POSE ESTIMATION AND 3D RECONSTRUCTION USING SENSOR FUSION

A camera maps 3-dimensional (3D) world space to a 2-dimensional (2D) image space. In the process it loses the depth information, i.e., the distance from the camera focal point to the imaged objects. It is impossible to recover this information from a single image. However, by using two or more images from different viewing angles this information can be recovered, which in turn can be used to obtain the pose (position and orientation) of the camera. Using this pose, a 3D reconstruction of imaged objects in the world can be computed. Numerous algorithms have been proposed and implemented to solve the above problem; these algorithms are commonly called Structure from Motion (SfM). State-of-the-art SfM techniques have been shown to give promising results. However, unlike a Global Positioning System (GPS) or an Inertial Measurement Unit (IMU) which directly give the position and orientation respectively, the camera system estimates it after implementing SfM as mentioned above. This makes the pose obtained from a camera highly sensitive to the images captured and other effects, such as low lighting conditions, poor focus or improper viewing angles. In some applications, for example, an Unmanned Aerial Vehicle (UAV) inspecting a bridge or a robot mapping an environment using Simultaneous Localization and Mapping (SLAM), it is often difficult to capture images with ideal conditions. This report examines the use of SfM methods in such applications and the role of combining multiple sensors, viz., sensor fusion, to achieve more accurate and usable position and reconstruction information. This project investigates the role of sensor fusion in accurately estimating the pose of a camera for the application of 3D reconstruction of a scene. The first set of experiments is conducted in a motion capture room. These results are assumed as ground truth in order to evaluate the strengths and weaknesses of each sensor and to map their coordinate systems. Then a number of scenarios are targeted where SfM fails. The pose estimates obtained from SfM are replaced by those obtained from other sensors and the 3D reconstruction is completed. Quantitative and qualitative comparisons are made between the 3D reconstruction obtained by using only a camera versus that obtained by using the camera along with a LIDAR and/or an IMU. Additionally, the project also works towards the performance issue faced while handling large data sets of high-resolution images by implementing the system on the Superior high performance computing cluster at Michigan Technological University.

Investigating the mesh dependency and upscaling of 3D grain-based models for the simulation of brittle fracture processes in low-porosity crystalline rock

The application of 3D grain-based modelling techniques is investigated in both small and large scale 3DEC models, in order to simulate brittle fracture processes in low-porosity crystalline rock. Mesh dependency in 3D grain-based models (GBMs) is examined through a number of cases to compare Voronoi and tetrahedral grain assemblages. Various methods are used in the generation of tessellations, each with a number of issues and advantages. A number of comparative UCS test simulations capture the distinct failure mechanisms, strength profiles, and progressive damage development using various Voronoi and tetrahedral GBMs. Relative calibration requirements are outlined to generate similar macro-strength and damage profiles for all the models. The results confirmed a number of inherent model behaviors that arise due to mesh dependency. In Voronoi models, inherent tensile failure mechanisms are produced by internal wedging and rotation of Voronoi grains. This results in a combined dependence on frictional and cohesive strength. In tetrahedral models, increased kinematic freedom of grains and an abundance of straight, connected failure pathways causes a preference for shear failure. This results in an inability to develop significant normal stresses causing cohesional strength dependence. In general, Voronoi models require high relative contact tensile strength values, with lower contact stiffness and contact cohesional strength compared to tetrahedral tessellations. Upscaling of 3D GBMs is investigated for both Voronoi and tetrahedral tessellations using a case study from the AECL’s Mine-by-Experiment at the Underground Research Laboratory. An upscaled tetrahedral model was able to reasonably simulate damage development in the roof forming a notch geometry by adjusting the cohesive strength. An upscaled Voronoi model underestimated the damage development in the roof and floor, and overestimated the damage in the side-walls. This was attributed to the discretization resolution limitations.

