pro, HyperDeck Extreme 8K HDR, HyperDeck Extreme 4K HDR, HyperDeck Extreme Control, HyperDeck Shuttle HD, Duplicator 4K, MultiDock 10G, Video Assist 7" 12G HDR, Video Assist 5" 12G HDR Capture and Playback UltraStudio: 3G, HD Mini, 4K Mini, 4K Extreme 3 DeckLink (PCIe cards): Mini Recorder, Mini Monitor, Mini Monitor 4K, Mini Recorder 4K, Duo 2 Mini, Duo 2, Quad 2, SDI 4K, Studio 4K, 4K Extreme 12G, 8K Pro, Quad HDMI Recorder Network Storage Cloud Store Cloud Pod Broadcast Converters Micro Converter: BiDirectional SDI/HDMI 3G wPSU, HDMI to SDI 3G wPSU, SDI to HDMI 3G wPSU, BiDirectional SDI/HDMI 3G, HDMI to SDI 3G, SDI to HDMI 3G Mini Converters: Audio to SDI, Optical Fiber 12G, SDI Multiplex 4K, Quad SDI to HDMI 4K, SDI Distribution 4K, SDI to Analog 4K, Audio to SDI 4K, SDI to Audio 4K, HDMI to SDI 6G, SDI to HDMI 6G Teranex Mini: SDI Distribution 12G, SDI to HDMI 12G, Audio to SDI 12G, SDI to Analog 12G, SDI to HDMI 8K HDR, SDI to DisplayPort 8K HDR 2110 IP Converters Routing and Distribution Videohub

Gapo

Gapo is a Vietnamese social networking service based in Hanoi, Vietnam. Users are able to create a personal profile and share text, photos and videos with others on the platform. Users can also use Gapo for live streaming, instant messaging, blogging, and online payments. Gapo was launched in July 2019 by Hà Trung Kiên and Duong Vi Khoa. == History == Gapo was founded in response to calls for Vietnam's Communist-led government to produce a domestic alternative to social media giants like Facebook and Google. Gapo officially launched on July 23, 2019 at an event in Hanoi. The company received 500 billion đồng (US$22 million) in funding from technology corporation G-Group to be utilized in the first phase of development. They also partnered with Sony Music Entertainment to provide music content to its services. == Features == Gapo features a news feed for posting content, livestreaming, instant messaging, and blogging. It also allows users to pay online and access public services. == Reception == Within two days of launch, Gapo received about 200,000 registrations. By September 2019, the user base increased to one million. Upon launch, Gapo experienced significant technical difficulties. Users complained about the inability to sign up for a new account and said that certain functions were not available for use at launch. This issue caused Gapo to temporarily suspend their services in order to perform upgrades and bug fixes. Gapo relaunched the next day, though many users reported that the access speed decreased. The mobile app also received mixed reviews from users in both the App Store and the Google Play Store, with an average rating of 3.1 and 3.5, respectively. Most users found the app to be a knockoff of Facebook, although some users praised the app for being locally developed. === Expert opinions on platform viability === Le Hong Hiep of the ISEAS - Yusof Ishak Institute was doubtful that a Vietnamese-owned social network service could be as powerful as a foreign-based service, stating that Vietnam might not be able to develop a viable social media network to compete with the likes of Facebook or Google. Others, like blogger Ann Chi, said that, due to local players complying with local censorship policy, there is a chance that locals might not trust Gapo and other local services in light of possible surveillance. Regarding the targeted user base figure for the end of 2019 and 2021, experts cautioned that the company might need an additional trillion đồng of funding to reach its planned user base targets. In response, the company stated that Gapo was never meant to compete with Facebook, but instead noted that the main difference between Gapo and Facebook is that Gapo provides a personalized user experience through customization. == Censorship == Gapo has the right to censor posts and news that are deemed offensive and inaccurate by users or not approved by the censorship curators.

