Preliminary survey of historic buildings with wearable mobile mapping systems and uav photogrammetry

In cultural heritage, three-dimensional documentation of historic buildings is fundamental for conservation and valorisation projects. In recent years, the consolidated tools and methods: Terrestrial Laser Scanning (TLS) and close-range photogrammetry, have been joined by portable Mobile Mapping Systems (MMSs), which can offer significant advantages in terms of speed of survey operations at the price of reduced accuracy. The reduction of survey times and, therefore, costs makes the application of MMS techniques ideal for the preliminary stages of analysis of historical artifacts, when a rapid survey is indispensable for estimating the costs of conservation interventions. In this paper, we present a methodology for the expeditious survey of historic buildings and the surrounding urban fabric that is based on the use of an MMS and an Unmanned Aerial Vehicle (UAV). The MMS is the Gexcel Heron MS Twin color. It was used to survey two architecture of interest and the urban context surrounding them from the ground level. The UAV is the DJI Mini 2, used to integrate the terrestrial survey by acquiring the buildings' roofs. The case study presented in the paper is the survey of San Clemente and San Zeno al Foro churches, two historic churches in the city centre of Brescia (Italy). The result are a complete point cloud of the two buildings and a metric virtual tour of all spaces. These results were made available to the architects through the Cintoo web platform to plan future activities

Recent evolution of the Punta San Matteo serac (Ortles-Cevedale Group, Italian Alps)

This paper summarizes the main results of surveys carried out on the Punta San Matteo serac (Ortles-Cevedale Group, Italy). The monitoring campaigns mainly consisted in surveying the serac with a Total Station (over the period from July 2005 to November 2005) and with a laser scanner. The displacements of the unstable ice mass (about 12 m) and its geometry and volume (about 560,000 m') have been calculated. In addition several photographs collected during the field campaigns made it possible to describe the evolution of this unstable ice mass and recorded its partial collapse and gradual breaking into tiny parts. The air temperature trend was also evaluated; the serac displacements resulted not strongly correlated with temperature evolution and the main falling events occurred in the autumn and not in summer when air temperature reached the highest peaks

High reliability of morphokinetic annotations among embryologists

Are morphokinetic measurements of time lapse-videos of human embryos comparable among operators? There is little variation among morphokinetic measurements taken by different operators when analyzing the same time lapse-videos of human embryos. Morphokinetic analysis of preimplantation embryo development is a complementary method of embryo assessment increasingly used in IVF laboratories. Time-lapse videos of embryo development are normally viewed by trained embryologists and annotated with the times when specific developmental events occur. Such annotations form the basis of embryo selection algorithms, used to rank the embryos for transfer. It is unknown whether the reliability of morphokinetic annotations is related to the morphological characteristics of the analyzed embryo or to the ability of the embryologists performing the annotation. One study so far reported the reliability of morphokinetic annotations among three embryologists using the time-lapse system (TLS), but larger studies with different setups are needed to address this issue further. A prospective study was carried out between October 2015 and June 2016. Six embryologists with various degrees of experience in static, morphology-based evaluation, individually annotated the same 93 videos of preimplantation development, corresponding to 18 IVF/ICSI cycles, recorded with a TLS. Times of second polar body extrusion, appearance and disappearance of pronuclei, and embryo cleavages (times from 2-cell to 5-cell stage: t2, t3, t4, t5) were annotated. Each embryologist was blinded to the annotations of the others. Intra- and inter-observer agreement was evaluated by computing intra-class correlation coefficients (ICCs). In the inter-observer analysis, most ICCs obtained were higher than 0.80, indicating a high level of agreement: t2: 0.93; t3: 0.80; t4: 0.89; t5: 0.89; disappearance of two pronuclei: 0.98. However, the ICCs obtained for second polar body extrusion and the appearance of two pronuclei annotations was lower: 0.51 and 0.63, respectively, indicating an average level of agreement. The ICCs obtained from the intra-observer analysis were also higher than 0.80 (t2: 0.96; t3: 0.89; t4: 0.88; t5: 0.86; disappearance of two pronuclei: 0.96). The ICCs obtained from second polar body extrusion and the appearance of two pronuclei annotations were 0.77 and 0.66, respectively. These results indicate that developmental timings, annotated in time-lapse videos, are highly reliable both within and among observers. The events at the developmental stages from 6-cells to blastocyst were not evaluated; since some morphokinetic algorithms use times past the 6-cell stage in their calculations, further studies should be carried out to understand the variations among observers in these cases. Time-lapse measurement should be as objective as possible, especially for the first embryo cleavages, because they are often measured to define algorithms to assess the embryonic implantation potential. Our results show that measurements using this particular TLS are consistent and reliable both within and among operators

