A Pipeline of 3D Scene Reconstruction from Point Clouds

3D technologies are becoming increasingly popular as their applications in industrial, consumer, entertainment, healthcare, education, and governmental increase in number. According to market predictions, the total 3D modeling and mapping market is expected to grow from $1.1 billion in 2013 to$7.7 billion by 2018. Thus, 3D modeling techniques for different data sources are urgently needed. This thesis addresses techniques for automated point cloud classification and the reconstruction of 3D scenes (including terrain models, 3D buildings and 3D road networks). First, georeferenced binary image processing techniques were developed for various point cloud classifications. Second, robust methods for the pipeline from the original point cloud to 3D model construction were proposed. Third, the reconstruction for the levels of detail (LoDs) of 1-3 (CityGML website) of 3D models was demonstrated. Fourth, different data sources for 3D model reconstruction were studied. The strengths and weaknesses of using the different data sources were addressed. Mobile laser scanning (MLS), unmanned aerial vehicle (UAV) images, airborne laser scanning (ALS), and the Finnish National Land Survey’s open geospatial data sources e.g. a topographic database, were employed as test data. Among these data sources, MLS data from three different systems were explored, and three different densities of ALS point clouds (0.8, 8 and 50 points/m2) were studied. The results were compared with reference data such as an orthophoto with a ground sample distance of 20cm or measured reference points from existing software to evaluate their quality. The results showed that 74.6% of building roofs were reconstructed with the automated process. The resulting building models provided an average height deviation of 15 cm. A total of 6% of model points had a greater than one-pixel deviation from laser points. A total of 2.5% had a deviation of greater than two pixels. The pixel size was determined by the average distance of input laser points. The 3D roads were reconstructed with an average width deviation of 22 cm and an average height deviation of 14 cm. The results demonstrated that 93.4% of building roofs were correctly classified from sparse ALS and that 93.3% of power line points are detected from the six sets of dense ALS data located in forested areas. This study demonstrates the operability of 3D model construction for LoDs of 1-3 via the proposed methodologies and datasets. The study is beneficial to future applications, such as 3D-model-based navigation applications, the updating of 2D topographic databases into 3D maps and rapid, large-area 3D scene reconstruction. 3D-teknologiat ovat tulleet yhä suositummiksi niiden sovellusalojen lisääntyessä teollisuudessa, kuluttajatuotteissa, terveydenhuollossa, koulutuksessa ja hallinnossa. Ennusteiden mukaan 3D-mallinnus- ja -kartoitusmarkkinat kasvavat vuoden 2013 1,1 miljardista dollarista 7,7 miljardiin vuoteen 2018 mennessä. Erilaisia aineistoja käyttäviä 3D-mallinnustekniikoita tarvitaankin yhä enemmän. Tässä väitöskirjatutkimuksessa kehitettiin automaattisen pistepilviaineiston luokittelutekniikoita ja rekonstruoitiin 3D-ympäristöja (maanpintamalleja, rakennuksia ja tieverkkoja). Georeferoitujen binääristen kuvien prosessointitekniikoita kehitettiin useiden pilvipisteaineistojen luokitteluun. Työssä esitetään robusteja menetelmiä alkuperäisestä pistepilvestä 3D-malliin eri CityGML-standardin tarkkuustasoilla. Myös eri aineistolähteitä 3D-mallien rekonstruointiin tutkittiin. Eri aineistolähteiden käytön heikkoudet ja vahvuudet analysoitiin. Testiaineistona käytettiin liikkuvalla keilauksella (mobile laser scanning, MLS) ja ilmakeilauksella (airborne laser scanning, ALS) saatua laserkeilausaineistoja, miehittämättömillä lennokeilla (unmanned aerial vehicle, UAV) otettuja kuvia sekä Maanmittauslaitoksen avoimia aineistoja, kuten maastotietokantaa. Liikkuvalla laserkeilauksella kerätyn aineiston osalta tutkimuksessa käytettiin kolmella eri järjestelmällä saatua dataa, ja kolmen eri tarkkuustason (0,8, 8 ja 50 pistettä/m2) ilmalaserkeilausaineistoa. Tutkimuksessa saatuja tulosten laatua arvioitiin vertaamalla niitä referenssiaineistoon, jona käytettiin ortokuvia (GSD 20cm) ja nykyisissä ohjelmistoissa olevia mitattuja referenssipisteitä. 74,6 % rakennusten katoista saatiin rekonstruoitua automaattisella prosessilla. Rakennusmallien korkeuksien keskipoikkeama oli 15 cm. 6 %:lla mallin pisteistä oli yli yhden pikselin poikkeama laseraineiston pisteisiin verrattuna. 2,5 %:lla oli yli kahden pikselin poikkeama. Pikselikoko määriteltiin kahden laserpisteen välimatkan keskiarvona. Rekonstruoitujen teiden leveyden keskipoikkeama oli 22 cm ja korkeuden keskipoikkeama oli 14 cm. Tulokset osoittavat että 93,4 % rakennuksista saatiin luokiteltua oikein harvasta ilmalaserkeilausaineistosta ja 93,3 % sähköjohdoista saatiin havaittua kuudesta tiheästä metsäalueen ilmalaserkeilausaineistosta. Tutkimus demonstroi 3D-mallin konstruktion toimivuutta tarkkuustasoilla (LoD) 1-3 esitetyillä menetelmillä ja aineistoilla. Tulokset ovat hyödyllisiä kehitettäessä tulevaisuuden sovelluksia, kuten 3D-malleihin perustuvia navigointisovelluksia, topografisten 2D-karttojen ajantasaistamista 3D-kartoiksi, ja nopeaa suurten alueiden 3D-ympäristöjen rekonstruktiota