Point-set registration

In computer vision, pattern recognition, and robotics, point-set registration, also known as point-cloud registration or scan matching, is the process of finding a spatial transformation (e.g., scaling, rotation and translation) that aligns two point clouds. The purpose of finding such a transformation includes merging multiple data sets into a globally consistent model (or coordinate frame), and mapping a new measurement to a known data set to identify features or to estimate its pose. Raw 3D point cloud data are typically obtained from Lidars and RGB-D cameras. 3D point clouds can also be generated from computer vision algorithms such as triangulation, bundle adjustment, and more recently, monocular image depth estimation using deep learning. For 2D point set registration used in image processing and feature-based image registration, a point set may be 2D pixel coordinates obtained by feature extraction from an image, for example corner detection. Point cloud registration has extensive applications in autonomous driving, motion estimation and 3D reconstruction, object detection and pose estimation, robotic manipulation, simultaneous localization and mapping (SLAM), panorama stitching, virtual and augmented reality, and medical imaging. As a special case, registration of two point sets that only differ by a 3D rotation (i.e., there is no scaling and translation), is called the Wahba Problem and also related to the orthogonal procrustes problem. == Formulation == The problem may be summarized as follows: Let { M , S } {\displaystyle \lbrace {\mathcal {M}},{\mathcal {S}}\rbrace } be two finite size point sets in a finite-dimensional real vector space R d {\displaystyle \mathbb {R} ^{d}} , which contain M {\displaystyle M} and N {\displaystyle N} points respectively (e.g., d = 3 {\displaystyle d=3} recovers the typical case of when M {\displaystyle {\mathcal {M}}} and S {\displaystyle {\mathcal {S}}} are 3D point sets). The problem is to find a transformation to be applied to the moving "model" point set M {\displaystyle {\mathcal {M}}} such that the difference (typically defined in the sense of point-wise Euclidean distance) between M {\displaystyle {\mathcal {M}}} and the static "scene" set S {\displaystyle {\mathcal {S}}} is minimized. In other words, a mapping from R d {\displaystyle \mathbb {R} ^{d}} to R d {\displaystyle \mathbb {R} ^{d}} is desired which yields the best alignment between the transformed "model" set and the "scene" set. The mapping may consist of a rigid or non-rigid transformation. The transformation model may be written as T {\displaystyle T} , using which the transformed, registered model point set is: The output of a point set registration algorithm is therefore the optimal transformation T ⋆ {\displaystyle T^{\star }} such that M {\displaystyle {\mathcal {M}}} is best aligned to S {\displaystyle {\mathcal {S}}} , according to some defined notion of distance function dist ⁡ ( ⋅ , ⋅ ) {\displaystyle \operatorname {dist} (\cdot ,\cdot )} : where T {\displaystyle {\mathcal {T}}} is used to denote the set of all possible transformations that the optimization tries to search for. The most popular choice of the distance function is to take the square of the Euclidean distance for every pair of points: where ‖ ⋅ ‖ 2 {\displaystyle \|\cdot \|_{2}} denotes the vector 2-norm, s m {\displaystyle s_{m}} is the corresponding point in set S {\displaystyle {\mathcal {S}}} that attains the shortest distance to a given point m {\displaystyle m} in set M {\displaystyle {\mathcal {M}}} after transformation. Minimizing such a function in rigid registration is equivalent to solving a least squares problem. == Types of algorithms == When the correspondences (i.e., s m ↔ m {\displaystyle s_{m}\leftrightarrow m} ) are given before the optimization, for example, using feature matching techniques, then the optimization only needs to estimate the transformation. This type of registration is called correspondence-based registration. On the other hand, if the correspondences are unknown, then the optimization is required to jointly find out the correspondences and transformation together. This type of registration is called simultaneous pose and correspondence registration. === Rigid registration === Given two point sets, rigid registration yields a rigid transformation which maps one point set to the other. A rigid transformation is defined as a transformation that does not change the distance between any two points. Typically such a transformation consists of translation and rotation. In rare cases, the point set may also be mirrored. In robotics and computer vision, rigid registration has the most applications. === Non-rigid registration === Given two point sets, non-rigid registration yields a non-rigid transformation which maps one point set to the other. Non-rigid