SCAN-TO-BIM EFFICIENT APPROACH TO EXTRACT BIM MODELS FROM HIGH PRODUCTIVE INDOOR MOBILE MAPPING SURVEY

Building Information Modeling represents one of the most interesting developments in construction fields in the last 20 years. BIM process supports the creation of intelligent data that can be used throughout the life cycle of a construction project. Where a project involves a pre-existing structure, reality capture can provide the most critical information. The purpose of this paper is to describe an efficient approach to extract 3D models using high productive indoor Mobile Mapping Systems (iMMS) and an optimized scan-to-BIM workflow. The scan-to-BIM procedure allows reconstructing several elements within a digital environment preserving the features and reusing them in the development of the BIM project. The elaboration of the raw data acquired from the iMMS starts with the software HERON® Desktop where a SLAM algorithm runs and a 3D point cloud model is produced. The model is translated in the Gexcel Reconstructor® point cloud post processing software where a number of deliverables as orthophotos, blueprints and a filtered and optimized point cloud are obtained. In the proposed processing workflow, the data are introduced to Autodesk ReCap®, where the model can be edited and the final texturized point cloud model extracted. The identification and modeling of the 3D objects that compose the BIM model is realized in ClearEdge3D EdgeWiseTM and optimized in Autodesk Revit®. The data elaboration workflow implemented shows how an optimized data processing workflow allows making the scan-to-BIM procedure automatic and economically sustainable

TARGETLESS REGISTRATION METHODS BETWEEN UAV LIDAR AND WEARABLE MMS POINT CLOUDS

Fixed-wing Unmanned Aerial Vehicles (UAV) and wearable or portable Mobile Mapping Systems (MMS) are two widely used platforms for point cloud acquisition with Light Detection And Ranging (LiDAR) sensors. The two platforms acquire from distant viewpoints and produce complementary point clouds, one describing predominantly horizontal surfaces and the other primarily vertical. Thus, the registration of the two data is not straightforward. This paper presents a test of targetless registration between a UAV LiDAR point cloud and terrestrial MMS surveys. The case study is a vegetated hilly landscape characterized by the presence of a structure of interest; the UAV acquisition allows the entire area to be acquired from above, while the terrestrial MMS acquisitions will enable the construction of interest to be detailed. The paper describes the survey phase with both techniques. It focuses on processing and registration strategies to fuse the two data together. Our approach is based on the ICP (Iterative Closest Point) method by exploiting the data processing algorithms available in the Heron Desktop post-processing software for handling data acquired with the Heron Backpack MMS instrument. Two co-registration methods are compared. Both ways use the UAV point cloud as a reference and derive the registration of the terrestrial MMS data by finding ICP matches between the ground acquisition and the reference cloud exploiting only a few areas of overlap. The two methods are detailed in the paper, and both allow us to complete the co-registration task

From Fine- to Coarse-Grained Dynamic Information Flow Control and Back, a Tutorial on Dynamic Information Flow

This tutorial provides a complete and homogeneous account of the latestadvances in fine- and coarse-grained dynamic information-flow control (IFC)security. Since the 70s, the programming language and the operating systemcommunities have proposed different IFC approaches. IFC operating systems trackinformation flows in a coarse-grained fashion, at the granularity of a process.In contrast, traditional language-based approaches to IFC are fine-grained:they track information flows at the granularity of program variables. Fordecades, researchers believed coarse-grained IFC to be strictly less permissivethan fine-grained IFC -- coarse-grained IFC systems seem inherently lessprecise because they track less information -- and so granularity appeared tobe a fundamental feature of IFC systems. We show that the granularity of thetracking system does not fundamentally restrict how precise or permissivedynamic IFC systems can be. To this end, we mechanize two mostly standardlanguages, one with a fine-grained dynamic IFC system and the other with acoarse-grained dynamic IFC system, and prove a semantics-preserving translationfrom each language to the other. In addition, we derive the standard securityproperty of non-interference of each language from that of the other via ourverified translation. These translations stand to have important implicationson the usability of IFC approaches. The coarse- to fine-grained direction canbe used to remove the label annotation burden that fine-grained systems imposeon developers, while the fine- to coarse-grained translation shows thatcoarse-grained systems -- which are easier to design and implement -- can trackinformation as precisely as fine-grained systems and provides an algorithm forautomatically retrofitting legacy applications to run on existingcoarse-grained systems.<br

SURVEY OF HISTORICAL GARDENS: MULTI-CAMERA PHOTOGRAMMETRY VS MOBILE LASER SCANNING

This paper presents an investigation into the characterization of historical gardens by comparing two 3D survey methodologies. In this context, approaches employing terrestrial laser scanning are considered the most accurate, while Mobile Mapping Systems (MMSs) are considered promising due to their extreme productivity. Less common is the use of close-range photogrammetry. This paper compares two approaches based on the use of a wearable MMS and the use of an in-house built photogrammetric multi-camera prototype. The comparison aims to assess the applicability of the two techniques in this field, evaluating their advantages and disadvantages in surveying a historical garden and extracting information for tree inventory, such as the DBH (Diameter at Breast Height) and canopy footprint. We compared the practicality of surveying and processing operations; and the quality and characteristics of the point clouds obtained. Both systems produced a dense representation of the terrain. The multi-camera survey resulted to be more defined due to the lower noise of the point cloud but incomplete in the definition of tree canopies. DBH of tree trunks can be extracted with both systems, except for thinner and finer diameter trunks detected by the MMS approach but not always by the multi-camera. The MMS approach proved more effective thanks to a shorter survey time required to cover an equal area and the fact that the MMS survey alone is sufficient for the geometric description of trees. In contrast, the multi-camera approach cannot avoid integration with an aerial survey for canopy reconstruction

