Deciduous tree reconstruction algorithm based on cylinder fitting from mobile terrestrial laser scanned point clouds

Vector reconstruction of objects from an unstructured point cloud obtained with a LiDAR-based system (light detection and ranging) is one of the most promising methods to build three dimensional models of orchards. The cylinder fitting method for woody structure reconstruction of leafless trees from point clouds obtained with a mobile terrestrial laser scanner (MTLS) has been analysed. The advantage of this method is that it performs reconstruction in a single step. The most time consuming part of the algorithm is generation of the cylinder direction, which must be recalculated at the inclusion of each point in the cylinder. The tree skeleton is obtained at the same time as the cluster of cylinders is formed. The method does not guarantee a unique convergence and the reconstruction parameter values must be carefully chosen. A balanced processing of clusters has also been defined which has proven to be very efficient in terms of processing time by following the hierarchy of branches, predecessors and successors. The algorithm was applied to simulated MTLS of virtual orchard models and to MTLS data of real orchards. The constraints applied in the method have been reviewed to ensure better convergence and simpler use of parameters. The results obtained show a correct reconstruction of the woody structure of the trees and the algorithm runs in linear logarithmic time

3D Maize Plant Reconstruction Based on Georeferenced Overlapping LiDAR Point Clouds

3D crop reconstruction with a high temporal resolution and by the use of non-destructive measuring technologies can support the automation of plant phenotyping processes. Thereby, the availability of such 3D data can give valuable information about the plant development and the interaction of the plant genotype with the environment. This article presents a new methodology for georeferenced 3D reconstruction of maize plant structure. For this purpose a total station, an IMU, and several 2D LiDARs with different orientations were mounted on an autonomous vehicle. By the multistep methodology presented, based on the application of the ICP algorithm for point cloud fusion, it was possible to perform the georeferenced point clouds overlapping. The overlapping point cloud algorithm showed that the aerial points (corresponding mainly to plant parts) were reduced to 1.5%–9% of the total registered data. The remaining were redundant or ground points. Through the inclusion of different LiDAR point of views of the scene, a more realistic representation of the surrounding is obtained by the incorporation of new useful information but also of noise. The use of georeferenced 3D maize plant reconstruction at different growth stages, combined with the total station accuracy could be highly useful when performing precision agriculture at the crop plant level.

Planificación multinivel eficiente con aprovisionamiento dinámico en grids y clouds

La consolidación de las grandes infraestructuras para la Computación Distribuida ha resultado en una plataforma de Computación de Alta Productividad que está lista para grandes cargas de trabajo. Los mejores exponentes de este proceso son las federaciones grid actuales. Por otro lado, la Computación Cloud promete ser más flexible, utilizable, disponible y simple que la Computación Grid, cubriendo además muchas más necesidades computacionales que las requeridas para llevar a cabo cálculos distribuidos. En cualquier caso, debido al dinamismo y la heterogeneidad presente en grids y clouds, encontrar la asignación ideal de las tareas computacionales en los recursos disponibles es, por definición un problema NP-completo, y sólo se pueden encontrar soluciones subóptimas para estos entornos. Sin embargo, la caracterización de estos recursos en ambos tipos de infraestructuras es deficitaria. Los sistemas de información disponibles no proporcionan datos fiables sobre el estado de los recursos, lo cual no permite la planificación avanzada que necesitan los diferentes tipos de aplicaciones distribuidas. Durante la última década esta cuestión no ha sido resuelta para la Computación Grid y las infraestructuras cloud establecidas recientemente presentan el mismo problema. En este marco, los planificadores (brokers) sólo pueden mejorar la productividad de las ejecuciones largas, pero no proporcionan ninguna estimación de su duración. La planificación compleja ha sido abordada tradicionalmente por otras herramientas como los gestores de flujos de trabajo, los auto-planificadores o los sistemas de gestión de producción pertenecientes a ciertas comunidades de investigación. Sin embargo, el bajo rendimiento obtenido con estos mecanismos de asignación anticipada (early-binding) es notorio. Además, la diversidad en los proveedores cloud, la falta de soporte de herramientas de planificación y de interfaces de programación estandarizadas para distribuir la carga de trabajo, dificultan la portabilidad masiva de aplicaciones legadas a los entornos cloud...

Robust fitting of Zernike polynomials to noisy point clouds defined over connected domains of arbitrary shape

A new method for fitting a series of Zernike polynomials to point clouds defined over connected domains of arbitrary shape defined within the unit circle is presented in this work. The method is based on the application of machine learning fitting techniques by constructing an extended training set in order to ensure the smooth variation of local curvature over the whole domain. Therefore this technique is best suited for fitting points corresponding to ophthalmic lenses surfaces, particularly progressive power ones, in non-regular domains. We have tested our method by fitting numerical and real surfaces reaching an accuracy of 1 micron in elevation and 0.1 D in local curvature in agreement with the customary tolerances in the ophthalmic manufacturing industry.

