A Suggestive Interface For Image Guided 3D Sketching
CHI 2004 ׀ Paper24-29 April ׀ Vienna, AustriaA Suggestive Interface for Image Guided 3D SketchingSteve Tsang, Ravin Balakrishnan, Karan Singh, Abhishek RanjanDepartment of Computer ScienceUniversity of Torontowww.dgp.toronto.edustsang ravin karan aranjan @dgp.toronto.eduABSTRACTones, many traditional methods continue to be used in theindustry. In particular, in the early stages of designing a 3Dmodel, paper and pencil is typically used to quickly createand iterate on concept sketches. However, there is currentlyno mechanism for easily integrating these concept sketchesinto the digital 3D modeling pipeline. At present, thesepencil and paper sketches are not used for anything morethan an external visual reference when the designs aretransformed to 3D models by artists who painstakinglybuild the model from low level graphical primitives.We present an image guided pen-based suggestive interfacefor sketching 3D wireframe models. Rather than startingfrom a blank canvas, existing 2D images of similar objectsserve as a guide to the user. Image based filters enableattraction, smoothing, and resampling of input curves, andallows for their selective application using pinning andgluing techniques. New input strokes also invokesuggestions of relevant geometry that can be used, reducingthe need to explicitly draw all parts of the new model. Allsuggestions appear in-place with the model being built, inthe user’s focal attention space. A curve matchingalgorithm seamlessly augments basic suggestions with morecomplex ones from a database populated with previouslyused geometry. The interface also incorporates gesturalcommand input, and interaction techniques for cameracontrols that enable smooth transitions betweenorthographic and perspective views.Notable recent research [12, 23] has sought to improve thissituation by creating prototype 3D modelers with a gestureand sketching interface that allow users to quickly anddirectly sketch their model, rather than working with lowlevel primitives. A suggestive interface [9] can also assistthe user by giving useful suggestions for subsequent actionsbased on the current context. While these efforts are a hugestep forward, these interfaces still do not adequatelyleverage the still invaluable pencil and paper sketches.Categories and Subject Descriptors: I.3.6 [ComputerGraphics]: Methodology and Techniques – InteractionTechniques; H.5.2 [Information Interfaces andPresentation]: User Interfaces – Interaction styles.This paper presents a new style of interface for 3Dmodeling that extends gestural and suggestive interfaces byintegrating scanned images of concept sketches into themodeling process (Figure 1). These images serve as a guideto the user when sketching the 3D model. Image basedfilters can guide the user’s input curves by attracting themtowards curves in the image. User control is achieved viapinning and gluing techniques. The system also suggestsrelevant new geometry by approximately matching theuser’s input strokes against a database populated withstandard and previously used geometry, resulting in asystem that improves with use. Gestural commands, alongwith interaction techniques for camera control andswitching between image planes, result in a fluid interface.General Terms: Design, AlgorithmsKeywords: Image based interaction, sketching interfaces.INTRODUCTIONCurrent digital 3D modeling software enable the creationand manipulation of extremely sophisticated geometricobjects, and have been widely adopted by practitioners inindustry. The user interface for these 3D modelers,however, are typically quite complex, relying on thestandard WIMP interaction metaphor to perform all tasks,typically using a mouse and keyboard as the primary inputdevices. The skills designers, artists, and architects have inworking with various rich physical media is simply notleveraged; instead, a whole new skillset has to be developedfor working with the digital tools. Given that the fidelity ofcurrent digital tools often do not approach the physicalPermission to make digital or hard copies of all or part of this work forpersonal or classroom use is granted without fee provided that copies arenot made or distributed for profit or commercial advantage and that copiesbear this notice and the full citation on the first page. To copy otherwise,or republish, to post on servers or to redistribute to lists, requires priorspecific permission and/or a fee.CHI 2004, April 24–29, 2004, Vienna, Austria.Copyright 2004 ACM 1-58113-702-8/04/0004. 5.00.Figure 1. Screen shot showing geometry in-place with images591Volume 6, Number 1
