Compressive Sensing for Dynamic XRF Scanning

X-Ray Fluorescence (XRF) scanning is a widespread technique of high importance and impact since it provides chemical composition maps crucial for several scientific investigations. There are continuous requirements for larger, faster and highly resolved acquisitions in order to study complex structures. Among the scientific applications that benefit from it, some of them, such as wide scale brain imaging, are prohibitively difficult due to time constraints. However, typically the overall XRF imaging performance is improving through technological progress on XRF detectors and X-ray sources. This paper suggests an additional approach where XRF scanning is performed in a sparse way by skipping specific points or by varying dynamically acquisition time or other scan settings in a conditional manner. This paves the way for Compressive Sensing in XRF scans where data are acquired in a reduced manner allowing for challenging experiments, currently not feasible with the traditional scanning strategies. A series of different compressive sensing strategies for dynamic scans are presented here. A proof of principle experiment was performed at the TwinMic beamline of Elettra synchrotron. The outcome demonstrates the potential of Compressive Sensing for dynamic scans, suggesting its use in challenging scientific experiments while proposing a technical solution for beamline acquisition software.Comment: 16 pages, 7 figures, 1 tabl

C-blox: A Scalable and Consistent TSDF-based Dense Mapping Approach

In many applications, maintaining a consistent dense map of the environment is key to enabling robotic platforms to perform higher level decision making. Several works have addressed the challenge of creating precise dense 3D maps from visual sensors providing depth information. However, during operation over longer missions, reconstructions can easily become inconsistent due to accumulated camera tracking error and delayed loop closure. Without explicitly addressing the problem of map consistency, recovery from such distortions tends to be difficult. We present a novel system for dense 3D mapping which addresses the challenge of building consistent maps while dealing with scalability. Central to our approach is the representation of the environment as a collection of overlapping TSDF subvolumes. These subvolumes are localized through feature-based camera tracking and bundle adjustment. Our main contribution is a pipeline for identifying stable regions in the map, and to fuse the contributing subvolumes. This approach allows us to reduce map growth while still maintaining consistency. We demonstrate the proposed system on a publicly available dataset and simulation engine, and demonstrate the efficacy of the proposed approach for building consistent and scalable maps. Finally we demonstrate our approach running in real-time on-board a lightweight MAV.Comment: 8 pages, 5 figures, conferenc

Modelling Spatial Compositional Data: Reconstructions of past land cover and uncertainties

In this paper, we construct a hierarchical model for spatial compositional data, which is used to reconstruct past land-cover compositions (in terms of coniferous forest, broadleaved forest, and unforested/open land) for five time periods during the past $6\,000$ years over Europe. The model consists of a Gaussian Markov Random Field (GMRF) with Dirichlet observations. A block updated Markov chain Monte Carlo (MCMC), including an adaptive Metropolis adjusted Langevin step, is used to estimate model parameters. The sparse precision matrix in the GMRF provides computational advantages leading to a fast MCMC algorithm. Reconstructions are obtained by combining pollen-based estimates of vegetation cover at a limited number of locations with scenarios of past deforestation and output from a dynamic vegetation model. To evaluate uncertainties in the predictions a novel way of constructing joint confidence regions for the entire composition at each prediction location is proposed. The hierarchical model's ability to reconstruct past land cover is evaluated through cross validation for all time periods, and by comparing reconstructions for the recent past to a present day European forest map. The evaluation results are promising and the model is able to capture known structures in past land-cover compositions