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.

Towards a real-time 3D object recognition pipeline on mobile GPGPU computing platforms using low-cost RGB-D sensors

In this project, we propose the implementation of a 3D object recognition system which will be optimized to operate under demanding time constraints. The system must be robust so that objects can be recognized properly in poor light conditions and cluttered scenes with significant levels of occlusion. An important requirement must be met: the system must exhibit a reasonable performance running on a low power consumption mobile GPU computing platform (NVIDIA Jetson TK1) so that it can be integrated in mobile robotics systems, ambient intelligence or ambient assisted living applications. The acquisition system is based on the use of color and depth (RGB-D) data streams provided by low-cost 3D sensors like Microsoft Kinect or PrimeSense Carmine. The range of algorithms and applications to be implemented and integrated will be quite broad, ranging from the acquisition, outlier removal or filtering of the input data and the segmentation or characterization of regions of interest in the scene to the very object recognition and pose estimation. Furthermore, in order to validate the proposed system, we will create a 3D object dataset. It will be composed by a set of 3D models, reconstructed from common household objects, as well as a handful of test scenes in which those objects appear. The scenes will be characterized by different levels of occlusion, diverse distances from the elements to the sensor and variations on the pose of the target objects. The creation of this dataset implies the additional development of 3D data acquisition and 3D object reconstruction applications. The resulting system has many possible applications, ranging from mobile robot navigation and semantic scene labeling to human-computer interaction (HCI) systems based on visual information.

Terminology of metal–organic frameworks and coordination polymers (IUPAC Recommendations 2013)

A set of terms, definitions, and recommendations is provided for use in the classification of coordination polymers, networks, and metal–organic frameworks (MOFs). A hierarchical terminology is recommended in which the most general term is coordination polymer. Coordination networks are a subset of coordination polymers and MOFs a further subset of coordination networks. One of the criteria an MOF needs to fulfill is that it contains potential voids, but no physical measurements of porosity or other properties are demanded per se. The use of topology and topology descriptors to enhance the description of crystal structures of MOFs and 3D-coordination polymers is furthermore strongly recommended.

3D Visual Data-Driven Spatiotemporal Deformations for Non-Rigid Object Grasping Using Robot Hands

Sensing techniques are important for solving problems of uncertainty inherent to intelligent grasping tasks. The main goal here is to present a visual sensing system based on range imaging technology for robot manipulation of non-rigid objects. Our proposal provides a suitable visual perception system of complex grasping tasks to support a robot controller when other sensor systems, such as tactile and force, are not able to obtain useful data relevant to the grasping manipulation task. In particular, a new visual approach based on RGBD data was implemented to help a robot controller carry out intelligent manipulation tasks with flexible objects. The proposed method supervises the interaction between the grasped object and the robot hand in order to avoid poor contact between the fingertips and an object when there is neither force nor pressure data. This new approach is also used to measure changes to the shape of an object’s surfaces and so allows us to find deformations caused by inappropriate pressure being applied by the hand’s fingers. Test was carried out for grasping tasks involving several flexible household objects with a multi-fingered robot hand working in real time. Our approach generates pulses from the deformation detection method and sends an event message to the robot controller when surface deformation is detected. In comparison with other methods, the obtained results reveal that our visual pipeline does not use deformations models of objects and materials, as well as the approach works well both planar and 3D household objects in real time. In addition, our method does not depend on the pose of the robot hand because the location of the reference system is computed from a recognition process of a pattern located place at the robot forearm. The presented experiments demonstrate that the proposed method accomplishes a good monitoring of grasping task with several objects and different grasping configurations in indoor environments.

