2D Triangulation of Signals Source by Pole-Polar Geometric Models

The 2D point location problem has applications in several areas, such as geographic information systems, navigation systems, motion planning, mapping, military strategy, location and tracking moves. We aim to present a new approach that expands upon current techniques and methods to locate the 2D position of a signal source sent by an emitter device. This new approach is based only on the geometric relationship between an emitter device and a system composed of m ≥ 2 signal receiving devices. Current approaches applied to locate an emitter can be deterministic, statistical or machine-learning methods. We propose to perform this triangulation by geometric models that exploit elements of pole-polar geometry. For this purpose, we are presenting five geometric models to solve the point location problem: (1) based on centroid of points of pole-polar geometry, PPC; (2) based on convex hull region among pole-points, CHC; (3) based on centroid of points obtained by polar-lines intersections, PLI; (4) based on centroid of points obtained by tangent lines intersections, TLI; (5) based on centroid of points obtained by tangent lines intersections with minimal angles, MAI. The first one has computational cost O(n) and whereas has the computational cost O(n log n)where n is the number of points of interest. © 2019 by the authors. Licensee MDPI, Basel, Switzerland.Spanish Ministry of Economy and Competitiveness TIN2016-76956-C3-2-RUniversity of Sevill

Automatic segmentation and reconstruction of traffic accident scenarios from mobile laser scanning data

Virtual reconstruction of historic sites, planning of restorations and attachments of new building parts, as well as forest inventory are few examples of fields that benefit from the application of 3D surveying data. Originally using 2D photo based documentation and manual distance measurements, the 3D information obtained from multi camera and laser scanning systems realizes a noticeable improvement regarding the surveying times and the amount of generated 3D information. The 3D data allows a detailed post processing and better visualization of all relevant spatial information. Yet, for the extraction of the required information from the raw scan data and for the generation of useable visual output, time-consuming, complex user-based data processing is still required, using the commercially available 3D software tools. In this context, the automatic object recognition from 3D point cloud and depth data has been discussed in many different works. The developed tools and methods however, usually only focus on a certain kind of object or the detection of learned invariant surface shapes. Although the resulting methods are applicable for certain practices of data segmentation, they are not necessarily suitable for arbitrary tasks due to the varying requirements of the different fields of research. This thesis presents a more widespread solution for automatic scene reconstruction from 3D point clouds, targeting street scenarios, specifically for the task of traffic accident scene analysis and documentation. The data, obtained by sampling the scene using a mobile scanning system is evaluated, segmented, and finally used to generate detailed 3D information of the scanned environment. To realize this aim, this work adapts and validates various existing approaches on laser scan segmentation regarding the application on accident relevant scene information, including road surfaces and markings, vehicles, walls, trees and other salient objects. The approaches are therefore evaluated regarding their suitability and limitations for the given tasks, as well as for possibilities concerning the combined application together with other procedures. The obtained knowledge is used for the development of new algorithms and procedures to allow a satisfying segmentation and reconstruction of the scene, corresponding to the available sampling densities and precisions. Besides the segmentation of the point cloud data, this thesis presents different visualization and reconstruction methods to achieve a wider range of possible applications of the developed system for data export and utilization in different third party software tools

National Geodetic Satellite Program, Part II: National Geodetic Society

Satellite geodesy and the creation of worldwide geodetic reference systems is discussed. The geometric description of the surface and the analytical description of the gravity field of the earth by means of worldwide reference systems, with the aid of satellite geodesy, are presented. A triangulation method based on photogrammetric principles is described in detail. Results are derived in the form of three dimensional models. These mathematical models represent the frame of reference into which one can fit the existing geodetic results from the various local datums, as well as future measurements

Direct comparison between satellite electric field measurements and the visual aurora

Electric field data from two passes of the Injun 5 satellite, one corresponding to magnetically quiet conditions and one corresponding to substorm conditions, are compared with simultaneous all-sky-camera data from College, Alaska. In each case, a significant deviation of the electric field from the expected V x B field (where V is the satellite velocity) was evident and a distinct electric field reversal could be identified. In the region of substantial electric field equatorward of the electric field reversal a diffuse auroral arc was observed during the magnetically quiet pass and auroral patches were observed during the substorm pass. The motion of the auroral patches was consistent with the general direction and magnitude of the E x B drift computed from the satellite electric field measurements. In the substorm case the electric field reversal occurred very near a discrete auroral arc at the poleward side of the diffuse arcs and patches. Comparison of the quiet time and substorm cases suggests that the convection electric field penetrates deeper into the magnetosphere during a substorm

National Geodetic Satellite Program, Part II: A Report Compiled and Edited for NASA by the AGU

The work performed by individual contributors to the National Geodetic Satellite Program is presented. The purpose of the specific organization, the instruments used in obtaining the data, a description of the data itself, the theory used in processing the data, and evaluation of the results are detailed for each participating organization. An overall evaluation of the entire program is given