CHI 2004 ׀ Paper24-29 AprilBACKGROUND ׀ Vienna, Austriaextracted from images are used for image matching,segmentation, and filtering. Active contour models orsnakes [22] provide a framework whereby curves canevolve on images to track features based on energyminimization. Intelligent scissors [19] builds upon activecontour models to interactively segment images. Saund etal. [20] explored using image processing techniques tointeractively manipulate hand drawn sketches, but theirfocus was not on creating 3D geometry. Another differencefrom prior art is that our images are not a finished productto be tracked precisely but rather an evolving approximateguide towards a final model. We combine the energyminimization concept of snakes with interactively sketchedconstraints to allow images to selectively influence curvesas an integrated part of our sketching workflow.We draw on several related areas in our work, includinggesture based interfaces, predictive and suggestiveinterfaces, recognition systems, image understanding,constraint based systems, and curve creation techniques.Gestural interfaces depart from the WIMP metaphor byinferring actions from user input strokes, rather than relyingon explicit manipulation of onscreen widgets. Thisinteraction style has been explored in 2D pen-basedapplications [5, 14, 18]. The SKETCH system [23] was thefirst gesture-based interface for creating 3D scenes. TheTeddy system [12] for sketching freeform 3D modelsimproved upon the usability of SKETCH [23] by using asmaller but easily understood gesture set, at the expense ofbeing able to create only relatively simple objects. Toreduce the complexities inherent in large gesture sets, oursystem uses a small gesture set for command input, and asingle technique for drawing curves and lines.SYSTEM HARDWAREThe primary input device is a pen on a Wacom digitizingtablet. The pen has a barrel button with two click actions –forward, backward; and an active eraser end. On a 1GHzlaptop with an NVidia GeForce2Go 16Mb graphics card,we achieve 30Hz update rates. Our software will also runon a TabletPC, however, current TabletPCs do not havesufficient graphics acceleration to achieve interactive rates.SKETCH [23] and Teddy [12] are similar in that users startfrom a blank canvas and explicitly create every single pieceof geometry. Igarashi and Hughes [9] extended ideas frompredictive interfaces [3, 17] by providing suggestions ofgeometry that could be used next. The suggestions in [9]were inferred based on hints provided by the user at theimmediate past timestep. The Pegasus system [10, 11]interactively beautified input strokes by inferring desirableproperties from surrounding context. Our system buildsupon these ideas by using a dynamically updated databaseof possible candidates from which suggestions are extractedbased on an approximate curve matching algorithm.INTERACTION TECHNIQUESSpatially Integrated Construction Planes3D models in our system are created by drawing therelevant 2D profile curves on orthographic constructionplanes from the three primary viewpoints – top, side, front.Rather than viewing these construction planes in separate2D views as is typically done in 3D modeling software, in amanner similar to [6] our construction planes are spatiallyintegrated into a 3D cuboid working volume, and can bemoved within that volume to enable curve drawing atdifferent locations (Figure 2a). This integration providesthe user with information on the correspondence betweenthe different viewpoints without switching visual context.In addition to 2D planar curves on the primary constructionplanes, the system also supports drawing 3D non-planarcurves by projecting 2D curves onto previously created 3Dsurfaces in the scene (Figure 2b), similar to [7].Recognition-based systems for handwriting, speech, andtext input techniques also face the problem of resolvingambiguity amongst multiple candidates [15]. Multiplecandidates are also generated when searching for goodpossibilities within large parameter spaces in other graphicsapplications [16]. Our interface also generates multiplecandidate suggestions, and seamlessly presents the top fewoptions spatially in-place with the existing geometry, ratherthan in a separate space as in [9, 11], reducing the need forusers to context switch between different screen locales.Our system, like [9], presents the top candidates from adiscrete space of possibilities, unlike [16] which presentsrepresentative examples of a large continuous space.Constraint based systems impose limits on subsequentactions by inferring user’s past operations [8]. Examplesinclude drawing systems that impose graphical constraints[4, 13], and layout systems [8] that provide options basedon user provided examples. While the inferred options inthese cases are dynamic rules, our system, like [9], infersstatic options that are interactively utilized as needed.abFigure 2. (a) Three primary construction planes displayed inpink, green and blue. Clicking on any of the planes, or therelevant tabs on the top left corner, makes it the activedrawing plane. (b) Arbitrary surfaces can also be defined andused as construction planes.We use curves as the primary drawing primitive in oursystem. Our curve drawing technique draws upon previouswork in two handed curve drawing [1, 7], and interfaces forsketching 3D curves [2]. Curves are also important to imageprocessing and computer vision [21], where feature curves592Volume 6, Number 1