Evaluation of sampling method effects in 3D non-rigid registration

Since the beginning of 3D computer vision problems, the use of techniques to reduce the data to make it treatable preserving the important aspects of the scene has been necessary. Currently, with the new low-cost RGB-D sensors, which provide a stream of color and 3D data of approximately 30 frames per second, this is getting more relevance. Many applications make use of these sensors and need a preprocessing to downsample the data in order to either reduce the processing time or improve the data (e.g., reducing noise or enhancing the important features). In this paper, we present a comparison of different downsampling techniques which are based on different principles. Concretely, five different downsampling methods are included: a bilinear-based method, a normal-based, a color-based, a combination of the normal and color-based samplings, and a growing neural gas (GNG)-based approach. For the comparison, two different models have been used acquired with the Blensor software. Moreover, to evaluate the effect of the downsampling in a real application, a 3D non-rigid registration is performed with the data sampled. From the experimentation we can conclude that depending on the purpose of the application some kernels of the sampling methods can improve drastically the results. Bilinear- and GNG-based methods provide homogeneous point clouds, but color-based and normal-based provide datasets with higher density of points in areas with specific features. In the non-rigid application, if a color-based sampled point cloud is used, it is possible to properly register two datasets for cases where intensity data are relevant in the model and outperform the results if only a homogeneous sampling is used.

Coast, North Africa, Tunisia and Algeria, 1829 (Image 1 of 2) (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: Carte comparée des régences d'Alger et de Tunis, dressée par le Chev. Lapie, Géographe du Roi ; les noms anciens ont été revus par ... Hase ; les noms arabes par ... Taubert ; gravé par Flahaut ; écrit par Lallemand. It was published by Chez Ch. Picquet, Quai Conti, no. 17 in 1829. Scale [ca. 1:1,632,653], 16 km=9.8 cm. This layer is image 1 of 2 total images of the two sheet source map, representing the western portion of the map. Covers the coast of North Africa including Tunisia, Algeria, and portions of Morocco and Libya. Map in French. The image inside the map neatline is georeferenced to the surface of the earth and fit to the Europe Lambert Conformal Conic coordinate system. All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. This map shows features such as drainage, roads, cities and other human settlements, territorial boundaries, shoreline features, and more. Relief shown by hachures. This layer is part of a selection of digitally scanned and georeferenced historic maps from the Harvard Map Collection. These maps typically portray both natural and manmade features. The selection represents a range of originators, ground condition dates, scales, and map purposes.

Coast, North Africa, Tunisia and Algeria, 1829 (Image 2 of 2) (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: Carte comparée des régences d'Alger et de Tunis, dressée par le Chev. Lapie, Géographe du Roi ; les noms anciens ont été revus par ... Hase ; les noms arabes par ... Taubert ; gravé par Flahaut ; écrit par Lallemand. It was published by Chez Ch. Picquet, Quai Conti, no. 17 in 1829. Scale [ca. 1:1,632,653], 16 km=9.8 cm. This layer is image 2 of 2 total images of the two sheet source map, representing the eastern portion of the map. Covers the coast of North Africa including Tunisia, Algeria and portions of Morocco and Libya. Map in French. The image inside the map neatline is georeferenced to the surface of the earth and fit to the Europe Lambert Conformal Conic coordinate system. All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. This map shows features such as drainage, roads, cities and other human settlements, territorial boundaries, shoreline features, and more. Relief shown by hachures.This layer is part of a selection of digitally scanned and georeferenced historic maps from the Harvard Map Collection. These maps typically portray both natural and manmade features. The selection represents a range of originators, ground condition dates, scales, and map purposes.

Gulf of Mexico and Caribbean Sea Region, ca. 1715 (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: A map of the West-Indies or the islands of America in the North Sea : with ye adjacent countries, explaning [sic] what belongs to Spain, England, France, Holland &c. also ye trade winds, and ye several tracts made by ye galeons and flota from place to place : according to ye newest and most exact observations, by Herman Moll, geographer. It was printed for Tho. Bowles in St. Pauls Church Yard and John Bowles at the Black Horse in Cornhill ca. 1715. Scale [ca. 1:4,300,000]. Covers the Gulf of Mexico and Caribbean Sea Region including parts of southern United States, Mexico, Central America, West Indies, and northern South America.The image inside the map neatline is georeferenced to the surface of the earth and fit to the North American Lambert Conformal Conic coordinate system. All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. This map shows features such as drainage, cities and other human settlements, territorial boundaries, shoreline features, and more. Relief shown pictorially. Includes also historical notes and insets.This layer is part of a selection of digitally scanned and georeferenced historic maps from the Harvard Map Collection. These maps typically portray both natural and manmade features. The selection represents a range of originators, ground condition dates, scales, and map purposes.