Paediatric non-alcoholic fatty liver disease: impact on patients and mothers' quality of life

Background: Non-alcoholic fatty liver disease (NAFLD) is one of the causes of fatty liver in adults and is currently the primary form of chronic liver disease in children and adolescents. However, the psychological outcome (i.e. the behavioural problems that can in turn be related to psychiatric conditions, like anxiety and mood disorders, or lower quality of life) in children and adolescents suffering of NAFLD has not been extensively explored in the literature. Objectives: The present study aims at evaluating the emotional and behavioural profile in children suffering from NAFLD and the quality of life in their mothers. Patients and Methods: A total of 57 children (18 females/39 males) with NAFLD were compared to 39 age-matched control children (25 females/14 males). All participants were submitted to the following psychological tools to assess behavior, mood, and anxiety: the Multidimensional Anxiety Scale for Children (MASC), the Child Behavior Checklist (CBCL), and the Children's Depression Inventory (CDI). Moreover, the mothers of 40 NAFLD and 39 control children completed the World Health Organization Quality of Life-BREF (WHOQOL-BREF) questionnaire. Results: NAFLD children scored significantly higher as compared to control children in MASC (P = 0.001) and CDI total (P &lt; 0.001) scales. The CBCL also revealed significantly higher scores for NAFLD children in total problems (P = 0.046), internalizing symptoms (P = 0.000) and somatic complaints (P &lt; 0.001). The WHOQOL-BREF revealed significantly lower scores for the mothers of NAFLD children in the overall perception of the quality of life (P &lt; 0.001), and in the "relationships" domain (P = 0.023). Conclusions: Increased emotional and behavioural problems were detected in children with NAFLD as compared to healthy control children, together with an overall decrease in their mothers' quality of life. These results support the idea that these patients may benefit from a psychological intervention, ideally involving both children and parents, whose quality of life is likely negatively affected by this disease

INDOOR MOBILE MAPPING SYSTEMS AND (BIM) DIGITAL MODELS FOR CONSTRUCTION PROGRESS MONITORING

Technological developments of the last decades are making possible to speed up different processes involved in construction projects. It is noticeable what building information modeling (BIM) can offer during the entire lifecycle of a project by integrating graphical and non graphical data, in addition to this, mapping the site with a 3D laser scan has been proved to provide a feasible workflow to compare as built models with as designed BIM, in this way, an automatic construction progress monitoring can also be performed. Terrestrial laser scanners (TLS) are commonly used to map a construction site due the level of accuracy provided, but indoor mobile mapping systems (iMMS) could offer a more efficient approach by speeding up the acquisition time and capturing all the details of the site just by walking through it, provided that the point cloud is accurate enough for the purpose of interest. In this paper, an iMMS is used to track the progress of a construction site, the point clouds were uploaded onto a platform of autonomous construction progress monitoring to verify if the system can meet the requirements of available applications. The results showed that the iMMS used is capable to produce point clouds with a quality such that the construction progress monitoring can be performed

PRELIMINARY SURVEY OF HISTORIC BUILDINGS WITH WEARABLE MOBILE MAPPING SYSTEMS AND UAV PHOTOGRAMMETRY

In cultural heritage, three-dimensional documentation of historic buildings is fundamental for conservation and valorisation projects. In recent years, the consolidated tools and methods: Terrestrial Laser Scanning (TLS) and close-range photogrammetry, have been joined by portable Mobile Mapping Systems (MMSs), which can offer significant advantages in terms of speed of survey operations at the price of reduced accuracy. The reduction of survey times and, therefore, costs makes the application of MMS techniques ideal for the preliminary stages of analysis of historical artifacts, when a rapid survey is indispensable for estimating the costs of conservation interventions.In this paper, we present a methodology for the expeditious survey of historic buildings and the surrounding urban fabric that is based on the use of an MMS and an Unmanned Aerial Vehicle (UAV). The MMS is the Gexcel Heron MS Twin color. It was used to survey two architecture of interest and the urban context surrounding them from the ground level. The UAV is the DJI Mini 2, used to integrate the terrestrial survey by acquiring the buildings' roofs. The case study presented in the paper is the survey of San Clemente and San Zeno al Foro churches, two historic churches in the city centre of Brescia (Italy).The result are a complete point cloud of the two buildings and a metric virtual tour of all spaces. These results were made available to the architects through the Cintoo web platform to plan future activities.</p