transformations include affine transformations such as scaling and shear mapping. However, in the context of point set registration, non-rigid registration typically involves nonlinear transformation. If the eigenmodes of variation of the point set are known, the nonlinear transformation may be parametrized by the eigenvalues. A nonlinear transformation may also be parametrized as a thin plate spline. === Other types === Some approaches to point set registration use algorithms that solve the more general graph matching problem. However, the computational complexity of such methods tend to be high and they are limited to rigid registrations. In this article, we will only consider algorithms for rigid registration, where the transformation is assumed to contain 3D rotations and translations (possibly also including a uniform scaling). The PCL (Point Cloud Library) is an open-source framework for n-dimensional point cloud and 3D geometry processing. It includes several point registration algorithms. == Correspondence-based registration == Correspondence-based methods assume the putative correspondences m ↔ s m {\displaystyle m\leftrightarrow s_{m}} are given for every point m ∈ M {\displaystyle m\in {\mathcal {M}}} . Therefore, we arrive at a setting where both point sets M {\displaystyle {\mathcal {M}}} and S {\displaystyle {\mathcal {S}}} have N {\displaystyle N} points and the correspondences m i ↔ s i , i = 1 , … , N {\displaystyle m_{i}\leftrightarrow s_{i},i=1,\dots ,N} are given. === Outlier-free registration === In the simplest case, one can assume that all the correspondences are correct, meaning that the points m i , s i ∈ R 3 {\displaystyle m_{i},s_{i}\in \mathbb {R} ^{3}} are generated as follows:where l > 0 {\displaystyle l>0} is a uniform scaling factor (in many cases l = 1 {\displaystyle l=1} is assumed), R ∈ SO ( 3 ) {\displaystyle R\in {\text{SO}}(3)} is a proper 3D rotation matrix ( SO ( d ) {\displaystyle {\text{SO}}(d)} is the special orthogonal group of degree d {\displaystyle d} ), t ∈ R 3 {\displaystyle t\in \mathbb {R} ^{3}} is a 3D translation vector and ϵ i ∈ R 3 {\displaystyle \epsilon _{i}\in \mathbb {R} ^{3}} models the unknown additive noise (e.g., Gaussian noise). Specifically, if the noise ϵ i {\displaystyle \epsilon _{i}} is assumed to follow a zero-mean isotropic Gaussian distribution with standard deviation σ i {\displaystyle \sigma _{i}} , i.e., ϵ i ∼ N ( 0 , σ i 2 I 3 ) {\displaystyle \epsilon _{i}\sim {\mathcal {N}}(0,\sigma _{i}^{2}I_{3})} , then the following optimization can be shown to yield the maximum likelihood estimate for the unknown scale, rotation and translation:Note that when the scaling factor is 1 and the translation vector is zero, then the optimization recovers the formulation of the Wahba problem. Despite the non-convexity of the optimization (cb.2) due to non-convexity of the set SO ( 3 ) {\displaystyle {\text{SO}}(3)} , seminal work by Berthold K.P. Horn showed that (cb.2) actually admits a closed-form solution, by decoupling the estimation of scale, rotation and translation. Similar results were discovered by Arun et al. In addition, in order to find a unique transformation ( l , R , t ) {\displaystyle (l,R,t)} , at least N = 3 {\displaystyle N=3} non-collinear points in each point set are required. More recently, Briales and Gonzalez-Jimenez have developed a semidefinite relaxation using Lagrangian duality, for the case where the model set M {\displaystyle {\mathcal {M}}} contains different 3D primitives such as points, lines and planes (which is the case when the model M {\displaystyle {\mathcal {M}}} is a 3D mesh). Interestingly, the semidefinite relaxation is empirically tight, i.e., a certifiably globally optimal solution can be extracted from the solution of the semidefinite relaxation. === Robust registration === The least squares formulation (cb.2) is known to perform arbitrarily badly in the presence of outliers. An outlier correspondence is a pair of measurements s i ↔ m i {\displaystyle s_{i}\leftrightarrow m_{i}} that departs from the generative model (cb.1). In this case, one can consider a differen

Nuance Communications