CHI 2004 ׀ Paper24-29 April ׀ Vienna, AustriaCamera ControlsCutIn perspective view, camera tumbling and zooming isperformed by using the keyboard arrow keys, or by holdingdown a keyboard modifier key while moving the pen.Clicking the backward pen button with cursor on aconstruction plane transitions to an orthographic view ofthat plane, and vice versa. All transitions are animated tomaintain continuity of context [6, 7].The cut gesture (Figure 4b) is a v-shaped two-segmentgesture. When the cut gesture intersects a scene curve, thecurve is cut into two segments at the intersection point. Inperspective view, cut gestures can be applied to any scenecurve, whereas in orthographic view cutting is limited tocurves on the currently active construction plane. Cutgestures cannot be applied to suggested curves that have yetto become a permanent part of the scene.Curve and Line CreationWe use a one-handed version of the two-handed tapedrawing technique used in [6, 7] for creating 2D curves onthe construction planes (Figure 3). This previous work usedthe non-dominant hand to change the length of the drawingvector, and consequently the variation of the resultingcurve. We fix the drawing vector’s length to allow for onehanded operation. By default, all input is treated as a curve,but pressing the stylus’ forward button constrains drawingto straight lines. 3D curves are created using the techniquesdescribed in [7], and we refer the reader to that paper forthe details. In curve drawing, all points of intersection withother curves in the scene are highlighted to enable users toalign new curves to existing ones.abcdDeleteThe delete gesture (Figure 4c) is a N-shaped three-segmentgesture. In perspective mode, a delete gesture that intersectsany curve, including suggested curves, deletes that curvefrom the scene. In orthographic view, only curves in theactive construction plane can be deleted.abcFigure 4. Gestures. (a) Stroke. (b) Cut. (c) Delete.Image Guided DrawingOne of the primary goals of our system was to integratescans of concept sketches into the 3D modeling workflow,and to use those sketches as guides for creation of newgeometry. Currently, our system allows for images ofsketches to be imported and placed on any of the threeprimary construction planes. Once loaded, these images canbe used to influence the shape and position of drawncurves, using three interaction techniques: snapping,pinning, and gluing. At present, we do not yet supportloading images onto arbitrarily shaped construction surfacesthat can be defined by the user for non-planar 3D curvecreation. Loading images onto an arbitrary surface issynonymous with texture mapping and thus astraightforward extension to our current implementation.eFigure 3. Curve drawing. (a) Pen down. (b) Pen moves todefine the drawing vector. (c) Dragging drawing vector createscurve with smoothness defined by length of drawing vector.(d-e) Pen up ends curve at start point of drawing vector.GesturesBy default, all stylus stroke input to the system is treated ascurve and line drawings. However, when the user presseshard on the stylus tip (i.e., pressure exceeds a threshold of800 out of 1024 units), it is assumed that gesturalcommands are being input. In order to maintain usabilityand keep ambiguity to a minimum, we use a very small setof three gestures: stroke, cut, and delete.SnappingWhen an image is loaded into a construction plane, imagemaps are created for various image attributes. Since ourimages are often concept line sketches with lines built frommultiple strokes, we filter the images to remove noise insketch stroke and intensity. We then precompute continuousintensity maps by letting strokes bleed intensity value intoneighboring regions using reaction-diffusion (Figure 5).StrokeThis is a simple straight line gesture (Figure 4a), used forselecting/deselecting curves and construction planes. Inperspective view, a stroke that intersects any curve in thescene makes that curve and its associated construction planeactive. Once active, the curve can be edited, or moved bymoving its plane. A stroke that intersects a suggested curve(to be described) confirms the inclusion of that curve intothe scene. A stroke that intersects one of the edges of thebounding cuboid will generate a new active constructionplane in the appropriate dimension depending on theintersected edge. A stroke that does not intersect any edgeor curve will deselect the currently selected curve, if any. Inan orthographic view (i.e., when drawing), strokes are onlyrecognized when they intersect curves that lie on thecurrently active plane. This is to avoid inadvertentswitching to another construction plane.abFigure 5. Intensity bleeding of line sketch. (a) Before snapping.(b) After snapping.593Volume 6, Number 1
