The use of robotic platforms greatly facilitates the reconstructions of 3d models of buildings and automates tasks that would be tiring and inaccurate when carried out manually. In the specific area of thermal monitor...
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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.
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 closeddoors in ...
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ISBN:
(纸本)9781509024261
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 closeddoors in 3d laser scanneddata. 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.
Radio Frequency Identification (RFId) technology has been widely used in the field of construction during the last two decades. Basically, RFId facilitates the control on a wide variety of processes in different stage...
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Radio Frequency Identification (RFId) technology has been widely used in the field of construction during the last two decades. Basically, RFId facilitates the control on a wide variety of processes in different stage...
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Laser scanner data is increasingly being used for the detailed reverse engineering of buildings. This process is currentiy primarily manual, but recent research has shown that basic structures, such as walls, ceilings...
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Laser scanner data is increasingly being used for the detailed reverse engineering of buildings. This process is currentiy primarily manual, but recent research has shown that basic structures, such as walls, ceilings, floors, doorways, and windows, can be detected and modeled automatically. Building on this previous research we focus on the modeling of those linear moldings that typically surrounddoorways, windows, anddivide ceilings from walls and walls from floors. These structures may be secondary and merely ornamental, but many projects nevertheless require that they be modeled. Moldings can be difficult to model manually owing to missing data caused by occlusions or to the ambiguity caused by low data density. Our molding modeling approach consists of two steps: 1) estimating the path of the molding;and 2) estimating the shape of the molding profile. In the first step, we iteratively update the molding's line of extrusion by optimizing the similarity of cross-sections sampled along the path, thereby compensating for imperfections in the initial orientation estimate. In the second step, a unified profile is extracted using data from the entire length of the molding, which allows for partial missing data from occlusions. The profile is then characterized by a specific shape descriptor. Finally, a KNN algorithm classifies the molding into a database which has been constructed with profiles originating from various molding manufacturers. We demonstrate the method using real 3d laser scanner data of various types of moldings, both simple and complex.
Object recognition in a 3d virtualized environment can be improved by adding additional sources of information. The involvement of several devices addressed to data acquisition allows improving the existing recognitio...
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Object recognition in a 3d virtualized environment can be improved by adding additional sources of information. The involvement of several devices addressed to data acquisition allows improving the existing recognition methods by managing a smart tagged universe through ubiquitous programming. In this paper we present the building of an information system designed for the acquisition of several objects' attributes. These objects are part of a universe which will be virtualized by means of a 3d scanner. The system is conceived to improve the object recognition methods, by adding some smart information to conventional recognition algorithms. The use of smart tags proposed in this article represents an important advance regarding previous works, where passive RFId tags and short range scanners were employed. This new system will allow the user to work with complex indoor scenes, virtualized by long range scanners. More specifically, this paper also shows the implementation carried out about Near Field Communication (NFC), which is employed in a first prototype developed to send and receive some information from tags located on several objects of our universe.
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