Automatic Alignment of 3D Multi-Sensor Point Clouds

Automatic 3D point cloud alignment is a major research topic in photogrammetry, computer vision and computer graphics. In this research, two keypoint feature matching approaches have been developed and proposed for the automatic alignment of 3D point clouds, which have been acquired from different sensor platforms and are in different 3D conformal coordinate systems. The first proposed approach is based on 3D keypoint feature matching. First, surface curvature information is utilized for scale-invariant 3D keypoint extraction. Adaptive non-maxima suppression (ANMS) is then applied to retain the most distinct and well-distributed set of keypoints. Afterwards, every keypoint is characterized by a scale, rotation and translation invariant 3D surface descriptor, called the radial geodesic distance-slope histogram. Similar keypoints descriptors on the source and target datasets are then matched using bipartite graph matching, followed by a modified-RANSAC for outlier removal. The second proposed method is based on 2D keypoint matching performed on height map images of the 3D point clouds. Height map images are generated by projecting the 3D point clouds onto a planimetric plane. Afterwards, a multi-scale wavelet 2D keypoint detector with ANMS is proposed to extract keypoints on the height maps. Then, a scale, rotation and translation-invariant 2D descriptor referred to as the Gabor, Log-Polar-Rapid Transform descriptor is computed for all keypoints. Finally, source and target height map keypoint correspondences are determined using a bi-directional nearest neighbour matching, together with the modified-RANSAC for outlier removal. Each method is assessed on multi-sensor, urban and non-urban 3D point cloud datasets. Results show that unlike the 3D-based method, the height map-based approach is able to align source and target datasets with differences in point density, point distribution and missing point data. Findings also show that the 3D-based method obtained lower transformation errors and a greater number of correspondences when the source and target have similar point characteristics. The 3D-based approach attained absolute mean alignment differences in the range of 0.23m to 2.81m, whereas the height map approach had a range from 0.17m to 1.21m. These differences meet the proximity requirements of the data characteristics and the further application of fine co-registration approaches

Geodesy: The science underneath

Geodesy is the science of precisely measuring and mapping the Earth’s surface and locations of objects on it, the figure of the Earth and her gravity field, and changes in all these over time. Geodesy is an old science, going back to the days when land was taken into agricultural use and needed to be mapped. It is also a modern science, serving vital infrastructure needs of our developing global technological society. This text aims to describe the foundations of both traditional geodesy, mapping the Earth within the constraints of the human living space, and modern geodesy, exploiting space technology for mapping and monitoring our planet as a whole, in a unified threedimensional fashion. The approach is throughout at conveying an understanding of the concepts, of both the science and mathematics of measuring and mapping the Earth and the technologies used for doing so. The history of the science is not neglected, and the perspective of the presentation is unapologetically Finnish.Geodesia on tiede, joka mittaa ja kartoittaa tarkasti Maan pintaa ja sen päällä olevia kohteita, Maan muotoa ja painovoimakenttää, sekä niiden kaikkien ajallisia muutoksia. Geodesia on vanha tiede, joka oli olemassa jo muinoin kun maanviljely alkoi ja peltoja piti kartoittaa. Se on myös moderni tiede, joka palvelee modernin, kehittyvän globaalin teknologisen yhteiskuntamme olennaisia infrastruktuuritarpeita. Tämä kirja esittää sekä perinteisen että modernin geodesian perusteet. Perinteinen geodesia kartoittaa Maata ihmisen elintilan puitteissa ja sen ehdolla, kun moderni geodesia käyttää avaruusteknologiaa koko maaplaneetamme kartoittamiseksi ja seuraamiseksi yhtenäisellä kolmiulotteisella tavalla. Tavoitteena on auttaa Maan mittaamiseen ja kartoittamiseen liittyvien sekä tieteellis-matemaattisten että teknologisten käsitteiden ymmärtämistä. Geodesian historiaa ei unohdeta, ja kirjoitelman näkökulma on avoimesti suomalainen

Ambisonics

This open access book provides a concise explanation of the fundamentals and background of the surround sound recording and playback technology Ambisonics. It equips readers with the psychoacoustical, signal processing, acoustical, and mathematical knowledge needed to understand the inner workings of modern processing utilities, special equipment for recording, manipulation, and reproduction in the higher-order Ambisonic format. The book comes with various practical examples based on free software tools and open scientific data for reproducible research. The book’s introductory section offers a perspective on Ambisonics spanning from the origins of coincident recordings in the 1930s to the Ambisonic concepts of the 1970s, as well as classical ways of applying Ambisonics in first-order coincident sound scene recording and reproduction that have been practiced since the 1980s. As, from time to time, the underlying mathematics become quite involved, but should be comprehensive without sacrificing readability, the book includes an extensive mathematical appendix. The book offers readers a deeper understanding of Ambisonic technologies, and will especially benefit scientists, audio-system and audio-recording engineers. In the advanced sections of the book, fundamentals and modern techniques as higher-order Ambisonic decoding, 3D audio effects, and higher-order recording are explained. Those techniques are shown to be suitable to supply audience areas ranging from studio-sized to hundreds of listeners, or headphone-based playback, regardless whether it is live, interactive, or studio-produced 3D audio material