‘Crows’ vs. ‘Avatar’, or: 3D vs. total-dimensional immersion

3D film’s explicit new space depth arguably provides both an enhanced realistic quality to the image and a wealth of more acute visual and haptic sensations (a ‘montage of attractions’) to the increasingly involved spectator. But David Cronenberg’s related ironic remark that ‘cinema as such is from the outset a «special effect»’ should warn us against the geometrical naiveté of such assumptions, within a Cartesian ocularcentric tradition for long overcome by Merleau-Ponty’s embodiment of perception and Deleuze’s notion of the self-consistency of the artistic sensation and space. Indeed, ‘2D’ traditional cinema already provides the accomplished «fourth wall effect», enclosing the beholder behind his back within a space that no longer belongs to the screen (nor to ‘reality’) as such, and therefore is no longer ‘illusorily’ two-dimensional. This kind of totally absorbing, ‘dream-like’ space, metaphorical for both painting and cinema, is illustrated by the episode ‘Crows’ in Kurosawa’s Dreams. Such a space requires the actual effacement of the empirical status of spectator, screen and film as separate dimensions, and it is precisely the 3D caracteristic unfolding of merely frontal space layers (and film events) out of the screen towards us (and sometimes above the heads of the spectators before us) that reinstalls at the core of the film-viewing phenomenon a regressive struggle with reality and with different degrees of realism, originally overcome by film since the Lumière’s Arrival of a Train at Ciotat seminal demonstration. Through an analysis of crucial aspects in Avatar and the recent Cave of Forgotten Dreams, both dealing with historical and ontological deepening processes of ‘going inside’, we shall try to show how the formal and technically advanced component of those 3D-depth films impairs, on the contrary, their apparent conceptual purpose on the level of contents, and we will assume, drawing on Merleau-Ponty and Deleuze, that this technological mistake is due to a lack of recognition of the nature of perception and sensation in relation to space and human experience.

Dalla generazione di modelli 3D densi mediante TLS e fotogrammetria alla modellazione BIM

La tesi tratta la ricerca di procedure che permettano di rilevare oggetti utilizzando il maggior numero di informazioni geometriche ottenibili da una nuvola di punti densa generata da un rilievo fotogrammetrico o da TLS realizzando un modello 3D importabile in ambiente FEM. Il primo test si è eseguito su una piccola struttura, 1.2x0.5x0.2m, in modo da definire delle procedure di analisi ripetibili; la prima consente di passare dalla nuvola di punti “Cloud” all’oggetto solido “Solid” al modello agli elementi finiti “Fem” e per questo motivo è stata chiamata “metodo CSF”, mentre la seconda, che prevede di realizzare il modello della struttura con un software BIM è stata chiamata semplicemente “metodo BIM”. Una volta dimostrata la fattibilità della procedura la si è validata adottando come oggetto di studio un monumento storico di grandi dimensioni, l’Arco di Augusto di Rimini, confrontando i risultati ottenuti con quelli di altre tesi sulla medesima struttura, in particolare si è fatto riferimento a modelli FEM 2D e a modelli ottenuti da una nuvola di punti con i metodi CAD e con un software scientifico sviluppato al DICAM Cloud2FEM. Sull’arco sono state eseguite due tipi di analisi, una lineare sotto peso proprio e una modale ottenendo risultati compatibili tra i vari metodi sia dal punto di vista degli spostamenti, 0.1-0.2mm, che delle frequenze naturali ma si osserva che le frequenze naturali del modello BIM sono più simili a quelle dei modelli generati da cloud rispetto al modello CAD. Il quarto modo di vibrare invece presenta differenze maggiori. Il confronto con le frequenze naturali del modello FEM ha restituito differenze percentuali maggiori dovute alla natura 2D del modello e all’assenza della muratura limitrofa. Si sono confrontate le tensioni normali dei modelli CSF e BIM con quelle ottenute dal modello FEM ottenendo differenze inferiori a 1.28 kg/cm2 per le tensioni normali verticali e sull’ordine 10-2 kg/cm2 per quelle orizzontali.

