MAPEAMENTO 3D DE AMBIENTES INTERNOS USANDO DADOS RGB-D

Neste trabalho é introduzido um fluxo de mapeamento 3D de ambientes internos usando dados RGB-D. O método explora a integração de imagens RGB e valores de profundidade oriundos do dispositivo Kinect. Cinco etapas principais envolvidas no desenvolvimento do método proposto são discutidas. A primeira etapa trata da detecção de pontos no par de imagens RGB e o estabelecimento automático das correspondências. Na segunda etapa do método é proposto uma normalização das imagens RGB e IR para associar os pontos homólogos encontrados no par de imagens RGB e seus correspondentes na imagem de profundidade. Na terceira etapa as coordenadas XYZ de cada ponto são calculadas. Em seguida, são calculados os parâmetros de transformação entre os pares de nuvem de pontos 3D. Finalmente, é proposto um modelo linear para a análise da consistência global. Para avaliar a eficiência e potencialidade do método proposto foram realizados quatro experimentos em ambientes internos. Uma avaliação da acurácia relativa da trajetória do sensor mostrou erros no registro de pares de nuvens de pontos em torno de 3,0 cm

Implications of spectral and spatial features to improve the identification of specific classes

Dimensionality is one of the greatest challenges when deciphering hyperspectral imaging data. Although the multiband nature of the data is beneficial, algorithms are faced with a high computational load and statistical incompatibility due to the insufficient number of training samples. This is a hurdle to downstream applications. The combination of dimensionality and the real-world scenario of mixed pixels makes the identification and classification of imaging data challenging. Here, we address the complications of dimensionality using specific spectral indices from band combinations and spatial indices from texture measures for classification to better identify the classes. We classified spectral and combined spatial–spectral data and calculated measures of accuracy and entropy. A reduction in entropy and an overall accuracy of 80.50% was achieved when using the spectral–spatial input, compared with 65% for the spectral indices alone and 59.50% for the optimally determined principal components

An evaluation framework for benchmarking indoor modelling methods

Despite recent progress in the development of methods for automated reconstruction of indoor models, a comparative performance evaluation of these methods is not available due to the lack of publicly available benchmark datasets and a common evaluation framework. The ISPRS Benchmark on Indoor Modelling is an effort to enable comparison and benchmarking of indoor modelling methods by providing a benchmark dataset and a comprehensive evaluation framework. In this paper, we propose a framework for the evaluation of indoor modelling methods, and discuss various quality aspects of the reconstruction methods as well as the reconstructed models. We discuss the challenges in quantitative quality evaluation of indoor models through comparison with a reference model, and propose suitable measures and methods for comparing an automatically reconstructed indoor model with a reference.Xunta de Galicia | Ref. ED481B 2016/079-

3D mapping of indoor and outdoor environments using apple smart devices

Recent integration of LiDAR into smartphones opens up a whole new world of possibilities for 3D indoor/outdoor mapping. Although these new systems offer an unprecedent opportunity for the democratization in the use of scanning technology, data quality is lower than data captured from high-end LiDAR sensors. This paper is focused on discussing the capability of recent Apple smart devices for applications related with 3D mapping of indoor and outdoor environments. Indoor scenes are evaluated from a reconstruction perspective, and three geometric aspects (local precision, global correctness, and surface coverage) are considered using data captured in two adjacent rooms. Outdoor environments are analysed from a mobility point of view, and elements defining the physical accessibility in building entrances are considered for evaluation.Xunta de Galicia | Ref. ED481B-2019-061Xunta de Galicia | Ref. ED431C 2020/01Ministerio de Ciencia e Innovación | Ref. PID2019-105221RB-C43Ministerio de Ciencia e Innovación | Ref. RYC2020-029193-

Assessment of Relative Accuracy of AHN-2 Laser Scanning Data Using Planar Features

AHN-2 is the second part of the Actueel Hoogtebestand Nederland project, which concerns the acquisition of high-resolution altimetry data over the entire Netherlands using airborne laser scanning. The accuracy assessment of laser altimetry data usually relies on comparing corresponding tie elements, often points or lines, in the overlapping strips. This paper proposes a new approach to strip adjustment and accuracy assessment of AHN-2 data by using planar features. In the proposed approach a transformation is estimated between two overlapping strips by minimizing the distances between points in one strip and their corresponding planes in the other. The planes and the corresponding points are extracted in an automated segmentation process. The point-to-plane distances are used as observables in an estimation model, whereby the parameters of a transformation between the two strips and their associated quality measures are estimated. We demonstrate the performance of the method for the accuracy assessment of the AHN-2 dataset over Zeeland province of The Netherlands. The results show vertical offsets of up to 4 cm between the overlapping strips, and horizontal offsets ranging from 2 cm to 34 cm

Automated localization of a laser scanner in indoor environments using planar objects

Abstract — A method is presented for automated localization of a laser scanner in indoor environments by matching planar features extracted from range data. Plane correspondences are used in a linear least-squares adjustment model to estimate the relative scanner positions in consecutive scans. The performance of the method is demonstrated using two datasets of building interiors. Accuracy assessment of the computed positions shows localization errors of a few centimeters. Keywords—Navigation; plane matching; search; registration. I

Sensors for Parking Occupancy Detection

This chapter provides an overview of sensor technologies and methodologies for determining the occupancy of parking spaces. It covers a range of sensors including active and passive sensors that can be installed overhead, in or on the ground in both indoor and outdoor environments. The chapter also provides a comparison of sensors, and discusses considerations for sensor selection and open challenges in parking occupancy detection.1321421