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Robust normal estimation and region growing segmentation of infrastructure 3d point cloud models

AdVANCEd ENGINEERING INFORMATICS 2017年 34卷 1-16页

作者： Khaloo, Ali Lattanzi, david George Mason Univ Dept Civil Environm & Infrastruct Engn Fairfax VA 22030 USA

Modern remote sensing technologies such as three-dimensional (3d) laser scanners and image-based 3d scene reconstruction are in increasing demand for applications in civil infrastructure design, maintenance, operation, and as-built construction verification. The complex nature of the 3d point clouds these technologies generate, as well as the often massive scale of the 3d data, make it inefficient and time consuming to manually analyze and manipulate point clouds, and highlights the need for automated analysis techniques. This paper presents one such technique, a new region growing algorithm for the automated segmentation of both planar and non-planar surfaces in point clouds. A core component of the algorithm is a new point normal estimation method, an essential task for many point cloud processing algorithms. The newly developed estimation method utilizes robust multivariate statistical outlier analysis for reliable normal estimation in complex 3d models, considering that these models often contain regions of varying surface roughness, a mixture of high curvature and low curvature regions, and sharp features. An adaptation of Mahalanobis distance, in which the mean vector and covariance matrix are derived from a high-breakdown multivariate location and scale estimator called deterministic MM-estimator (detMM) is used to find and discard outlier points prior to estimating the best local tangent plane around any point in a cloud. This approach is capable of more accurately estimating point normals located in highly curved regions or near sharp features. Thereafter, the estimated point normals serve a region growing segmentation algorithm that only requires a single input parameter, an improvement over existing methods which typically require two control parameters. The reliability and robustness of the normal estimation subroutine was compared against well-known normal estimation methods including the Minimum Volume Ellipsoid (MVE) and Minimum Covariance determinant

关键词： Segmentation 3d point cloud models Robust estimation Outliers 3d reconstruction Computer vision Normal estimation 3d data processing

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Autonomous Scanning of Structural Elements in Buildings 1

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21st Iberoamerican Congress on Pattern Recognition (CIARP)

作者： Quintana, B. Prieto, S. A. Adan, A. Vazquez, A. S. Univ Castilla La Mancha Visual Comp & Robot Lab 3D Ciudad Real Spain

ISBN: (数字)9783319522777

ISBN: (纸本)9783319522777;9783319522760

This paper presents a method for automatic scanning of structural elements in indoors. Whereas most of the next-best-scan (NBS) based methods do not separate clutter and useful data, we present a scanning strategy in which potential structural components (SE) of the building are recognized as a new scan is carried out. This makes our method more efficient and less time consuming compared with the rest. Besides, our approach gives a response to essential issues in the scanning world, such as the data discrimination, the hypotheses about the workspace and the complexity of the scanned scene. The method has been tested in indoors under occlusion and clutter yielding promising results. Additionally, a comparison with three techniques close to ours is included in the paper.

关键词： 3d sensing 3d data processing Next best view 3d modeling

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Fusion of Thermal Imagery and LidAR data for Generating TBIM Models 16

Fusion of Thermal Imagery and LiDAR Data for Generating TBIM...

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16th IEEE Sensors Conference

作者： Adan, A. Prado, T. Prieto, S. A. Quintana, B. Castilla La Mancha Univ Comp Sci Sch Visual & Comp Lab 3D Ciudad Real Spain

ISBN: (纸本)9781509010127

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.

关键词： 3d digitalization 3d Laser Scanner Thermal Camera 3d Thermal Modelling 3d data processing

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deformation Tracking in 3d Point Clouds Via Statistical Sampling of direct Cloud-to-Cloud distances

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JOURNAL OF NONdESTRUCTIVE EVALUATION 2017年第4期36卷 65-65页

