In this article, a traversing door methodology for building scanning mobile platforms is proposed. The problem of passing through open/closeddoors entails several actions that can be implemented by processing3d info...
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In this article, a traversing door methodology for building scanning mobile platforms is proposed. The problem of passing through open/closeddoors entails several actions that can be implemented by processing3d information provided by dense 3d laser scanners. Our robotized platform, denominated as MoPAd (Mobile Platform for Autonomous digitization), has been designed to collect dense 3ddata and generate basic architectural models of the interiors of buildings. Moreover, the system identifies the doors of the room, recognises their respective states (open, closed or semi-closed) and completes the aforementioned3d model, which is later integrated into the robot global planning system. This document is mainly focused on describing how the robot navigates towards the exit door and passes to a contiguous room. The steps of approaching, door-handle recognition/positioning and handle-robot arm interaction (in the case of a closeddoor) are shown in detail. This approach has been tested using our MoPAd platform on the floors of buildings composed of several rooms in the case of open doors. For closeddoors, the solution has been formulated, modeled and successfully tested in the Gazebo robot simulation tool by using a 4dOF robot arm on board MoPAd. The excellent results yielded in both cases lead us to believe that our solution could be implemented/adapted to other platforms and robot arms.
The paper presents the results of research carried out by an interdisciplinary team at the SAd in Ascoli Piceno in collaboration with MiBACT to verify the seismic safety of national museums. The object of study was th...
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The paper presents the results of research carried out by an interdisciplinary team at the SAd in Ascoli Piceno in collaboration with MiBACT to verify the seismic safety of national museums. The object of study was the Rocca Roveresca Fortress complex in Senigallia (Marche, Italy), a unique example of a small 14th-century fortress shaped by a series of successive modifications. It currently houses a national museum. An integrated survey based on the acquisition of 3d laser-scanner data and endoscopic investigation was necessary to outline the traces of the stratifications and therefore to obtain different high-and low-poly 3d models useful for different purposes. The main objective was to propose an ideal workflow in developing 3d models that are useful for finite element method (FEM) analysis to detect hidden vulnerabilities in the fortress by evaluating the behaviour of several substructures in the walls.
This paper presents a system that provides dense thermal 3d point clouds as a preliminary step towards generating Thermal Building Information Models (TBIM). The system is a fusion of three sensors: a 3d laser scanner...
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ISBN:
(纸本)9781509010134
This paper presents a system that provides dense thermal 3d point clouds as a preliminary step towards generating Thermal Building Information Models (TBIM). The system is a fusion of three sensors: a 3d laser scanner, an RGB camera and a thermal camera which are integrated under the same framework. The methodology and the calibration system have got novel aspects that improve the accuracy and soundness of earlier proposals. Additionally, the approach is able to obtain the whole 3d thermal map of the visible space in building indoors, issue that has not been totally solved yet. The system has been tested on large indoor scenarios with promising results.
This paper details the world's first live 3d holographic (diffractive) video call using off-the-shelf hardware. We introduce a novel pipeline that facilitates the capture, processing, and transmission of RGBZ data...
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This paper details the world's first live 3d holographic (diffractive) video call using off-the-shelf hardware. We introduce a novel pipeline that facilitates the capture, processing, and transmission of RGBZ data, using an iPhone for image anddepth capture with VividQ's SdK for hologram generation and hardware for display.
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