Nuance Communications, Inc. was an American multinational computer software technology corporation, headquartered in Burlington, Massachusetts, that markets speech recognition and artificial intelligence software. Nuance merged with its competitor in the commercial large-scale speech application business, ScanSoft, in October 2005. ScanSoft was a Xerox spin-off that was bought in 1999 by Visioneer, a hardware and software scanner company, which adopted ScanSoft as the new merged company name. The original ScanSoft had its roots in Kurzweil Computer Products. In April 2021, Microsoft announced it would buy Nuance Communications. The deal is an all-cash transaction of $19.7 billion, including company debt, or $56 per share. The acquisition was completed in March 2022. == History == The Speech Technology and Research (STAR) Laboratory at SRI International began the journey that, in 1994, resulted in a spin-off company; Corona Corporation (later renamed to Nuance Communications ). Nuance Communications (NUAN) went public on the Nasdaq Stock Market in 1995. Nuance focused on commercializing advanced speech recognition technologies. Nuance was an early spinoff of SRI's Speech Technology and Research (STAR) Laboratory, a world leader in audio processing, speech and speaker analytics and spoken language research. The technology that served as the foundation of Nuance's speech recognition solution started at the STAR Lab and helped launch Nuance more than 20 years ago. In 1995, The SRI Language Modeling Toolkit (SRILM) was developed. This provides the tools to build and apply statistical language models (LMs), primarily for use in speech recognition, statistical tagging and segmentation, and machine translation. In terms of commercialization of natural automated speech recognition, SRI's natural language speech recognition software was the first to be deployed by a major corporation. In 1996, Charles Schwab & Co., Inc., used Nuance's speech recognition technology to allow customers to receive stock quotes over the telephone. One of the key features of the ‘Schwab Discount Brokerage system’, was the ability to recognize English words even when spoken by customers with accents. In 1997, Nuance Communications developed the first large scale commercial dialog system for United Parcel Services (UPS). UPS used the voice recognition platform to handle very large numbers of inquiries about package status. The company that would later merge with Nuance Communications started life as Visioneer, incorporated in 1992. In 1999, Visioneer acquired ScanSoft, Inc. (SSFT), and the combined company became known as ScanSoft. In September 2005, ScanSoft Inc. acquired and merged with Nuance Communications (NUAN), a natural language DOD-project spinoff from SRI International. The resulting company adopted the Nuance name. During the prior decade, the two companies competed in the commercial large-scale speech application business. === Data breach === Between 2014 and 2017, Nuance exposed over 45,000 patient records. == Solutions == Customer service virtual assistants Speech recognition — for people Speech recognition — for business Speech recognition — for physicians Accessibility Power PDF Managed Print Services Transcription === ScanSoft origins === In 1974, Raymond Kurzweil founded Kurzweil Computer Products, Inc. to develop the first omni-font optical character-recognition system – a computer program capable of recognizing text written in any normal font. In 1980, Kurzweil sold his company to Xerox. The company became known as Xerox Imaging Systems (XIS), and later ScanSoft. In March 1992, a new company called Visioneer, Inc. was founded to develop scanner hardware and software products, such as a sheetfed scanner called PaperMax and the document management software PaperPort. Visioneer eventually sold its hardware division to Primax Electronics, Ltd. in January 1999. Two months later, in March, Visioneer acquired ScanSoft from Xerox to form a new public company with ScanSoft as the new company-wide name. Prior to 2001, ScanSoft focused primarily on desktop imaging software such as TextBridge, PaperPort and OmniPage. Beginning with the December 2001 acquisition of Lernout & Hauspie assets, the company moved into the speech recognition business and began to compete with Nuance. Lernout & Hauspie had acquired speech recognition company Dragon Systems in June 2001, shortly before becoming bankrupt in October. Scansoft acquired speech recognition company SpeechWorks in 2003. === Partnership with Siri and Apple Inc. === In 2013, Nuance confirmed that its natural language processing algorithms supported Apple's Siri voice assistant. === Focus on health care === In 2019, Nuance spun off its automotive division as the company Cerence, allowing it to focus on health care applications. === Acquisition by Microsoft === On April 12, 2021, Microsoft announced that it would buy Nuance Communications for $19.7 billion, or $56 a share, a 22% increase over the previous closing price. Nuance's CEO, Mark Benjamin, stayed with the company. This was Microsoft's second-biggest acquisition up to that point, after its purchase of LinkedIn for $24 billion (~$30.7 billion in 2024) in 2016. Shortly after the deal, the Competition and Markets Authority, a UK regulatory body, stated it was looking into the deal on the basis of antitrust concerns. In December 2021, it was reported that the deal would be approved by the European Union. The acquisition was completed on March 4, 2022. In May 2023, Nuance announced an unspecified number of layoffs.