作者： Jafari, Bahman Khaloo, Ali Lattanzi, david George Mason Univ Dept Civil Environm & Infrastruct Engn Fairfax VA 22030 USA

dense three-dimensional (3d) point clouds of infrastructure systems, generated from laser scanners or through multi-view photogrammetry, have significant potential as a source of nondestructive evaluation information. The growing maturity of these techniques make them capable of reconstructing photorealistic 3d models with accuracy on the millimeter scale, adequate for inspection and evaluation practices. Manual analysis of these point clouds is often time consuming and labor intensive and does not provide explicit information on structural performance and health conditions, highlighting the need for new techniques to efficiently analyze these models. This paper presents a new 3d point cloud change analysis approach for tracking small movements over time through localized spatial analytics. This technique uses a combination of a direct point-wise distance metric in conjunction with statistical sampling to extract structural deformations. By identifying and tracking these changes, mechanical deformations can be quantified along with the associated strains and stresses. These measurements can then be used to assess both service conditions and remaining system capacity. The results of a series of laboratory experiments designed to test the proposed approach are presented as well. The findings indicate measurement accuracy on the order of +/- 0.2mm (95% confidence interval), making it suitable for accurate and automatic geometrical analyses and change detection in a variety of infrastructure inspection scenarios. Ongoing work seeks to connect this technique to automated finite element model updating, and to field test the measurement technique.

关键词： 3d change detection deformation analysis Point clouds Condition assessment Remote sensing 3d data processing Structural monitoring

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A Framework for the Analysis of Parabolic Trough Collectors Using 3d data from Laser Scanners 9

A Framework for the Analysis of Parabolic Trough Collectors ...

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2015 9th International Conference on Compatibility and Power Electronics (CPE)

作者： Salamanca, Santiago Merchan, Pilar Perez, Emiliano Adan, Antonio Quintana, Blanca Univ Extremdura Escuela Ingn Ind Badajoz 06006 Spain Univ Castilla La Mancha Escuela Super Informat E-13071 Ciudad Real Spain

ISBN: (纸本)9781479963010

This paper presents an original method for the analysis of geometrical and physical properties of parabolic solar trough collectors that belong to operating solar thermal power plants. The method is applied in operating plants, which is a novelty with respect to the majority of the methods proposed so far, used only in the mirrors design phase. Laser scanners have turned out to be an ideal tool for acquiring the surface of parabolic mirrors on field. The aim of our proposal is the comparison of the sensed 3d data with a theoretical parabolic surface. All the phases needed for the achievement of this objective constitute a general framework that has been detailed throughout this paper. The proposed framework has been applied to the analysis of real surfaces of parabolic solar trough collectors acquired in an operating solar thermal plant. The results obtained demonstrate its validity and robustness.

关键词： parabolic solar trough collectors solar thermal power plants laser scanners 3d data processing 3d surfaces

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Fusion of thermal imagery and LidAR data for generating TBIM models

Fusion of thermal imagery and LiDAR data for generating TBIM...

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IEEE Sensors

作者： A. Adan T. Prado S. A. Prieto B. Quintana 3D Visual & Computing Lab. Computer Science School Castilla La Mancha University

ISBN: (纸本)9781509010134

关键词： 3d digitalization 3d Laser Scanner Thermal Camera 3d Thermal Modelling 3d data processing laser scanners thermal imager Fusion reactions calibration system Fusion, biological Thermography FUSION fusion (melting) Soundness Lidar

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door detection in 3d Colored Laser Scans for Autonomous Indoor Navigation

Door Detection in 3D Colored Laser Scans for Autonomous Indo...

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International Conference on Indoor Positioning and Indoor Navigation (IPIN)

作者： Quintana, B. Prieto, S. A. Adan, A. Bosche, F. Univ Castilla La Mancha Visual Comp & Robot Lab 3D Ciudad Real Spain Heriot Watt Univ Sch Energy Geosci Infrastruct & Soc Edinburgh Midlothian Scotland

ISBN: (纸本)9781509024254

door detection is becoming an increasingly important subject in relation to autonomous mobile robot navigation in indoor environments. This paper presents an original approach that recognizes open and closed doors in 3d laser scanned data. The proposed technique uses both the geometric (i.e. XYZ coordinates) and colour (i.e. RGB/HSV) information provided by a calibrated set of 3d laser scanner and a colour camera. In other words, our technique is developed under a 6d-space framework. The geometry/colour integration and other characteristics of our method make it robust under occlusion and efficient to slight changes in door colours resulting from varying lighting conditions experienced from different scanning locations. The approach is tested in both simulated and real scenes, yielding encouraging results.