Collective effects in light scattering from cold strontium clouds

A cold atomic cloud is a versatile object, because it offers many handles to control and tune its properties. This facilitates studies of its behavior in various circumstances, such as sample temperature, size and density, composition, dimensionality and coherence time. The range of possible experiments is constrained by the specifications of the atomic species used. In this thesis presents the work done in the experiment for laser cooling of strontium atoms, focusing on its stability, which should provide cold and ultracold samples for the study of collective effects in light scattering. From the initial apparatus, innumerous changes were performed. The vacuum system got improved and now reached lower ultra high vacuum due to the pre-baking done to its parts and adding a titanium-sublimation stage. The quadrupole trap were improved by the design and construction of a new pair of coils. The stability of the blue, green and red laser systems and the loss prevention of laser light were improved, giving rise to a robust apparatus. Another important point is the development of homemade devices to reduce the costs and to be used as a monitor of different parts of an cold atoms experiment. From this homemade devices, we could demonstrate a dramatic linewidth narrowing by injection lock of an low cost 461 nm diode laser and its application to our strontium experiment. In the end, this improved experimental apparatus made possible the study of a new scattering effect, the mirror assisted coherent back-scattering (mCBS).

Nesting In The Clouds: Evaluating And Predicting Sea Turtle Nesting Beach Parameters From Lidar Data

Humans' desire for knowledge regarding animal species and their interactions with the natural world have spurred centuries of studies. The relatively new development of remote sensing systems using satellite or aircraft-borne sensors has opened up a wide field of research, which unfortunately largely remains dependent on coarse-scale image spatial resolution, particularly for habitat modeling. For habitat-specialized species, such data may not be sufficient to successfully capture the nuances of their preferred areas. Of particular concern are those species for which topographic feature attributes are a main limiting factor for habitat use. Coarse spatial resolution data can smooth over details that may be essential for habitat characterization. Three studies focusing on sea turtle nesting beaches were completed to serve as an example of how topography can be a main deciding factor for certain species. Light Detection and Ranging (LiDAR) data were used to illustrate that fine spatial scale data can provide information not readily captured by either field work or coarser spatial scale sources. The variables extracted from the LiDAR data could successfully model nesting density for loggerhead (Caretta caretta), green (Chelonia mydas), and leatherback (Dermochelys coriacea) sea turtle species using morphological beach characteristics, highlight beach changes over time and their correlations with nesting success, and provide comparisons for nesting density models across large geographic areas. Comparisons between the LiDAR dataset and other digital elevation models (DEMs) confirmed that fine spatial scale data sources provide more similar habitat information than those with coarser spatial scales. Although these studies focused solely on sea turtles, the underlying principles are applicable for many other wildlife species whose range and behavior may be influenced by topographic features.

Circumstellar emission in Be/X-ray binaries of the Magellanic Clouds and the Milky Way

Aims. We study the optical and near-infrared colour excesses produced by circumstellar emission in a sample of Be/X-ray binaries. Our main goals are exploring whether previously published relations, valid for isolated Be stars, are applicable to Be/X-ray binaries and computing the distance to these systems after correcting for the effects of the circumstellar contamination. Methods. Simultaneous UBVRI photometry and spectra in the 3500−7000 Å spectral range were obtained for 11 optical counterparts to Be/X-ray binaries in the LMC, 5 in the SMC and 12 in the Milky Way. As a measure of the amount of circumstellar emission we used the Hα equivalent width corrected for photospheric absorption. Results. We find a linear relationship between the strength of the Hα emission line and the component of E(B − V) originating from the circumstellar disk. This relationship is valid for stars with emission lines weaker than EW ≈ −15   Å. Beyond this point, the circumstellar contribution to E(B − V) saturates at a value ≈0.17   mag. A similar relationship is found for the (V − I) near infrared colour excess, albeit with a steeper slope and saturation level. The circumstellar excess in (B − V) is found to be about five times higher for Be/X-ray binaries than for isolated Be stars with the same equivalent width EW(Hα), implying significant differences in the physical properties of their circumstellar envelopes. The distance to Be/X-ray binaries (with non-shell Be star companions) can only be correctly estimated by taking into account the excess emission in the V band produced by free-free and free-bound transitions in the circumstellar envelope. We provide a simple method to determine the distances that includes this effect.

A new approach for semi-automatic rock mass joints recognition from 3D point clouds

Rock mass characterization requires a deep geometric understanding of the discontinuity sets affecting rock exposures. Recent advances in Light Detection and Ranging (LiDAR) instrumentation currently allow quick and accurate 3D data acquisition, yielding on the development of new methodologies for the automatic characterization of rock mass discontinuities. This paper presents a methodology for the identification and analysis of flat surfaces outcropping in a rocky slope using the 3D data obtained with LiDAR. This method identifies and defines the algebraic equations of the different planes of the rock slope surface by applying an analysis based on a neighbouring points coplanarity test, finding principal orientations by Kernel Density Estimation and identifying clusters by the Density-Based Scan Algorithm with Noise. Different sources of information —synthetic and 3D scanned data— were employed, performing a complete sensitivity analysis of the parameters in order to identify the optimal value of the variables of the proposed method. In addition, raw source files and obtained results are freely provided in order to allow to a more straightforward method comparison aiming to a more reproducible research.

