Underwater 3D measurements with advanced camera modelling

A novel concept of camera modelling for underwater 3D measurements based on stereo camera utilisation is introduced. The geometrical description of the ray course subject to refraction in underwater cameras is presented under assumption of conditions, which are typically satisfied or can be achieved approximately. Possibilities of simplification are shown, which allow an approximation of the ray course by classical pinhole modelling. It is shown how the expected measurement errors can be estimated, as well as its influence on the expected 3D measurement result. Final processing of the 3D measurement data according to the requirements regarding accuracy is performed using several kinds of refinement. For example, calibration parameters can be refined, or systematic errors can be decreased by subsequent compensation by suitable error correction functions. Experimental data of simulations and real measurements obtained by two different underwater 3D scanners are presented and discussed. If inverse image magnification is larger than about one hundred, remaining errors caused by refraction effects can be usually neglected and the classical pinhole model can be used for stereo camera-based underwater 3D measurement systems

A New Sensor System for Accurate 3D Surface Measurements and Modeling of Underwater Objects

Featured Application A potential application of the work is the underwater 3D inspection of industrial structures, such as oil and gas pipelines, offshore wind turbine foundations, or anchor chains. Abstract A new underwater 3D scanning device based on structured illumination and designed for continuous capture of object data in motion for deep sea inspection applications is introduced. The sensor permanently captures 3D data of the inspected surface and generates a 3D surface model in real time. Sensor velocities up to 0.7 m/s are directly compensated while capturing camera images for the 3D reconstruction pipeline. The accuracy results of static measurements of special specimens in a water basin with clear water show the high accuracy potential of the scanner in the sub-millimeter range. Measurement examples with a moving sensor show the significance of the proposed motion compensation and the ability to generate a 3D model by merging individual scans. Future application tests in offshore environments will show the practical potential of the sensor for the desired inspection tasks

Mobile 3D sensor for documenting maintenance processes of large complex structures

With the new handheld goSCOUT3D sensor system, the entire surface of complex industrial machinery spanning several meters can be captured three-dimensionally within a matter of minutes. In addition, a comprehensive photo collection is registered and precisely assigned to the corresponding 3D object points in one hybrid 2D/3D model. At the basis of the robust 3D digitization are the measuring principles of photogrammetric reconstruction using a high-resolution color camera and simultaneous localization and imaging using a tracking unit. Following image acquisition, the process leading to generation of the complete hybrid model is fully automated. Under continuous movement of the sensor head, up to six images per second and a total of up to several thousand images can be recorded. Those images are then aligned in 3D space and used to reconstruct the 3D model. Results regarding accuracy measurements are presented as well as application examples of digitized technical machinery under maintenance and inspection

TRANSMISSION OF SIGNALS FROM RATS RECEIVING HIGH DOSES OF MICROBEAM RADIATION TO CAGE MATES: AN INTER-MAMMAL BYSTANDER EFFECT

Inter-animal signaling from irradiated to non-irradiated organisms has been demonstrated for whole body irradiated mice and also for fish. The aim of the current study was to look at radiotherapy style limited exposure to part of the body using doses relevant in preclinical therapy. High dose homogenous field irradiation and the use of irradiation in the microbeam radiation therapy mode at the European Synchrotron Radiation Facility (ESRF) at Grenoble was tested by giving high doses to the right brain hemisphere of the rat. The right and left cerebral hemispheres and the urinary bladder were later removed to determine whether abscopal effects could be produced in the animals and also whether effects occurred in cage mates housed with them. The results show strong bystander signal production in the contra-lateral brain hemisphere and weaker effects in the distant bladder of the irradiated rats. Signal strength was similar or greater in each tissue in the cage mates housed for 48hrs with the irradiated rats. Our results support the hypothesis that proximity to an irradiated animal induces signalling changes in an unirradiated partner. If similar signaling occurs between humans, the results could have implications for caregivers and hospital staff treating radiotherapy patients

Compact handheld fringe projection based underwater 3D-scanner

A new, fringe projection based compact handheld 3D scanner for the surface reconstruction of measurement objects under water is introduced. The weight of the scanner is about 10 kg and can be used in a water depth of maximal 40 metres. A measurement field of about 250 mm x 200 mm is covered under water, and the lateral resolution of the measured object points is about 150 μm. Larger measurement objects can be digitized in a unique geometric model by merging subsequently recorded datasets. The recording time for one 3D scan is a third of a second. The projection unit for the structured illumination of the scene as well as the computer for device control and measurement data analysis are included into the scanners housing. A display on the backside of the device realizes the graphical presentation of the current measurement data. It allows the user to evaluate the quality of the measurement result in real-time already during the recording of the measurement under water. For the calibration of the underwater scanner a combined method of air- and water-calibration was developed which needs only a few recorded underwater images of a plane surface and an object with known lengths. First measurement results obtained with the new scanner are presented

CT colonography: size reduction of submerged colorectal polyps due to electronic cleansing and CT-window settings.