关键词： Indoor spatial data model 3d door positioning 3d data processing 3d building models

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Semantic 3d Reconstruction of Furnished Interiors Using Laser Scanning and RFId Technology

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JOURNAL OF COMPUTING IN CIVIL ENGINEERING 2016年第4期30卷 04015053-04015053页

作者： Valero, Enrique Adan, Antonio Bosche, Frederic Heriot Watt Univ Sch Energy Geosci Infrastruct & Soc Edinburgh EH14 4AS Midlothian Scotland Univ Castilla La Mancha Visual Comp & Robot Lab 3D Ciudad Real 13005 Spain

Terrestrial Laser Scanning (TLS) technology is increasingly used for the generation of accurate three-dimensional (3d) models of objects and scenes. But converting the acquired 3d point cloud data into a representative, semantic 3d model of the scene requires advanced processing and skills. This research field is challenging, particularly when considering inhabited, furnished environments that are characterised by clutter and occlusions. This paper presents a TLS data-processing pipeline aimed at producing semantic 3d models of furnished office and home interiors. The structure of rooms (floor, ceiling, and walls with window and door openings) is created using Boundary Representation (B-Rep) models that not only encode the geometry of those elements, but also their connectivity. Windows and doors are recognized and modeled using a novel method based on molding detection. For the furniture, the approach uniquely integrates smart technology [radio frequency identification (RFId)] that is increasingly used for Facilities Management (FM). RFId tags attached to furniture are sensed at the same time as laser scanning is conducted. The collected Ids are used to retrieve discriminatory geometric information about those objects from the building's FM database;this information is used to support their recognition and modeling in the point cloud data. The manuscript particularly reports results for the recognition and modeling of chairs, tables, and wardrobes (and other similar objects like chests of drawers). Extended experimentation of the method has been carried out in real scenarios yielding encouraging results.

关键词： Three-dimensional (3d) laser scanner 3d data processing Radio frequency identification (RFId) B-Rep model Building information modeling

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Interactive projection images generation for swept-based 3d display

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COMPUTING ANd VISUALIZATION IN SCIENCE 2015年第1期17卷 33-41页

作者： He, Hanwu Chen, Heen duan, Xianyin He, Zhiyuan Guangdong Univ Technol Sch Electromech Engn Guangzhou 510006 Guangdong Peoples R China

Unifying different types of graphics file formats is one basic requirement for widespread adoption of volumetric 3d displays. In this paper a 3d data visualization and processing framework is presented which is capable of interfacing with legacy 3d software packages and providing compatibility to a wide range of true 3d display applications. Exploiting OpenGL technologies and the performance of graphics processing units, the proposal allows the user to visualize true 3d volume from different types of graphic file formats. The method can process constructed 3d models of different formats and decompose the models into a series of image slices with different thickness, angle of rotations and rotating axis in real-time to meet the projection requirements of the swept-volume display. Boolean operations and local view redrawing methods are employed to review the shape of the interior parts of the 3d objects, which can provide users with a better understanding of the complexity and spatial relationship inside the objects. The user can browse and interact with volumetric images in an intuitive manner. Approaches are also proposed to export the image slices that can be projected onto the rotating flat screen in sequence to appear in the volumetric 3d display. Two different kinds of image files are generated, and the results show that a vector image has better quality than a bitmap image in terms of file size and time-consumption. Finally, by developing a simulation platform, the procedure of forming geometric slices into a 3d spatial image can be realized to simulate the presentation effect of a volumetric 3d display.

关键词： Swept-volume display 3d data processing Visualization Interaction

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An integrated Survey Experience for Assessing the Seismic Vulnerability of Senigallia's Fortress (Italy): documentation for Conservation and FEM Modeling 2

An integrated Survey Experience for Assessing the Seismic Vu...

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digital Heritage International Congress

作者： Meschini, Alessandra Leoni, Graziano Petrucci, Enrica Sicuranza, Filippo Zona, Alessandro Piattoni, Quintilio dezi, Luigino dall'Asta, Andrea Univ Camerino Sch Architecture & Design Eduardo Vittoria SAD Ascoli Piceno Italy

ISBN: (纸本)9781509000487

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.

关键词： Integrated research Point cloud-based Survey 3d data processing diagnostics Seismic Vulnerability FEM Structural analysis

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