Ground Profile Recovery from Aerial 3D LiDAR-based Maps

The paper presents the study and implementation of the ground detection methodology with filtration and removal of forest points from LiDAR-based 3D point cloud using the Cloth Simulation Filtering (CSF) algorithm. The methodology allows to recover a terrestrial relief and create a landscape map of a forestry region. As the proof-of-concept, we provided the outdoor flight experiment, launching a hexacopter under a mixed forestry region with sharp ground changes nearby Innopolis city (Russia), which demonstrated the encouraging results for both ground detection and methodology robustness.Comment: 8 pages, FRUCT-2019 conferenc

Transition Contour Synthesis with Dynamic Patch Transitions

In this article, we present a novel approach for modulating the shape of transitions between terrain materials to produce detailed and varied contours where blend resolution is limited. Whereas texture splatting and blend mapping add detail to transitions at the texel level, our approach addresses the broader shape of the transition by introducing intermittency and irregularity. Our results have proven that enriched detail of the blend contour can be achieved with a performance competitive to existing approaches without additional texture, geometry resources, or asset preprocessing. We achieve this by compositing blend masks on-the-fly with the subdivision of texture space into differently sized patches to produce irregular contours from minimal artistic input. Our approach is of particular importance for applications where GPU resources or artistic input is limited or impractical

Theoretical Lidar Point Density for Topographic Mapping in the Largest Scales

When ordering LiDAR data, LiDAR point density per surface unit is important information with decisive influence on the price of the LiDAR survey. The paper first deals with the theoretical calculation of the minimum LiDAR point density, necessary for the acquisition of topographic data of the largest scales. For this purpose the sampling theorem is used. However, since topographic objects (roads, water bodies, etc.) and phenomena represented on topographic maps and in topographic bases are in many cases located under vegetation, also the rate of laser beam penetration through vegetation for the area where the topographic data are to be gathered has to be known. In a research on a test case conducted in the area of the town Nova Gorica we calculated the rate of laser beam penetration for four different vegetation types: scarce Mediterranean vegetation, thick thermophilic deciduous forest, mixed vegetation (meadows, orchards and forest) and built-up area. By connecting the theoretic minimum LiDAR point density with the rate of penetration, we defined the minimum LiDAR point density for the needs of data acquisition on topographic maps of the largest scales or in topographic bases of comparable detail (from 1 : 1000 to 1 : 10,000)

A framework for digital sunken relief generation based on 3D geometric models

Sunken relief is a special art form of sculpture whereby the depicted shapes are sunk into a given surface. This is traditionally created by laboriously carving materials such as stone. Sunken reliefs often utilize the engraved lines or strokes to strengthen the impressions of a 3D presence and to highlight the features which otherwise are unrevealed. In other types of reliefs, smooth surfaces and their shadows convey such information in a coherent manner. Existing methods for relief generation are focused on forming a smooth surface with a shallow depth which provides the presence of 3D figures. Such methods unfortunately do not help the art form of sunken reliefs as they omit the presence of feature lines. We propose a framework to produce sunken reliefs from a known 3D geometry, which transforms the 3D objects into three layers of input to incorporate the contour lines seamlessly with the smooth surfaces. The three input layers take the advantages of the geometric information and the visual cues to assist the relief generation. This framework alters existing techniques in line drawings and relief generation, and then combines them organically for this particular purpose

The Impact of Acoustic Imaging Geometry on the Fidelity of Seabed Bathymetric Models

Attributes derived from digital bathymetric models (DBM) are a powerful means of analyzing seabed characteristics. Those models however are inherently constrained by the method of seabed sampling. Most bathymetric models are derived by collating a number of discrete corridors of multibeam sonar data. Within each corridor the data are collected over a wide range of distances, azimuths and elevation angles and thus the quality varies significantly. That variability therefore becomes imprinted into the DBM. Subsequent users of the DBM, unfamiliar with the original acquisition geometry, may potentially misinterpret such variability as attributes of the seabed. This paper examines the impact on accuracy and resolution of the resultant derived model as a function of the imaging geometry. This can be broken down into the range, angle, azimuth, density and overlap attributes. These attributes in turn are impacted by the sonar configuration including beam widths, beam spacing, bottom detection algorithms, stabilization strategies, platform speed and stability. Superimposed over the imaging geometry are residual effects due to imperfect integration of ancillary sensors. As the platform (normally a surface vessel), is moving with characteristic motions resulting from the ocean wave spectrum, periodic residuals in the seafloor can become imprinted that may again be misinterpreted as geomorphological information

Non-Euclidean geometry in nature

I describe the manifestation of the non-Euclidean geometry in the behavior of collective observables of some complex physical systems. Specifically, I consider the formation of equilibrium shapes of plants and statistics of sparse random graphs. For these systems I discuss the following interlinked questions: (i) the optimal embedding of plants leaves in the three-dimensional space, (ii) the spectral statistics of sparse random matrix ensembles.Comment: 52 pages, 21 figures, last section is rewritten, a reference to chaotic Hamiltonian systems is adde

Pattern-induced anchoring transitions in nematic liquid crystals

In this paper we revisit the problem of a nematic liquid crystal in contact with patterned substrates. The substrate is modelled as a periodic array of parallel infinite grooves of well-defined cross section sculpted on a chemically homogeneous substrate which favors local homeotropic anchoring of the nematic. We consider three cases: a sawtooth, a crenellated and a sinusoidal substrate. We analyse this problem within the modified Frank-Oseen formalism. We argue that, for substrate periodicities much larger than the extrapolation length, the existence of different nematic textures with distinct far-field orientations, as well as the anchoring transitions between them, are associated with the presence of topological defects either on or close to the substrate. For the sawtooth and sinusoidal case, we observe a homeotropic to planar anchoring transition as the substrate roughness is increased. On the other hand, a homeotropic to oblique anchoring transition is observed for crenellated substrates. In this case, the anchoring phase diagram shows a complex dependence on the substrate roughness and substrate anchoring strength.Comment: 36 pages, 15 figures, revised version submitted to Journal of Physics: Condensed Matte