Stockbridge and West Stockbridge, Massachusetts, 1855 (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: Plan of the towns of Stockbridge and West Stockbridge : Berkshire County, Massachusetts by E.M. Woodford. It was published by Richard Clark in 1855. Scale [ca. 1:15,700]. The image inside the map neatline is georeferenced to the surface of the earth and fit to the Massachusetts State Plane Coordinate System, Mainland Zone (in Feet) (Fipszone 2001) coordinate system. All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. This map shows features such as roads, railroads, drainage, public buildings, schools, industry locations (e.g. mills, factories, mines, etc.), private buildings with names of property owners, town boundaries, and more. Relief shown by hachures. Includes also 3 insets and illustrations of some town buildings.This layer is part of a selection of digitally scanned and georeferenced historic maps from the Harvard Map Collection. These maps typically portray both natural and manmade features. The selection represents a range of originators, ground condition dates, scales, and map purposes.

Luxembourg and Portions of Belgium, Germany, and France, 1705 (Image 1 of 4) (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: Le Duché de Luxembourg divisé en Quartier Walon, et Allemand : dans chacun desquels sont diviséz, les Seigneuries, Prevostés et Comtés. Le Duché de Bouillon ; le Comté de Namur et le Pays entre Sambre et Meuse, Dedié au Roy par son tres-humble, tres-obeissant, tres-fidele sujet et serviteur Hubert Jaillot, Geographe du Roy. It was published by chez l'auteur, joignant les grands Augustins, aux deux Globes, avec privilége du roy in 1705. Scale [ca. 1:143,370]. Covers Luxembourg and portions of Belgium, Germany, and France. This layer is image 1 of 4 total images of the four sheet source map, representing the southeast portion of the map. Map in French.The image inside the map neatline is georeferenced to the surface of the earth and fit to the Europe Lambert Conformal Conic coordinate system. All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. This map shows features such as drainage, roads, cities and other human settlements, fortifications, territorial and administrative boundaries, ground cover, and more. Relief shown pictorially. This layer is part of a selection of digitally scanned and georeferenced historic maps from the Harvard Map Collection. These maps typically portray both natural and manmade features. The selection represents a range of originators, ground condition dates, scales, and map purposes.

Luxembourg and Portions of Belgium, Germany, and France, 1705 (Image 2 of 4) (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: Le Duché de Luxembourg divisé en Quartier Walon, et Allemand : dans chacun desquels sont diviséz, les Seigneuries, Prevostés et Comtés. Le Duché de Bouillon ; le Comté de Namur et le Pays entre Sambre et Meuse, Dedié au Roy par son tres-humble, tres-obeissant, tres-fidele sujet et serviteur Hubert Jaillot, Geographe du Roy. It was published by chez l'auteur, joignant les grands Augustins, aux deux Globes, avec privilége du roy in 1705. Scale [ca. 1:143,370]. Covers Luxembourg and portions of Belgium, Germany, and France. This layer is image 2 of 4 total images of the four sheet source map, representing the northeast portion of the map. Map in French.The image inside the map neatline is georeferenced to the surface of the earth and fit to the Europe Lambert Conformal Conic coordinate system. All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. This map shows features such as drainage, roads, cities and other human settlements, fortifications, territorial and administrative boundaries, ground cover, and more. Relief shown pictorially. This layer is part of a selection of digitally scanned and georeferenced historic maps from the Harvard Map Collection. These maps typically portray both natural and manmade features. The selection represents a range of originators, ground condition dates, scales, and map purposes.

Luxembourg and Portions of Belgium, Germany, and France, 1705 (Image 3 of 4) (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: Le Duché de Luxembourg divisé en Quartier Walon, et Allemand : dans chacun desquels sont diviséz, les Seigneuries, Prevostés et Comtés. Le Duché de Bouillon ; le Comté de Namur et le Pays entre Sambre et Meuse, Dedié au Roy par son tres-humble, tres-obeissant, tres-fidele sujet et serviteur Hubert Jaillot, Geographe du Roy. It was published by chez l'auteur, joignant les grands Augustins, aux deux Globes, avec privilége du roy in 1705. Scale [ca. 1:143,370]. Covers Luxembourg and portions of Belgium, Germany, and France. This layer is image 3 of 4 total images of the four sheet source map, representing the southwest portion of the map. Map in French.The image inside the map neatline is georeferenced to the surface of the earth and fit to the Europe Lambert Conformal Conic coordinate system. All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. This map shows features such as drainage, roads, cities and other human settlements, fortifications, territorial and administrative boundaries, ground cover, and more. Relief shown pictorially. This layer is part of a selection of digitally scanned and georeferenced historic maps from the Harvard Map Collection. These maps typically portray both natural and manmade features. The selection represents a range of originators, ground condition dates, scales, and map purposes.