Remedies for Robots

What happens when artificially intelligent robots misbehave? The question is not just hypothetical. As robotics and artificial intelligence systems increasingly integrate into our society, they will do bad things. We seek to explore what remedies the law can and should provide once a robot has caused harm. Remedies are sometimes designed to make plaintiffs whole by restoring them to the condition they would have been in “but for” the wrong. But they can also contain elements of moral judgment, punishment, and deterrence. In other instances, the law may order defendants to do (or stop doing) something unlawful or harmful. Each of these goals of remedies law, however, runs into difficulties when the bad actor in question is neither a person nor a corporation but a robot. We might order a robot—or, more realistically, the designer or owner of the robot—to pay for the damages it causes. But it turns out to be much harder for a judge to “order” a robot, rather than a human, to engage in or refrain from certain conduct. Robots can’t directly obey court orders not written in computer code. And bridging the translation gap between natural language and code is often harder than we might expect. This is particularly true of modern artificial intelligence techniques that empower machines to learn and modify their decision-making over time. If we don’t know how the robot “thinks,” we won’t know how to tell it to behave in a way likely to cause it to do what we actually want it to do. Moreover, if the ultimate goal of a legal remedy is to encourage good behavior or discourage bad behavior, punishing owners or designers for the behavior of their robots may not always make sense—if only for the simple reason that their owners didn’t act wrongfully in any meaningful way. The same problem affects injunctive relief. Courts are used to ordering people and companies to do (or stop doing) certain things, with a penalty of contempt of court for noncompliance. But ordering a robot to abstain from certain behavior won’t be trivial in many cases. And ordering it to take affirmative acts may prove even more problematic. In this Article, we begin to think about how we might design a system of remedies for robots. Robots will require us to rethink many of our current doctrines. They also offer important insights into the law of remedies we already apply to people and corporations

Pelimoottorin hyödyntäminen simuloinnin visualisoinnissa

Modern game engines provide software developers with comprehensive toolsets for turning their visions into visually appealing 3D worlds. In addition to gaming industry, these frameworks can be used in creating visualizations for real-world processes. In this thesis, the concept of game engine based industrial process visualization is demonstrated in the context of automated container terminals. During the thesis project, a real-time 3D visualization tool was developed that can be used to visualize simulated terminals and actual systems. The work was commissioned by a Finnish client company, working in the cargo handling industry. The thesis document comprises of a background part and a solution part. In the background part, the most important concepts of container terminal operations are presented. The focus is then moved to the software systems that are used in the automated terminals provided by the client company. The background part contains also a review of the existing 3D applications in the container handling industry and a literature survey of various other projects, which are utilizing game engines for simulation purposes. For the practical part, a requirements analysis was performed for the visualization tool. The development platform was then chosen by comparing two of the most commonly used modern game engines: Unity and Unreal Engine. While both of the engines had their advantages and disadvantages, Unity was chosen as the development platform for several reasons: It allowed using the existing 3D models of the client company without doing any manual conversions to the files. The object model and scripting system of Unity was also regarded as intuitive and easy to use. Finally, the software framework used in Unity allowed easy integration with the software systems of the client company. The implemented application is configured by using similar XML files that are used in GUI applications of actual terminals. It communicates with the terminal automation system by using the common communication platform. Machine positions and container events are acquired real-time from the automation system. It was also proven, that the application can be extended to send messages back to the automation system. The solution was tested with a virtual container terminal, including 10,000 containers and 47 container handling machines. It was confirmed, that the application is able to handle large amount of concurrent movement without problems. However, the vast amount of objects in the terminal makes the visualization of the whole area a challenging task for a conventional PC. Further graphical optimization is required in order to provide sufficient frame rate and smooth animation in all situations

