3D Reconstruction & Assessment Framework based on affordable 2D Lidar

Lidar is extensively used in the industry and mass-market. Due to its measurement accuracy and insensitivity to illumination compared to cameras, It is applied onto a broad range of applications, like geodetic engineering, self driving cars or virtual reality. But the 3D Lidar with multi-beam is very expensive, and the massive measurements data can not be fully leveraged on some constrained platforms. The purpose of this paper is to explore the possibility of using cheap 2D Lidar off-the-shelf, to preform complex 3D Reconstruction, moreover, the generated 3D map quality is evaluated by our proposed metrics at the end. The 3D map is constructed in two ways, one way in which the scan is performed at known positions with an external rotary axis at another plane. The other way, in which the 2D Lidar for mapping and another 2D Lidar for localization are placed on a trolley, the trolley is pushed on the ground arbitrarily. The generated maps by different approaches are converted to octomaps uniformly before the evaluation. The similarity and difference between two maps will be evaluated by the proposed metrics thoroughly. The whole mapping system is composed of several modular components. A 3D bracket was made for assembling of the Lidar with a long range, the driver and the motor together. A cover platform made for the IMU and 2D Lidar with a shorter range but high accuracy. The software is stacked up in different ROS packages.Comment: 7 pages, 9 Postscript figures. Accepted by 2018 IEEE International Conference on Advanced Intelligent Mechatronic

Heritage Recording and 3D Modeling with Photogrammetry and 3D Scanning

The importance of landscape and heritage recording and documentation with optical remote sensing sensors is well recognized at international level. The continuous development of new sensors, data capture methodologies and multi-resolution 3D representations, contributes significantly to the digital 3D documentation, mapping, conservation and representation of landscapes and heritages and to the growth of research in this field. This article reviews the actual optical 3D measurement sensors and 3D modeling techniques, with their limitations and potentialities, requirements and specifications. Examples of 3D surveying and modeling of heritage sites and objects are also shown throughout the paper

Development of a reconstruction quality metric for optical three-dimensional measurement systems in use for hot-state measurement object

Optical three-dimensional (3-D) geometry measurements are state of the art when it comes to contactless quality control and maintenance of the shape of technical components that exclude tactile measurements due to filigree or internal structures. Optical inspection methods are also characterized by a fast and high-resolution 3-D inspection of complex geometries. And due to their noncontact principle, they can carry out measurements in places that would otherwise not be accessible due to harsh environmental conditions or specimens such as hot forged parts. However, there are currently no methods to estimate the reconstruction quality for the optical 3-D geometry measurements of hot objects. The mainly used geometric measurement standards cannot be used for the characterization of hot measurements since the calibrated geometrical values are not transferable to high temperatures. For the development of such a metric, we present the fundamentals of the concepts and algorithms for an estimation of the reconstruction quality are presented and evaluated using a two-dimensional simulation model. The generated findings were applied to the 3-D geometry measurement of a hot object in a laboratory environment. The results are compared with general state-of-the-art reconstruction quality metrics

Fuentes de color mejoradas para el modelado tridimensional de artefactos arqueológicos de tamaño medio localizados in situ.

[EN] The paper describes a color enhanced processing system - applied as case study on an artifact of the Pompeii archaeological area - developed in order to enhance different techniques for reality-based 3D models construction and visualization of archaeological artifacts. This processing allows rendering reflectance properties with perceptual fidelity on a consumer display and presents two main improvements over existing techniques: a. the color definition of the archaeological artifacts; b. the comparison between the range-based and photogrammetry-based pipelines to understand the limits of use and suitability to specific objects.[ES] El documento describe un sistema mejorado de procesamiento de color, aplicado como caso de estudio sobre un artefacto de la zona arqueológica de Pompeya. Este sistema se ha desarrollado con la finalidad de mejorar las diferentes técnicas para la construcción de modelos 3D basados sobre datos de la realidad y para la visualización de artefactos arqueológicos. Este proceso permite visualizar las propiedades de reflectancia con fidelidad perceptible en una pantalla de usuario y presenta dos mejoras principales respecto a las técnicas existentes:a. la definición del color de los artefactos arqueológicos;b. la comparación entre los flujos de trabajo basados en range-based-modeling y en fotogrametría, para entender los límites de uso y la adecuación a los objetos específicos.Apollonio, FI.; Ballabeni, M.; Gaiani, M. (2014). Color enhanced pipelines for reality-based 3D modeling of on site medium sized archeological artifacts. Virtual Archaeology Review. 5(10):59-76. https://doi.org/10.4995/var.2014.4218OJS5976510AGISOFT PHOTOSCAN (2014), http://www.agisoft.ru.ALLEN P., FEINER S., et al. 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(2010): "Issues in Acquiring, Processing and Visualizing Large and Detailed 3D Models", in Information Sciences and Systems (CISS), 44th Annual Conference on, pp.1-6. http://dx.doi.org/10.1109/ciss.2010.5464966GONIZZI BARSANTI S., MICOLI L.L., GUIDI G. (2013a): "Quick textured mesh generation for massive 3D digitization of museum artifacts", in DigitalHeritage 2013, Vol. 1, pp. 197-200.GONIZZI BARSANTI S., REMONDINO F., VISINTINI D. (2013b): "3D surveying and modeling of archaeological sites - some critical issues", in ISPRS Ann. Photogramm. Remote Sens., Vol. II-5/W1, 2013, pp. 145-150.GRUSSENMEYER P., LANDES T., et al. (2008): "Comparison methods of terrestrial laser scanning, photogrammetry and tacheometry data for recording of cultural heritage buildings", in ISPRS Arch. Photogramm. Remote Sens., Vol. XXXVII/W5, pp. 213-218.GUARNIERI A., REMONDINO F., VETTORE A. (2006): "Digital photogrammetry and TLS data fusion applied to Cultural Heritage 3D modeling", in ISPRS Arch., Vol. XXXVI/W6, pp. 6.HAPPA J., BASHFORD-ROGERS T., et al. (2012): "Cultural Heritage Predictive Rendering", in Computer Graphics Forum, Vol. 31, N. 6, 2012, pp. 1823-1836. http://dx.doi.org/10.1111/j.1467-8659.2012.02098.xHIRSCHMÜLLER H. (2005): "Accurate and efficient stereo processing by semi-global matching and mututal information", in CVPR 2005 proceedings, Vol. 2, pp. 807-814.HIRSCHMUELLER H. (2008): "Stereo processing by semi- global matching and mutual information", in IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 30, N. 2, pp. 328-41. http://dx.doi.org/10.1109/TPAMI.2007.1166KARSIDAG G., ALKAN R.M. 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The bust o Francesco II Gonzaga: from digital documentation to 3d printing