Luxembourg and Portions of Belgium, Germany, and France, 1705 (Image 4 of 4) (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: Le Duché de Luxembourg divisé en Quartier Walon, et Allemand : dans chacun desquels sont diviséz, les Seigneuries, Prevostés et Comtés. Le Duché de Bouillon ; le Comté de Namur et le Pays entre Sambre et Meuse, Dedié au Roy par son tres-humble, tres-obeissant, tres-fidele sujet et serviteur Hubert Jaillot, Geographe du Roy. It was published by chez l'auteur, joignant les grands Augustins, aux deux Globes, avec privilége du roy in 1705. Scale [ca. 1:143,370]. Covers Luxembourg and portions of Belgium, Germany, and France. This layer is image 4 of 4 total images of the four sheet source map, representing the northwest portion of the map. Map in French.The image inside the map neatline is georeferenced to the surface of the earth and fit to the Europe Lambert Conformal Conic coordinate system. All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. This map shows features such as drainage, roads, cities and other human settlements, fortifications, territorial and administrative boundaries, ground cover, and more. Relief shown pictorially. This layer is part of a selection of digitally scanned and georeferenced historic maps from the Harvard Map Collection. These maps typically portray both natural and manmade features. The selection represents a range of originators, ground condition dates, scales, and map purposes.

Lake Geneva Region, Switzerland and France, ca. 1635 (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: Lacus Lemanni locorumque circumiacentium accuratissima descriptio, auctore, Iacobo Goulartio Genevensi. It was published by Guiljelmum Blaeu, ca. 1635. Scale [ca. 1:156,000]. Covers the Lake Geneva region, Switzerland and France. Map in Latin. The image inside the map neatline is georeferenced to the surface of the earth and fit to the Europe Lambert Conformal Conic coordinate system. All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. This map shows features such as drainage, cities and other human settlements, territorial boundaries, shoreline features, ground cover, and more. Relief shown pictorially.This layer is part of a selection of digitally scanned and georeferenced historic maps from the Harvard Map Collection. These maps typically portray both natural and manmade features. The selection represents a range of originators, ground condition dates, scales, and map purposes.

Westerschelde, Netherlands and Belgium, ca. 1799 (Image 1 of 3) (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: Reconnoissance du cours du Hont ou Wester Schelde (Escaut occidental) depuis Anwerpen (Anvers) jusqu'à l'embouchure, faite par ordre du Ministre de la marine et des colonies, en thermidor et fructidor, an VII, vendémiaire et brumaire, an VIII, par Beautemps-Beaupré; assisté des Cens. Daussy et Portier, et de Jh. Raoul. It was published ca. 1799. Scale [ca. 1:41,300]. Covers Westerschelde, Netherlands and Belgium, from Middelburg to Antwerp. This layer is image 1 of 3 total images of the three sheet source map, representing the western portion of the map. Map in French.The image inside the map neatline is georeferenced to the surface of the earth and fit to the RD_New (Rijksdriehoekstelsel), GCS Amersfoort coordinate system. All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, index maps, legends, or other information associated with the principal map. This map shows coastal features such as rocks, channels, points, ports, coves, islands, flats, canals, and more. Includes also selected land features such as roads, towns, fortification, drainage, land cover, selected buildings, and more. Relief shown pictorially and with hachures. Depths shown by contours and soundings. Includes "Nota" and text with insigne of the Dépôt général de la marine.This layer is part of a selection of digitally scanned and georeferenced historic maps from the Harvard Map Collection. These maps typically portray both natural and manmade features. The selection represents a range of originators, ground condition dates, scales, and map purposes.