Development of 3D Cancer Cell Models to Test Metabolic Interventions as an Anticancer Strategy

In recent years, it has become evident that the role of mitochondria in the metabolic rewiring is essential for cancer development and progression. The metabolic profile during tumorigenesis has been performed mainly in traditional 2D cell models, including cell lines of various lineages and phenotypes. Although useful in many ways, their relevance can be often debatable, as they lack the interactions between different cells of the tumour microenvironment and/or interaction with the extracellular matrix 1,2. Improved models are now being developed using 3D cell culture technology, contributing with increased physiological relevance 3,4. In this work, we improved a method for the generation of 3D models from healthy and tumour colon tissue, based on organoid technology, and performed their molecular and biochemical characterization and validation. Further, in-plate cryopreservation was applied to these models, and optimal results were obtained in terms of cell viability and functionality of the cryopreserved models. We also cryopreserved colon fibroblasts with the aim to introduce them in a co-culture cryopreserved model with organoids. This technology allows the conversion of cell models into “plug and play” formats. Therefore, cryopreservation in-plate facilitates the accessibility of specialized cell models to cell-based research and application, in cases where otherwise such specialized models would be out of reach. Finally, we briefly explored the field of bioprinting, by testing a new matrix to support the growth of colon tumour organoids, which revealed promising preliminary results. To facilitate the reader, we organized this thesis into chapters, divided by the main points of work which include development, characterization and validation of the model, commercial output, and associated applications. Each chapter has a brief introduction, followed by results and discussion and a final conclusion. The thesis has also a general discussion and conclusion section in the end, which covers the main results obtained during this work.

Studio del metodo di preparazione di elettrocatalizzatori 3D Ag/Cu nella riduzione selettiva del 5-idrossimetilfurfurale

In questo lavoro di tesi sono stati preparati elettrocatalizzatori metallici 3D di argento supportato su schiume di rame a cella aperta, impiegandoli nella riduzione selettiva del 5-idrossimetilfurfurale (HMF) a 2,5-bisidrossimetilfurano (BHMF). L’utilizzo di questi supporti consente di incrementare l’area superficiale a disposizione, rispetto ai supporti 2D. La preparazione delle schiume è stata effettuata utilizzando due metodi di deposizione: spostamento galvanico ed elettrodeposizione. Lo scopo del lavoro è valutare l’influenza del metodo di deposizione sull’attività catalitica, per questo motivo le schiume bimetalliche ottenute sono state confrontate a quelle monometalliche di rame e argento. Inoltre è stato studiato l’effetto della concentrazione di HMF sulle prestazioni dei catalizzatori, con l’obiettivo finale di ottenere un sistema attivo a concentrazioni industriali. Le schiume sono state sottoposte a cicli di prove catalitiche a concentrazione di HMF crescente 0,02 M, 0,05 M e 0,10 M e caratterizzate prima e dopo la sequenza di prove con analisi SEM-EDS, XRD, spettroscopia raman. Le soluzioni sono state analizzate mediante ICP, GC-MS, ESI-MS. Con lo spostamento galvanico si ha la crescita di dendriti, formate prevalentemente sui bordi, e agglomerati di particelle nelle zone interne, mentre per elettrodeposizione si ottiene minore formazione di dendriti e particelle mediamente più piccole. La presenza di argento come fase attiva non migliora la conversione rispetto alle schiume monometalliche, ma causa un aumento di selettività ed efficienza faradica. Incrementando la concentrazione di HMF tutti i campioni presentano un aumento di conversione e un decremento di selettività ed efficienza faradica. Il catalizzatore ottenuto per spostamento galvanico, mostra prestazioni migliori a concentrazioni elevate e nelle prove di stabilità non dà segni di disattivazione, al contrario della schiuma preparata per elettrodeposizione che risulta leggermente disattivata.

A 3D biomimetic in vitro model: a novel strategy to investigate glioma biology

Gliomas are one of the most frequent primary malignant brain tumors. Acquisition of stem-like features likely contributes to the malignant nature of high-grade gliomas and may be responsible for the initiation, growth, and recurrence of these tumors. In this regard, although the traditional 2D cell culture system has been widely used in cancer research, it shows limitations in maintaining the stemness properties of cancer and in mimicking the in vivo microenvironment. In order to overcome these limitations, different three-dimensional (3D) culture systems have been developed to mimic better the tumor microenvironment. Cancer cells cultured in 3D structures may represent a more reliable in vitro model due to increased cell-cell and cell-extracellular matrix (ECM) interaction. Several attempts to recreate brain cancer tissue in vitro are described in literature. However, to date, it is still unclear which main characteristics the ideal model should reproduce. The overall goal of this project was the development of a 3D in vitro model able to reproduce the brain ECM microenvironment and to recapitulate pathological condition for the study of tumor stroma interactions, tumor invasion ability, and molecular phenotype of glioma cells. We performed an in silico bioinformatic analysis using GEPIA2 Software to compare the expression level of seven matrix protein in the LGG tumors with healthy tissues. Then, we carried out a FFPE retrospective study in order to evaluate the percentage of expression of selected proteins. Thus, we developed a 3D scaffold composed by Hyaluronic Acid and Collagen IV in a ratio of 50:50. We used two astrocytoma cell lines, HTB-12 and HTB-13. In conclusion, we developed an in vitro 3D model able to reproduce the composition of brain tumor ECM, demonstrating that it is a feasible platform to investigate the interaction between tumor cells and the matrix.

