Web browsers supports <canvas> and <svg> tags. The elements within can be manipulated and observed with DOM API.
We can use them for generic drawings, games and data visualization.
4. Hacking Your Graphics with Canvas and SVG - HTML5 Hacks [Book]
Canvas vs. SVG: Choosing the Right Tool for the Job
7 Reasons to Consider SVGs Instead of Canvas
How to Choose Between Canvas and SVG
Paper vs. Processing vs. Raphaël
Two.js
Renderer agnostic library enabling the same API to draw in multiple contexts: svg, canvas, and webgl.