A new survey of cool supergiants in the Magellanic Clouds

Aims. In this study we conduct a pilot program aimed at the red supergiant population of the Magellanic Clouds. We intend to extend the current known sample to the unexplored low end of the brightness distribution of these stars, building a more representative dataset with which to extrapolate their behaviour to other Galactic and extra-galactic environments. Methods. We select candidates using only near infrared photometry, and with medium resolution multi-object spectroscopy, we perform spectral classification and derive their line-of-sight velocities, confirming the nature of the candidates and their membership in the clouds. Results. Around two hundred new red supergiants have been detected, hinting at a yet to be observed large population. Using near- and mid-infrared photometry we study the brightness distribution of these stars, the onset of mass-loss, and the effect of dust in their atmospheres. Based on this sample, new a priori classification criteria are investigated, combining mid- and near-infrared photometry to improve the observational efficiency of similar programs to this.

Discontinuity spacing analysis in rock masses using 3D point clouds

The complete characterization of rock masses implies the acquisition of information of both, the materials which compose the rock mass and the discontinuities which divide the outcrop. Recent advances in the use of remote sensing techniques – such as Light Detection and Ranging (LiDAR) – allow the accurate and dense acquisition of 3D information that can be used for the characterization of discontinuities. This work presents a novel methodology which allows the calculation of the normal spacing of persistent and non-persistent discontinuity sets using 3D point cloud datasets considering the three dimensional relationships between clusters. This approach requires that the 3D dataset has been previously classified. This implies that discontinuity sets are previously extracted, every single point is labeled with its corresponding discontinuity set and every exposed planar surface is analytically calculated. Then, for each discontinuity set the method calculates the normal spacing between an exposed plane and its nearest one considering 3D space relationship. This link between planes is obtained calculating for every point its nearest point member of the same discontinuity set, which provides its nearest plane. This allows calculating the normal spacing for every plane. Finally, the normal spacing is calculated as the mean value of all the normal spacings for each discontinuity set. The methodology is validated through three cases of study using synthetic data and 3D laser scanning datasets. The first case illustrates the fundamentals and the performance of the proposed methodology. The second and the third cases of study correspond to two rock slopes for which datasets were acquired using a 3D laser scanner. The second case study has shown that results obtained from the traditional and the proposed approaches are reasonably similar. Nevertheless, a discrepancy between both approaches has been found when the exposed planes members of a discontinuity set were hard to identify and when the planes pairing was difficult to establish during the fieldwork campaign. The third case study also has evidenced that when the number of identified exposed planes is high, the calculated normal spacing using the proposed approach is minor than those using the traditional approach.

Datasets and results of the research [Discontinuity spacing analysis in rock masses using 3D point clouds]

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Characterization of rock slopes through slope mass rating using 3D point clouds

Rock mass classification systems are widely used tools for assessing the stability of rock slopes. Their calculation requires the prior quantification of several parameters during conventional fieldwork campaigns, such as the orientation of the discontinuity sets, the main properties of the existing discontinuities and the geo-mechanical characterization of the intact rock mass, which can be time-consuming and an often risky task. Conversely, the use of relatively new remote sensing data for modelling the rock mass surface by means of 3D point clouds is changing the current investigation strategies in different rock slope engineering applications. In this paper, the main practical issues affecting the application of Slope Mass Rating (SMR) for the characterization of rock slopes from 3D point clouds are reviewed, using three case studies from an end-user point of view. To this end, the SMR adjustment factors, which were calculated from different sources of information and processes, using the different softwares, are compared with those calculated using conventional fieldwork data. In the presented analysis, special attention is paid to the differences between the SMR indexes derived from the 3D point cloud and conventional field work approaches, the main factors that determine the quality of the data and some recognized practical issues. Finally, the reliability of Slope Mass Rating for the characterization of rocky slopes is highlighted.

Point clouds of measurements in the Dechen Cave near Iserlohn, Germany

Modeling natural phenomena from 3D information enhances our understanding of the environment. Dense 3D point clouds are increasingly used as highly detailed input datasets. In addition to the capturing techniques of point clouds with LiDAR, low-cost sensors have been released in the last few years providing access to new research fields and facilitating 3D data acquisition for a broader range of applications. This letter presents an analysis of different speleothem features using 3D point clouds acquired with the gaming device Microsoft® Kinect. We compare the Kinect sensor with terrestrial LiDAR reference measurements using the KinFu pipeline for capturing complete 3D objects (< 4m**3). The results demonstrate the suitability of the Kinect to capture flowstone walls and to derive morphometric parameters of cave features. Although the chosen capturing strategy (KinFu) reveals a high correlation (R2=0.92) of stalagmite morphometry along the vertical object axis, a systematic overestimation (22% for radii and 44% for volume) is found. The comparison of flowstone wall datasets predominantly shows low differences (mean of 1 mm with 7 mm standard deviation) of the order of the Kinect depth precision. For both objects the major differences occur at strongly varying and curved surface structures (e.g. with fine concave parts).