OBJECTIVES: To assess whether electronic cleansing (EC) of tagged residue and different computed tomography (CT) windows influence the size of colorectal polyps in CT colonography (CTC). METHODS: A database of 894 colonoscopy-validated CTC datasets of a low-prevalence cohort was retrospectively reviewed to identify patients with polyps ≥6 mm that were entirely submerged in tagged residue. Ten radiologists independently measured the largest diameter of each polyp, two-dimensionally, before and after EC in colon, bone, and soft-tissue-windows, in randomised order. Differences in size and polyp count before and after EC were calculated for size categories ≥6 mm and ≥10 mm. Statistical testing involved 95% confidence interval, intraclass correlation and mixed-model ANOVA. RESULTS: Thirty-seven patients with 48 polyps were included. Mean polyp size before EC was 9.8 mm in colon, 9.9 mm in bone and 8.2 mm in soft-tissue windows. After EC, the mean polyp size decreased significantly to 9.4 mm in colon, 9.1 mm in bone and 7.1 mm in soft-tissue windows. Compared to unsubtracted colon windows, EC, performed in colon, bone and soft-tissue windows, led to a shift of 6 (12,5%), 10 (20.8%) and 25 (52.1%) polyps ≥6 mm into the next smaller size category, thus affecting patient risk stratification. CONCLUSIONS: EC and narrow CT windows significantly reduce the size of polyps submerged in tagged residue. Polyp measurements should be performed in unsubtracted colon windows. KEY POINTS: • EC significantly reduces the size of polyps submerged in tagged residue. • Abdominal CT-window settings significantly underestimate 2D sizes of submerged polyps. • Size reduction in EC is significantly greater in narrow than wide windows. • Underestimation of polyp size due to EC may lead to inadequate treatment. • Polyp measurements should be performed in unsubtracted images using a colon window

High-Precision Radiosurgical Dose Delivery by Interlaced Microbeam Arrays of High-Flux Low-Energy Synchrotron X-Rays

Microbeam Radiation Therapy (MRT) is a preclinical form of radiosurgery dedicated to brain tumor treatment. It uses micrometer-wide synchrotron-generated X-ray beams on the basis of spatial beam fractionation. Due to the radioresistance of normal brain vasculature to MRT, a continuous blood supply can be maintained which would in part explain the surprising tolerance of normal tissues to very high radiation doses (hundreds of Gy). Based on this well described normal tissue sparing effect of microplanar beams, we developed a new irradiation geometry which allows the delivery of a high uniform dose deposition at a given brain target whereas surrounding normal tissues are irradiated by well tolerated parallel microbeams only. Normal rat brains were exposed to 4 focally interlaced arrays of 10 microplanar beams (52 µm wide, spaced 200 µm on-center, 50 to 350 keV in energy range), targeted from 4 different ports, with a peak entrance dose of 200Gy each, to deliver an homogenous dose to a target volume of 7 mm3 in the caudate nucleus. Magnetic resonance imaging follow-up of rats showed a highly localized increase in blood vessel permeability, starting 1 week after irradiation. Contrast agent diffusion was confined to the target volume and was still observed 1 month after irradiation, along with histopathological changes, including damaged blood vessels. No changes in vessel permeability were detected in the normal brain tissue surrounding the target. The interlacing radiation-induced reduction of spontaneous seizures of epileptic rats illustrated the potential pre-clinical applications of this new irradiation geometry. Finally, Monte Carlo simulations performed on a human-sized head phantom suggested that synchrotron photons can be used for human radiosurgical applications. Our data show that interlaced microbeam irradiation allows a high homogeneous dose deposition in a brain target and leads to a confined tissue necrosis while sparing surrounding tissues. The use of synchrotron-generated X-rays enables delivery of high doses for destruction of small focal regions in human brains, with sharper dose fall-offs than those described in any other conventional radiation therapy