TVL₁ Planarity Regularization for 3D Shape Approximation

The modern emergence of automation in many industries has given impetus to extensive research into mobile robotics. Novel perception technologies now enable cars to drive autonomously, tractors to till a field automatically and underwater robots to construct pipelines. An essential requirement to facilitate both perception and autonomous navigation is the analysis of the 3D environment using sensors like laser scanners or stereo cameras. 3D sensors generate a very large number of 3D data points when sampling object shapes within an environment, but crucially do not provide any intrinsic information about the environment which the robots operate within. This work focuses on the fundamental task of 3D shape reconstruction and modelling from 3D point clouds. The novelty lies in the representation of surfaces by algebraic functions having limited support, which enables the extraction of smooth consistent implicit shapes from noisy samples with a heterogeneous density. The minimization of total variation of second differential degree makes it possible to enforce planar surfaces which often occur in man-made environments. Applying the new technique means that less accurate, low-cost 3D sensors can be employed without sacrificing the 3D shape reconstruction accuracy

Development of an unsteady aerodynamic analysis for finite-deflection subsonic cascades

An unsteady potential flow analysis, which accounts for the effects of blade geometry and steady turning, was developed to predict aerodynamic forces and moments associated with free vibration or flutter phenomena in the fan, compressor, or turbine stages of modern jet engines. Based on the assumption of small amplitude blade motions, the unsteady flow is governed by linear equations with variable coefficients which depend on the underlying steady low. These equations were approximated using difference expressions determined from an implicit least squares development and applicable on arbitrary grids. The resulting linear system of algebraic equations is block tridiagonal, which permits an efficient, direct (i.e., noniterative) solution. The solution procedure was extended to treat blades with rounded or blunt edges at incidence relative to the inlet flow

Implicitization of curves and (hyper)surfaces using predicted support

We reduce implicitization of rational planar parametric curves and (hyper)surfaces to linear algebra, by interpolating the coefficients of the implicit equation. For predicting the implicit support, we focus on methods that exploit input and output structure in the sense of sparse (or toric) elimination theory, namely by computing the Newton polytope of the implicit polynomial, via sparse resultant theory. Our algorithm works even in the presence of base points but, in this case, the implicit equation shall be obtained as a factor of the produced polynomial. We implement our methods on Maple, and some on Matlab as well, and study their numerical stability and efficiency on several classes of curves and surfaces. We apply our approach to approximate implicitization, and quantify the accuracy of the approximate output, which turns out to be satisfactory on all tested examples; we also relate our measures to Hausdorff distance. In building a square or rectangular matrix, an important issue is (over)sampling the given curve or surface: we conclude that unitary complexes offer the best tradeoff between speed and accuracy when numerical methods are employed, namely SVD, whereas for exact kernel computation random integers is the method of choice. We compare our prototype to existing software and find that it is rather competitive

TVL₁shape approximation from scattered 3D data

With the emergence in 3D sensors such as laser scanners and 3D reconstruction from cameras, large 3D point clouds can now be sampled from physical objects within a scene. The raw 3D samples delivered by these sensors however, contain only a limited degree of information about the environment the objects exist in, which means that further geometrical high-level modelling is essential. In addition, issues like sparse data measurements, noise, missing samples due to occlusion, and the inherently huge datasets involved in such representations makes this task extremely challenging. This paper addresses these issues by presenting a new 3D shape modelling framework for samples acquired from 3D sensor. Motivated by the success of nonlinear kernel-based approximation techniques in the statistics domain, existing methods using radial basis functions are applied to 3D object shape approximation. The task is framed as an optimization problem and is extended using non-smooth L1 total variation regularization. Appropriate convex energy functionals are constructed and solved by applying the Alternating Direction Method of Multipliers approach, which is then extended using Gauss-Seidel iterations. This significantly lowers the computational complexity involved in generating 3D shape from 3D samples, while both numerical and qualitative analysis confirms the superior shape modelling performance of this new framework compared with existing 3D shape reconstruction techniques

A High-Order Kernel Method for Diffusion and Reaction-Diffusion Equations on Surfaces

In this paper we present a high-order kernel method for numerically solving diffusion and reaction-diffusion partial differential equations (PDEs) on smooth, closed surfaces embedded in $\mathbb{R}^d$. For two-dimensional surfaces embedded in $\mathbb{R}^3$, these types of problems have received growing interest in biology, chemistry, and computer graphics to model such things as diffusion of chemicals on biological cells or membranes, pattern formations in biology, nonlinear chemical oscillators in excitable media, and texture mappings. Our kernel method is based on radial basis functions (RBFs) and uses a semi-discrete approach (or the method-of-lines) in which the surface derivative operators that appear in the PDEs are approximated using collocation. The method only requires nodes at "scattered" locations on the surface and the corresponding normal vectors to the surface. Additionally, it does not rely on any surface-based metrics and avoids any intrinsic coordinate systems, and thus does not suffer from any coordinate distortions or singularities. We provide error estimates for the kernel-based approximate surface derivative operators and numerically study the accuracy and stability of the method. Applications to different non-linear systems of PDEs that arise in biology and chemistry are also presented

Meshfree Methods for PDEs on Surfaces

This dissertation focuses on meshfree methods for solving surface partial differential equations (PDEs). These PDEs arise in many areas of science and engineering where they are used to model phenomena ranging from atmospheric dynamics on earth to chemical signaling on cell membranes. Meshfree methods have been shown to be effective for solving surface PDEs and are attractive alternatives to mesh-based methods such as finite differences/elements since they do not require a mesh and can be used for surfaces represented only by a point cloud. The dissertation is subdivided into two papers and software. In the first paper, we examine the performance and accuracy of two popular meshfree methods for surface PDEs:generalized moving least squares (GMLS) and radial basis function-finite differences (RBF-FD). While these methods are computationally efficient and can give high orders of accuracy for smooth problems, there are no published works that have systematically compared their benefits and shortcomings. We perform such a comparison by examining their convergence rates for approximating the surface gradient, divergence, and Laplacian on the sphere and a torus as the resolution of the discretization increases. We investigate these convergence rates also as the various parameters of the methods are changed. We also compare the overall efficiencies of the methods in terms of accuracy per computation cost. The second paper is focused on developing a novel meshfree geometric multilevel (MGM) method for solving linear systems associated with meshfree discretizations of elliptic PDEs on surfaces represented by point clouds. Multilevel (or multigrid) methods are efficient iterative methods for solving linear systems that arise in numerical PDEs. The key components for multilevel methods: \grid coarsening, restriction/ interpolation operators coarsening, and smoothing. The first three components present challenges for meshfree methods since there are no grids or mesh structures, only point clouds. To overcome these challenges, we develop a geometric point cloud coarsening method based on Poisson disk sampling, interpolation/ restriction operators based on RBF-FD, and apply Galerkin projections to coarsen the operator. We test MGM as a standalone solver and preconditioner for Krylov subspace methods on various test problems using RBF-FD and GMLS discretizations, and numerically analyze convergence rates, scaling, and efficiency with increasing point cloud resolution. We finish with several application problems. We conclude the dissertation with a description of two new software packages. The first one is our MGM framework for solving elliptic surface PDEs. This package is built in Python and utilizes NumPy and SciPy for the data structures (arrays and sparse matrices), solvers (Krylov subspace methods, Sparse LU), and C++ for the smoothers and point cloud coarsening. The other package is the RBFToolkit which has a Python version and a C++ version. The latter uses the performance library Kokkos, which allows for the abstraction of parallelism and data management for shared memory computing architectures. The code utilizes OpenMP for CPU parallelism and can be extended to GPU architectures