Understanding 3D structures from sketches

Sketches are a unique way to communicate: drawing a simple sketch does not require any training, sketches convey information that is hard to describe with words, they are powerful enough to represent almost any concept, and nowadays, it is possible to draw directly from mobile devices. Motivated from the unique characteristics of sketches and fascinated by the human ability to imagine 3D objects from drawings, this thesis focuses on automatically associating geometric information to sketches. The main research directions of the thesis can be summarized as obtaining geometric information from freehand scene sketches to improve 2D sketch-based tasks and investigating Vision-Language models to overcome 3D sketch-based tasks limitations. The first part of the thesis concerns geometric information prediction from scene sketches improving scene sketch to image generation and unlocking new creativity effects. The thesis proceeds showing a study conducted on the Vision-Language models embedding space considering sketches, line renderings and RGB renderings of 3D shape to overcome the use of supervised datasets for 3D sketch-based tasks, that are limited and hard to acquire. Following the obtained observations and results, Vision-Language models are applied to Sketch Based Shape Retrieval without the need of training on supervised datasets. We then analyze the use of Vision-Language models for sketch based 3D reconstruction in an unsupervised manner. In the final chapter we report the results obtained in an additional project carried during the PhD, which has lead to the development of a framework to learn an embedding space of neural networks that can be navigated to get ready-to-use models with desired characteristics.

Nonlinear modelling of non-structural masonry walls under a low-intensity earthquake motion: calibration through a parametric study

This thesis aims to understand the behavior of a low-rise unreinforced masonry building (URM), the typical residential house in the Netherlands, when subjected to low-intensity earthquakes. In fact, in the last decades, the Groningen region was hit by several shallow earthquakes caused by the extraction of natural gas. In particular, the focus is addressed to the internal non-structural walls and to their interaction with the structural parts of the building. A simple and cost-efficient 2D FEM model is developed, focused on the interfaces representing mortar layers that are present between the non-structural walls and the rest of the structure. As a reference for geometries and materials, it has been taken into consideration a prototype that was built in full-scale at the EUCENTRE laboratory of Pavia (Italy). Firstly, a quasi-static analysis is performed by gradually applying a prescribed displacement on the roof floor of the structure. Sensitivity analyses are conducted on some key parameters characterizing mortar. This analysis allows for the calibration of their values and the evaluation of the reliability of the model. Successively, a transient analysis is performed to effectively subject the model to a seismic action and hence also evaluate the mechanical response of the building over time. Moreover, it was possible to compare the results of this analysis with the displacements recorded in the experimental tests by creating a model representing the entire considered structure. As a result, some conditions for the model calibration are defined. The reliability of the model is then confirmed by both the reasonable results obtained from the sensitivity analysis and the compatibility of the values obtained for the top displacement of the roof floor of the experimental test, and the same value acquired from the structural model.

From point cloud to HBIM: an integrated workflow for 3D reconstruction of heritage building with model accuracy evaluation