CHI 2004 ׀ Paper24-29 AprilWe then iteratively move and resample points on thesketched curves to minimize their overall energy. Theactive contour model [22] defines the energy of a snake as acombination of internal curve energy and external energyresulting from image guides and user constraints. Theinternal energy is a measure of bending and stretching ofpoints on the curve, and can be reduced by Laplaciansmoothing and arc-length minimization. The image energyat a point on the curve is a measure of various imageattributes in a localized region of the image around thepoint. Attributes such as image intensity attracts curves tolight or dark areas, image gradient attracts a curve to sharpedges. The individual energy terms in our system are underuser control via gluing and pinning techniques. Roughlysketched curves can thus be quickly smoothed, resampled,and attracted to underlying image features (Figure 6).a ׀ Vienna, AustriaPinningWe have found it useful to be able to specify a point on theimage that the drawn curve should pass through, anddesigned a pinning technique to support this functionality.A drawn curve is first selected, and a pin point is specifiedby pressing the pen down on the construction plane.Dragging the tip away from the pin point adjusts the area ofinfluence of the subsequent attractor algorithm. This area ofinfluence is a circle centered at the pin point with radiusequal to the distance from the cursor to the pin point. Partsof the curve that lie within this influence area behave like arubber band being pulled to the pin point (Figure 8).Pinning can also be used independently of image snapping.abcdbcdefFigure 7. Gluing. (a) User drawn curve does not matchunderlying image exactly. (b-c) Blue swath indicates that art ofthe curve is glued. (d). Running the snapping algorithmattracts the unglued parts of the curve to the underlying imagelines, while leaving the glued parts unchanged.Figure 6. Snapping. (a) User draws curves roughly based onlines of underlying image. (b-f) Successive timesteps ofsnapping algorithm attracts the curves to the image lines.abcdGluingIt is often desirable to constrain parts of a drawn curve frombeing affected by the image snapping algorithm. Wesupport this via a “gluing” operation, which is performed bydrawing along the curve using the eraser end of the stylus(i.e., flip the stylus). Parts of the curve that lie within theglued area remain invariant while the rest of the curve isattracted to the plane’s underlying image (Figure 7).Although we designed this technique to support imageguided drawing, we have it to be useful when editing curvesdirectly, without running the image snapping algorithm.Figure 8. Pinning. (a) Curve is selected, and pin point located.(b) Dragging pen away from pin point increases area ofinfluence. (c) Parts of curve that intersect the pinning area ofinfluence behave like a rubber band attached to the pin point.(d) Lifting the pen confirms the pinning594Volume 6, Number 1
CHI 2004 ׀ Paper24-29 April ׀ Vienna, AustriaExtrude SuggestionsSuggestionsWhen a newly drawn curve intersects with another existingcurve on a different axial construction plane, then anextrusion is suggested. The suggested extrusion curvesrepresent the represent the intersected curve translated tothe two endpoints of the recently drawn curve. If necessary,the suggested curves are also cropped to keep them withinthe cuboid working volume.When the user is drawing curves, our system providesongoing suggestions of possible geometry that could bequickly used without the need to draw that geometry. Thesuggestions are inferred from characteristics of thecurrently drawn curve. Our work is motivated by Igarashiand Hughes [9], but differs in two ways. First, we presentthe top three candidate suggestions in the same viewingspace as the model being created, unlike [9] wheresuggestions are displayed in a separate location on screen.This reduces the need for users to switch their focus ofattention between viewing suggestions and drawing curves.Second, we provide two types of suggestions: algorithmically generated suggestions that infer simplesubsequent geometry possibilities. For simplicity, weconsider only two possibilities, closure and extrusion. database suggestions of previously used geometryextracted from a database by approximate matching tosignature characteristics of user selected scene curves.abcdefClosure SuggestionsWhen a curve has been drawn beyond a certain length andis not relatively straight, a curve is suggested that closes thenewly drawn curve (Figure 9). Straightness is determinedby iterating through the points of the newly drawn curveand summing the absolute angles between successivepoints. If the resulting sum is greater than a threshold (70 ),then a closing curve is suggested. The suggested curve canbe accepted into or deleted from the scene using the strokeand delete gestures respectively. Unused suggestions fadeaway after a 10 second time interval. This avoids burdeningthe user with explicitly dealing with unwanted suggestionsas they proceed with their work. This accept/delete/ignoreinteraction is used for all suggestions in our system.Figure 10. Extrude suggestions. (a) First set of curves created.