A Comparative Study of Registration Methods for RGB-D Video of Static Scenes

The use of RGB-D sensors for mapping and recognition tasks in robotics or, in general, for virtual reconstruction has increased in recent years. The key aspect of these kinds of sensors is that they provide both depth and color information using the same device. In this paper, we present a comparative analysis of the most important methods used in the literature for the registration of subsequent RGB-D video frames in static scenarios. The analysis begins by explaining the characteristics of the registration problem, dividing it into two representative applications: scene modeling and object reconstruction. Then, a detailed experimentation is carried out to determine the behavior of the different methods depending on the application. For both applications, we used standard datasets and a new one built for object reconstruction.

Relationship between static and dynamic elastic modulus of calcarenite heated at different temperatures: the San Julián's stone

The San Julián’s stone is the main material used to build the most important historical buildings in Alicante city (Spain). This paper describes the analysis developed to obtain the relationship between the static and the dynamic modulus of this sedimentary rock heated at different temperatures. The rock specimens have been subjected to heating processes at different temperatures to produce different levels of weathering on 24 specimens. The static and dynamic modulus has been measured for every specimen by means of the ISRM standard and ultrasonic tests, respectively. Finally, two analytic formulas are proposed for the relationship between the static and the dynamic modulus for this stone. The results have been compared with some relationships proposed by different researchers for other types of rock. The expressions presented in this paper can be useful for the analysis, using non-destructive techniques, of the integrity level of historical constructions built with San Julián’s stone affected by fires.