Modern society is now facing significant difficulties in attempting to preserve its architectural heritage. Numerous challenges arise consequently when it comes to documentation, preservation and restoration. Fortunately, new perspectives on architectural heritage are emerging owing to the rapid development of digitalization. Therefore, this presents new challenges for architects, restorers and specialists. Additionally, this has changed the way they approach the study of existing heritage, changing from conventional 2D drawings in response to the increasing requirement for 3D representations. Recently, Building Information Modelling for historic buildings (HBIM) has escalated as an emerging trend to interconnect geometrical and informational data. Currently, the latest 3D geomatics techniques based on 3D laser scanners with enhanced photogrammetry along with the continuous improvement in the BIM industry allow for an enhanced 3D digital reconstruction of historical and existing buildings. This research study aimed to develop an integrated workflow for the 3D digital reconstruction of heritage buildings starting from a point cloud. The Pieve of San Michele in Acerboli’s Church in Santarcangelo Di Romagna (6th century) served as the test bed. The point cloud was utilized as an essential referential to model the BIM geometry using Autodesk Revit® 2022. To validate the accuracy of the model, Deviation Analysis Method was employed using CloudCompare software to determine the degree of deviation between the HBIM model and the point cloud. The acquired findings showed a very promising outcome in the average distance between the HBIM model and the point cloud. The conducted approach in this study demonstrated the viability of producing a precise BIM geometry from point clouds.

Calibration of design strength values of Wire and Arc Additive Manufacturing inclined bars and intersections

Although being studied only for few years, Wire and Arc Additive Manufacturing (WAAM) will become the predominant way of producing stainless-steel elements in a near-like future. The analysis and study of such elements has yet to be defined in a proper way, but the projects regarding this subject are innovating more and more thanks to the findings discovered by the latter. This thesis is focused on an initial stage on the analysis of mechanical and geometrical properties of such stainless-steel elements produced by MX3D laboratories in Amsterdam, and to perform a calibration of the design strength values by means of Annex D of Eurocode 0, which talks about the analysis of the semi-probabilistic safety factors, hence the definition of characteristic values. Moreover, after testing the stainless-steel specimens by means of strain gauges and after obtaining mechanical and geometrical properties, a statistical analysis of such properties and an evaluation of characteristic values is performed. After this, there is to execute the calibration of design strength values of WAAM inclined bars and intersections.

Low-density Three-dimensional Foam Using Self-reinforced Hybrid Two-dimensional Atomic Layers.

Low-density nanostructured foams are often limited in applications due to their low mechanical and thermal stabilities. Here we report an approach of building the structural units of three-dimensional (3D) foams using hybrid two-dimensional (2D) atomic layers made of stacked graphene oxide layers reinforced with conformal hexagonal boron nitride (h-BN) platelets. The ultra-low density (1/400 times density of graphite) 3D porous structures are scalably synthesized using solution processing method. A layered 3D foam structure forms due to presence of h-BN and significant improvements in the mechanical properties are observed for the hybrid foam structures, over a range of temperatures, compared with pristine graphene oxide or reduced graphene oxide foams. It is found that domains of h-BN layers on the graphene oxide framework help to reinforce the 2D structural units, providing the observed improvement in mechanical integrity of the 3D foam structure.

Low Molecular Weight Protein Tyrosine Phosphatase (lmwptp) Upregulation Mediates Malignant Potential In Colorectal Cancer.

Phosphatases have long been regarded as tumor suppressors, however there is emerging evidence for a tumor initiating role for some phosphatases in several forms of cancer. Low Molecular Weight Protein Tyrosine Phosphatase (LMWPTP; acid phosphatase 1 [ACP1]) is an 18 kDa enzyme that influences the phosphorylation of signaling pathway mediators involved in cancer and is thus postulated to be a tumor-promoting enzyme, but neither unequivocal clinical evidence nor convincing mechanistic actions for a role of LMWPTP have been identified. In the present study, we show that LMWPTP expression is not only significantly increased in colorectal cancer (CRC), but also follows a step-wise increase in different levels of dysplasia. Chemical inhibition of LMWPTP significantly reduces CRC growth. Furthermore, downregulation of LMWPTP in CRC leads to a reduced migration ability in both 2D- and 3D-migration assays, and sensitizes tumor cells to the chemotherapeutic agent 5-FU. In conclusion, this study shows that LMWPTP is not only overexpressed in colorectal cancer, but it is correlated with the malignant potential of this cancer, suggesting that this phosphatase may act as a predictive biomaker of CRC stage and represents a rational novel target in the treatment of this disease.

Sistema de análise de movimento para avaliação da postura vertical durante a corrida no teste de esforço máximo incremental

Universidade Estadual de Campinas . Faculdade de Educação Física

Metodologia para analise cinematica de volumes respiratorios parciais de nadadores

Universidade Estadual de Campinas . Faculdade de Educação Física