Path planning, modelling and simulation for energy optimised mobile robotics

This thesis is concerned with an investigation of a solution for mobile robotic platforms to minimize the usage of scarce energy that is available and is not wasted following traditionally planned paths for complex terrain environments. This therefore addresses the need to reduce the total energy cost during a field task or mission. A path planning algorithm is designed by creating a new approach of artificial potential field method that generates a planned path, utilising terrain map. The new approach has the capability of avoiding the local minimum problems which is one of the major problems of traditional potential field method. By solving such problems gives a reliable solution to establish a required path. Therefore the approach results in an energy efficient path of the terrain identified, instead obvious straight line of the terrain. A literature review is conducted which reviews the mainstream path planning algorithms with the applications in mobile robotic platforms was analysed. These path planning algorithms are compared for the purpose of energy optimized planning, which concludes the method of artificial potential field as the path planning algorithm which has the most potential and will be further investigated and improved in this research. The methodology of designing, modelling and simulating a mobile robotic platform is defined and presented for the purpose of energy optimized path planning requirement. The research is to clarify the needs, requirements, and specifications of the design. A complete set of models which include mechanical and electrical modelling, functional concept modelling, modelling of the system are established. Based on these models, an energy optimized path planning algorithm is designed. The modelling of force and the kinematics is established to validate and evaluate the result of the algorithm through simulations. Moreover a simulation environment is established which is constructed for multi perspective simulation. This also enables collaborative simulation using Simulink and ADAMS to for simulating a path generated by the path planning algorithm and assess the energy consumption of the driven and steering mechanism of an exemplar system called AgriRover. This simulation environment allows the capture of simulated result of the total energy consumption, therefore outlines the energy cost behaviour of the AgriRover. A total of two sets of paths was tested in the fields for validation, one being generated by the energy optimized path planning algorithm and the other following a straight path. During the field tests the total cost of energy was captured . Two sets of results are compared with each other and compared with the simulation. The comparison shows a 21.34% of the energy saving by deploying the path generated with the energy optimized path planning algorithm in the field test. This research made the following contribution to knowledge. A comparison and grading of mainstream path planning algorithms from energy optimisation perspective is undertaken using detailed evaluation criteria, including computational power required, extendibility, flexibility and more criteria that is relevant for the energy optimized planning purpose. These algorithms have not been compared from energy optimisation angle before, and the research for energy optimised planning under complex terrain environments have not been investigated. Addressing these knowledge gaps, a methodology of designing, modelling and simulating a mobile platform system is proposed to facilitate an energy optimized path planning. This , leads to a new approach of path planning algorithm that reduces unnecessary energy spend for climbing of the terrain, using the terrain data available. Such a methodology derives several novel methods: Namely, a method for avoiding local minimum problem for artificial potential field path planning using the approach of approximation; A method of achieving high expendability of the path planning algorithm, where this method is capable of generate a path through a large map in a short time; A novel method of multi perspective dynamic simulation, which is capable of simulating the behaviour of internal mechanism and the overall robotic mobile platform with the fully integrated control, The dynamic simulation enables prediction of energy consumption; Finally, a novel method of mathematically modelling and simplifying a steering mechanism for the wheel based mobile vehicle was further investigated.This thesis is concerned with an investigation of a solution for mobile robotic platforms to minimize the usage of scarce energy that is available and is not wasted following traditionally planned paths for complex terrain environments. This therefore addresses the need to reduce the total energy cost during a field task or mission. A path planning algorithm is designed by creating a new approach of artificial potential field method that generates a planned path, utilising terrain map. The new approach has the capability of avoiding the local minimum problems which is one of the major problems of traditional potential field method. By solving such problems gives a reliable solution to establish a required path. Therefore the approach results in an energy efficient path of the terrain identified, instead obvious straight line of the terrain. A literature review is conducted which reviews the mainstream path planning algorithms with the applications in mobile robotic platforms was analysed. These path planning algorithms are compared for the purpose of energy optimized planning, which concludes the method of artificial potential field as the path planning algorithm which has the most potential and will be further investigated and improved in this research. The methodology of designing, modelling and simulating a mobile robotic platform is defined and presented for the purpose of energy optimized path planning requirement. The research is to clarify the needs, requirements, and specifications of the design. A complete set of models which include mechanical and electrical modelling, functional concept modelling, modelling of the system are established. Based on these models, an energy optimized path planning algorithm is designed. The modelling of force and the kinematics is established to validate and evaluate the result of the algorithm through simulations. Moreover a simulation environment is established which is constructed for multi perspective simulation. This also enables collaborative simulation using Simulink and ADAMS to for simulating a path generated by the path planning algorithm and assess the energy consumption of the driven and steering mechanism of an exemplar system called AgriRover. This simulation environment allows the capture of simulated result of the total energy consumption, therefore outlines the energy cost behaviour of the AgriRover. A total of two sets of paths was tested in the fields for validation, one being generated by the energy optimized path planning algorithm and the other following a straight path. During the field tests the total cost of energy was captured . Two sets of results are compared with each other and compared with the simulation. The comparison shows a 21.34% of the energy saving by deploying the path generated with the energy optimized path planning algorithm in the field test. This research made the following contribution to knowledge. A comparison and grading of mainstream path planning algorithms from energy optimisation perspective is undertaken using detailed evaluation criteria, including computational power required, extendibility, flexibility and more criteria that is relevant for the energy optimized planning purpose. These algorithms have not been compared from energy optimisation angle before, and the research for energy optimised planning under complex terrain environments have not been investigated. Addressing these knowledge gaps, a methodology of designing, modelling and simulating a mobile platform system is proposed to facilitate an energy optimized path planning. This , leads to a new approach of path planning algorithm that reduces unnecessary energy spend for climbing of the terrain, using the terrain data available. Such a methodology derives several novel methods: Namely, a method for avoiding local minimum problem for artificial potential field path planning using the approach of approximation; A method of achieving high expendability of the path planning algorithm, where this method is capable of generate a path through a large map in a short time; A novel method of multi perspective dynamic simulation, which is capable of simulating the behaviour of internal mechanism and the overall robotic mobile platform with the fully integrated control, The dynamic simulation enables prediction of energy consumption; Finally, a novel method of mathematically modelling and simplifying a steering mechanism for the wheel based mobile vehicle was further investigated