(b) Perpendicular construction plane selected. (c) New curvedrawn. Note mirroring of geometry. (d) Two extrusion curvesare suggested (shown in green). (e) Perspective view highlightsthe extruded suggestions. (f) Top extruded suggestion selected.Database SuggestionsabcdOur system maintains a database of previously createdgeometry that has been explicitly saved by the user toprovide suggestions for future drawings. Geometry in thedatabase is processed to create a set of curve-signatures.Curve signatures are created by deconstructing the modelcurves into a network of tangent continuous curvesegments. Half the fuselage curve in Figure 11a, forexample, is segmented into 5 pieces with three relativelystraight curves defining the wing. The lengths of thesecurve segments are normalized with respect to the overalllength of the model curves and stored along with their meancurvature and relative orientation to each other. The curvesignatures thus provide a scale invariant representation ofgeometry in the database.Figure 9. Closure suggestions. (a). A new curve is begun. (b)When length and curvature threshold is exceeded, a closedcurve is suggested (shown in green). (c) User continues withdrawing, suggestion accommodate changes. (d) User finishesdrawing, and can select or ignore the suggested closed curve.When new curves are drawn, their curve-signature ismatched against those in the suggestion database. We firstcompute a correspondence between the drawn curve595Volume 6, Number 1
CHI 2004 ׀ PaperVienna, AustriaNote that the pinning operation does not require that animage be previously loaded. A gluing operation can also beperformed using the eraser end of the pen.segments and those in the database by graph matching. Anoverall match distance is then computed by the differencein length, orientation, and curvature of corresponding curvesegments. Match distances less than a specified thresholdare displayed as suggestions. Up to three top rankingmatches are presented as suggestions to the user, within theworking cuboid. In addition, additional lower-rankingmatches can also be browsed using a widget that appears atthe bottom of the screen. Should the user decide to increasethe rank of one of the lower ranking suggestions, theysimply click on that suggestion in the widget and it willappear within the working cuboid. Figure 11 illustrates.If the tip of the pen intersects the selected curve, a newcurve or straight line can be drawn using the standardcurve/line drawing technique. When the new curve hasbeen drawn, it will be merged into the selected curve in oneof two ways, depending on where the starting point of thenew curve intersects the originally selected curve: If the starting point of the new curve is on one of theends of the originally selected curve, it is assumed thatthe user wishes to extend the selected curve. The twocurves are thus merged (Figure 12e-g). Note that the actof drawing the new curve could trigger suggestions asshown in Figure 12f.These database suggestions effectively allow users toseamlessly leverage off previously created geometry,without having to explicitly browse or import them fromthe file system in a traditional manner.a ׀ 24-29 April If the starting point of the new curve intersects someother part of the originally selected curve, it is assumedthat the user wishes to edit a midsection of the curve,beginning at the intersection point (Figure 12h). Theclosest point on the original curve to the final endpoint ofthe new curve is determined, via the suggested curve(Figure 12i), and the new curve is thus smoothlyincorporated into the original curve, displacing theunwanted segment.bCut and delete gestures can also be used for editing, asshown in (Figure 12j-l).cdabcdefghijkleFigure 11. Database suggestions. (a) A set of curves is drawnas a template. (b) Database match results in two high rankingsuggestions (shown in green) displayed within working cuboid.Widget at bottom of screen displays additional possibilities. (c)Perspective view. Note that the views in the widget change aswell. (d) For illustration purposes, user selects a lower rankingalternative from the widget, and it is displayed in the cuboid.(e) Suggestion is accepted, and user drawn template deleted.Figure 12. Curve editing. (a) Curve is selected. (b) Pin pointspecified outside the curve. (c) Pin influence region increased,ecurve rubberbands to pin point. (d) Pinning operationcompleted, rubberband deformation is accepted. (e) A newcurve that starts at the endpoint of selected curve extends it.(f) New curve can trigger suggestions (shown in green). (g)Suggestion is ignored and new curve completed, resulting inextended original curve. (h) A new curve is drawn thatintersects some middle point on selected curve. (i). New curvereplaces unwanted segment of original curve. Suggestionappears (shown in green). (j). Suggestion is ignored anddisappears, a cut gesture divides the curve into two sections.(k) One segment is selected (shown in red). (l) Delete gestureremoves selected curve.Curve EditingOur system supports several different ways to edit curvesthat preserve the fluidity of the interface. To edit a curve, itmust first be selected using a stroke gesture. Once a curve isselected (Figure 12a), touching the pen on the selectedcurve’s construction plane without intersecting the curveitself invokes the pinning editing operation (Figure 12b-d).596Volume 6, Number 1
