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Andrew S. Glassner, "Spacetime Ray Tracing for Animation," IEEE Computer Graphics and Applications, vol. 8, no. 2, pp. 6070, March/April, 1988.  
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@article{ 10.1109/38.504, author = {Andrew S. Glassner}, title = {Spacetime Ray Tracing for Animation}, journal ={IEEE Computer Graphics and Applications}, volume = {8}, number = {2}, issn = {02721716}, year = {1988}, pages = {6070}, doi = {http://doi.ieeecomputersociety.org/10.1109/38.504}, publisher = {IEEE Computer Society}, address = {Los Alamitos, CA, USA}, }  
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TY  MGZN JO  IEEE Computer Graphics and Applications TI  Spacetime Ray Tracing for Animation IS  2 SN  02721716 SP60 EP70 EPD  6070 A1  Andrew S. Glassner, PY  1988 VL  8 JA  IEEE Computer Graphics and Applications ER   
Techniques for the efficient ray tracing of animated scenes are presented. They are based on two central concepts: spacetime ray tracing, and a hybrid adaptive space subdivision/boundary volume technique for generating efficient, nonoverlapping hierarchies of bounding volumes. In spacetime ray tracing, static objects are rendered in 4D spacetime using 4D analogs to 3D techniques. The bounding volume hierarchy combines elements of adaptive space subdivision and bounding volume techniques. The quality of hierarchy and its nonoverlapping character make it an improvement over previous algorithms, because both attributes reduce the number of ray/object intersections that must be computed. These savings are amplified in animation because of the much higher cost of computing ray/object intersections for motionblurred animation. It is shown that it is possible to ray trace large animations more quickly with spacetime ray tracing using this hierarchy than with straightforward framebyframe rendering.
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