Using Social Media to Evaluate Public Acceptance of Infrastructure Projects

The deficit of infrastructure quality of the United States demands groundbreaking of more infrastructure projects. Despite the potential economic and social benefits brought by these projects, they could also negatively impact the community and the environment, which could in turn affect the implementation and operation of the projects. Therefore, measuring and monitoring public acceptance is critical to the success of infrastructure projects. However, current practices such as public hearings and opinion polls are slow and costly, hence are insufficient to provide satisfactory monitoring mechanism. Meanwhile, the development of state-of-the-art technologies such as social media and big data have provided people with unprecedented ways to express themselves. These platforms generate huge volumes of user-generated content, and have naturally become alternative sources of public opinion. This research proposes a framework and an analysis methodology to use big data from social media (e.g. the microblogging site Twitter) for project evaluation. The framework collects social media postings, analyzes public opinion towards infrastructure projects and builds multi-dimensional models around the big data. The interface and conceptual implementation of each component of the framework are discussed. This framework could be used as a supplement to traditional polls to provide a fast and cost-effective way for public opinion and project risk assessment. This research is followed by a case study applying the framework to a real-world infrastructure project to demonstrate the feasibility and comprehensiveness of the framework. The California High Speed Rail project is selected to be the object of study. It is an iconic and controversial large-scale infrastructure project that faced a lot of criticism, complaints and suggestions. Sentiment analysis, the most important type of analysis on the framework, is discussed concerning its application and implementation in the context of infrastructure projects. A public acceptance model for social media sentiment analysis is proposed and examined, and the best measurement of public acceptance is recommended. Moreover, the case study explores the driving force of the change in public acceptance: the social media events. Events are defined, evaluated, and an event influence quadrant is proposed to categorize and prioritize social media events. Furthermore, the individuals influencing the perceptions of these events, opinion leaders, are also modeled and identified. Three opinion leadership types are defined with top users in each type listed and discussed. A predictive model for opinion leader is also developed to identify opinion leaders using an a priori indicator. Finally, a user profiling model is established to describe social demographic characteristics of users, and each demographic feature is discussed in detail

The End of Traffic and the Future of Access: A Roadmap to the New Transport Landscape

In most industrialized countries, car travel per person has peaked and the automobile regime is showing considering signs of instability. As cities across the globe venture to find the best ways to allow people to get around amidst technological and other changes, many forces are taking hold — all of which suggest a new transport landscape. Our roadmap describes why this landscape is taking shape and prescribes policies informed by contextual awareness, clear thinking, and flexibility

Selected Papers from the 5th International Electronic Conference on Sensors and Applications

This Special Issue comprises selected papers from the proceedings of the 5th International Electronic Conference on Sensors and Applications, held on 15–30 November 2018, on sciforum.net, an online platform for hosting scholarly e-conferences and discussion groups. In this 5th edition of the electronic conference, contributors were invited to provide papers and presentations from the field of sensors and applications at large, resulting in a wide variety of excellent submissions and topic areas. Papers which attracted the most interest on the web or that provided a particularly innovative contribution were selected for publication in this collection. These peer-reviewed papers are published with the aim of rapid and wide dissemination of research results, developments, and applications. We hope this conference series will grow rapidly in the future and become recognized as a new way and venue by which to (electronically) present new developments related to the field of sensors and their applications