Geomatics technics and methods are now able to provide a great contribution to the Cultural Heritage (CH) processes, being adaptable to different purposes: management, diagnosis, restoration, protection, study and research, communication, formation and fruition of the Cultural Heritage. This experimentation was done with an eye to encouraging and promoting the development of principles and good practices for recording, documentation and information management of cultural heritage This research focuses on the documentation path of a cultural asset, in particular a Renaissance statue, aimed to achieve a three dimensional model useful for many digital applications and for solid reproduction. The digital copy can be used in many contexts and represents an efficient tool to preserve and promote CH. It can be included in virtual museum archives and catalogues, shared on network with cultural operators and users, and it permits the contextualization of the asset in its artistic and historical background. Moreover, the possibility to obtain a hard copy, reproduced through 3D printing, allows to reach new opportunities of interaction with CH. In this article, two techniques for the digitization of the terracotta bust of Francesco II Gonzaga, in the City Museum of Mantua, are described: the triangulation scanner and dense image matching photogrammetry. As well as the description of the acquisition and the elaborations, other aspects are taken into account: the characteristics of the object, the place for the acquisition, the ultimate goal and the economic availability. There are also highlighted the optimization pipeline to get the correct three-dimensional models and a 3D printed copy. A separate section discusses the comparison of the realized model to identify the positive and negative aspects of each adopted application

A Safety System based on Bluetooth Low Energy (BLE) to prevent the misuse of Personal Protection Equipment (PPE) in construction

In this paper we address the issue of safety in the use of Personal Protection Equipment (PPE) in construction, industrial, or similar sites where power tools are used. We propose a novel solution that can control actively the power of the tool depending on the worker–tool distance. It is based on RSSI information transmitted by BLE devices arranged in a particular rig, combined with a Bayesian distance estimator. Such an approach minimizes the required instrumentation of the workplace and also the number of configuration parameters; therefore it enables a wide range of applications. Our aim is not only to signal risky situations caused by the misuse of the PPE (either due to its bad fitting or a wrong distance to the tool), but to intervene in a fast and robust way to avoid the safety risk. This solution is built upon previous results on the statistically sound measurement of distances and closeness in construction sites. Here, we contribute with a thorough analysis of collocating several BLE transmitters near orthogonally, which reduces interferences while avoiding the cost of more advanced technologies. We study how many transmitters are needed and what parameters are the best in the Bayesian filter for the optimal performance of the system. Real experiments with a prototype have been conducted in a construction workshop where a person operates a miter saw. The results show how the correct use of the PPE (an earmuff equipped with the BLE transmitters) can be inferred from the distance estimation in a robust and reliable way.This research received funding from Plan Propio-Universidad de Málaga and it is associated to the Proyecto Puente “Integración de dispositivos basados en el paradigma loT para la mejora de seguridad laboral en proyectos de contrucción (IoTcons)”. Funding for open access charge: Universidad de Málaga / CBU

On the popularization of digital close-range photogrammetry: a handbook for new users.

Εθνικό Μετσόβιο Πολυτεχνείο--Μεταπτυχιακή Εργασία. Διεπιστημονικό-Διατμηματικό Πρόγραμμα Μεταπτυχιακών Σπουδών (Δ.Π.Μ.Σ.) “Γεωπληροφορική

Simulation-based Planning of Machine Vision Inspection Systems with an Application to Laser Triangulation

Nowadays, vision systems play a central role in industrial inspection. The experts typically choose the configuration of measurements in such systems empirically. For complex inspections, however, automatic inspection planning is essential. This book proposes a simulation-based approach towards inspection planning by contributing to all components of this problem: simulation, evaluation, and optimization. As an application, inspection of a complex cylinder head by laser triangulation is studied

Intraoperative Endoscopic Augmented Reality in Third Ventriculostomy

In neurosurgery, as a result of the brain-shift, the preoperative patient models used as a intraoperative reference change. A meaningful use of the preoperative virtual models during the operation requires for a model update. The NEAR project, Neuroendoscopy towards Augmented Reality, describes a new camera calibration model for high distorted lenses and introduces the concept of active endoscopes endowed with with navigation, camera calibration, augmented reality and triangulation modules