CHI 2004 ׀ Paper24-29 April ׀ Vienna, Austriawere able to establish precision when needed byincorporating suggestions from the database.DISCUSSIONThe motivation for this research came out of frustrationexpressed by designers at the inability to use their pen onpaper concept sketches meaningfully in the construction ofa 3D model. It was evident from looking at the evolvingstate of these sketches that the problem statement was todesign an image guided sketching system rather than asystem that attempted to accurately reproduce the featurecurves of the input image. The second design requirementwas simplicity of use that inspired our largely modelessworkflow using gestures to invoke various actions. Finally,virtually all free-form industrial design must obey certaingeometric and style constraints and involves the reuse ofvarious geometric constructs. Rather than hard-code anincreasing set of design constraints and primitive shapes,we introduced the notion of a user defined suggestiondatabase. These geometric databases, comprising modelsbuilt to specifications of style and design constraints, aredynamically searched for potential matches during thesketching process. This would allow a user to quicklyincorporate previous work either as a starting point for anew model, or to reuse geometry that had been previouslycertified in parts of a new model. One user mentioned that curve-signatures would be agreat way to search and index into arbitrary visualdatabases. Indeed in our approach, when saving a model tothe suggestion database, the images and other relatedinformation can be linked with the model and recalled bysketching its curve-signature. At present, suggestion database matches are shown inplace as an affine transformation of their originalconstruction. It was mentioned that it would be useful toindicate as additional suggestions, versions of the geometrythat was left unchanged as well as one that was locallydeformed to better conform to the sketched curve.To test the versatility of our system we used it to construct2D line sketches of various facial expressions from images.The system was then used to index into this database anddistinguish various facial expressions with just a few sketchstrokes (Figure 13). For our current database sizes ofaround 10 models the curve matching algorithm was able toperform robustly at interactive rates. A study into thescalability of suggestion databases is subject to future workas well as exhaustive user testing of our system.While our system is still in the research prototype stage, wethought that it was important to get some early feedbackfrom potential users. An equal amount of time was spent bytwo users on both the breadth of the interface and onbuilding models resulting in the following feedback:A direction for future work would be to extend our systemto construct 3D curves while still working with multiple 2Dimage planes. We hope to do this by compositing the many2D image maps, such as that seen in Figure 5 to a single 3Dvolume map that can attract the curves in 3D instead of on a2D manifold. The use of a 3D cuboid working volume as the virtualsketchpad – within which the image planes, interactivesketching, and suggestions are visually integrated – is quiteeffective. This enables the user to maintain an overallspatial awareness of the task at hand The fixed drawing vector length simplifies the curvedrawing paradigm but tends to create curves of limitedmaximum curvature. In practice this is not a problem sincehigh curvature regions can be drawn as two tangentdiscontinuous segments and then smoothed locally byLaplacian smoothing.abcd Pinning and gluing techniques, originally designed foruse with image planes were found to be a useful generalway of precisely constraining curves. We found that keeping the gesture set small made itrobust and easy to understand and remember. In general, precise control over pressure while drawingon a tablet was hard to master. For this reason we only usedone pressure threshold to distinguish gestures from curvedrawing. Different users naturally apply different amountsof average pressure to the pen and the threshold thatdistinguishes drawing from gestures should be calibratedfor each user independently.efFigure 13. (a-d) Example face geometry in suggestiondatabase. (e) Sketch of initial face. (f) Suggested face While the system in its present state is tailored to earlyconceptu
Figure 3. Curve drawing. (a) Pen down. (b) Pen moves to define the drawing vector. (c) Dragging drawing vector creates curve with smoothness defined by length of drawing vector. (d-e) Pen up ends curve at start point of drawing vector. Gestures By default, all stylus stroke input to the system is treated as curve and line drawings.
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