Proposta metodológica para o imageamento digital e modelagem virtual 3d de um bloco de rochas travertinas

In this paper we present the methodological procedures involved in the digital imaging in mesoscale of a block of travertines rock of quaternary age, originating from the city of Acquasanta, located in the Apennines, Italy. This rocky block, called T-Block, was stored in the courtyard of the Laboratório Experimental Petróleo "Kelsen Valente" (LabPetro), of Universidade Estadual de Campinas (UNICAMP), so that from it were performed Scientific studies, mainly for research groups universities and research centers working in brazilian areas of reservoir characterization and 3D digital imaging. The purpose of this work is the development of a Model Solid Digital, from the use of non-invasive techniques of digital 3D imaging of internal and external surfaces of the T-Block. For the imaging of the external surfaces technology has been used LIDAR (Light Detection and Range) and the imaging surface Interior was done using Ground Penetrating Radar (GPR), moreover, profiles were obtained with a Gamma Ray Gamae-spectômetro laptop. The goal of 3D digital imaging involved the identification and parameterization of surface geological and sedimentary facies that could represent heterogeneities depositional mesoscale, based on study of a block rocky with dimensions of approximately 1.60 m x 1.60 m x 2.70 m. The data acquired by means of terrestrial laser scanner made available georeferenced spatial information of the surface of the block (X, Y, Z), and varying the intensity values of the return laser beam and high resolution RGB data (3 mm x 3 mm), total points acquired 28,505,106. This information was used as an aid in the interpretation of radargrams and are ready to be displayed in rooms virtual reality. With the GPR was obtained 15 profiles of 2.3 m and 2 3D grids, each with 24 sections horizontal of 1.3 and 14 m vertical sections of 2.3 m, both the Antenna 900 MHz to about 2600 MHz antenna. Finally, the use of GPR associated with Laser Scanner enabled the identification and 3D mapping of 3 different radarfácies which were correlated with three sedimentary facies as had been defined at the outset. The 6 profiles showed gamma a low amplitude variation in the values of radioactivity. This is likely due to the fact of the sedimentary layers profiled have the same mineralogical composition, being composed by carbonate sediments, with no clay in siliciclastic pellitic layers or other mineral carrier elements radioactive

Geomorphological and statistical analysis on Ravenna dune fields changes, based on Terrestrial Laser Technology

Coastal sand dunes represent a richness first of all in terms of defense from the sea storms waves and the saltwater ingression; moreover these morphological elements constitute an unique ecosystem of transition between the sea and the land environment. The research about dune system is a strong part of the coastal sciences, since the last century. Nowadays this branch have assumed even more importance for two reasons: on one side the born of brand new technologies, especially related to the Remote Sensing, have increased the researcher possibilities; on the other side the intense urbanization of these days have strongly limited the dune possibilities of development and fragmented what was remaining from the last century. This is particularly true in the Ravenna area, where the industrialization united to the touristic economy and an intense subsidence, have left only few dune ridges residual still active. In this work three different foredune ridges, along the Ravenna coast, have been studied with Laser Scanner technology. This research didn’t limit to analyze volume or spatial difference, but try also to find new ways and new features to monitor this environment. Moreover the author planned a series of test to validate data from Terrestrial Laser Scanner (TLS), with the additional aim of finalize a methodology to test 3D survey accuracy. Data acquired by TLS were then applied on one hand to test some brand new applications, such as Digital Shore Line Analysis System (DSAS) and Computational Fluid Dynamics (CFD), to prove their efficacy in this field; on the other hand the author used TLS data to find any correlation with meteorological indexes (Forcing Factors), linked to sea and wind (Fryberger's method) applying statistical tools, such as the Principal Component Analysis (PCA).

Three-dimensional imaging for a very large excavator

In this paper we describe the development of a three-dimensional (3D) imaging system for a 3500 tonne mining machine (dragline).Draglines are large walking cranes used for removing the dirt that covers a coal seam. Our group has been developing a dragline swing automation system since 1994. The system so far has been `blind' to its external environment. The work presented in this paper attempts to give the dragline an ability to sense its surroundings. A 3D digital terrain map (DTM) is created from data obtained from a two-dimensional laser scanner while the dragline swings. Experimental data from an operational dragline are presented.

Robust multiple-sensing-modality data fusion using Gaussian Process Implicit Surfaces

The ability to build high-fidelity 3D representations of the environment from sensor data is critical for autonomous robots. Multi-sensor data fusion allows for more complete and accurate representations. Furthermore, using distinct sensing modalities (i.e. sensors using a different physical process and/or operating at different electromagnetic frequencies) usually leads to more reliable perception, especially in challenging environments, as modalities may complement each other. However, they may react differently to certain materials or environmental conditions, leading to catastrophic fusion. In this paper, we propose a new method to reliably fuse data from multiple sensing modalities, including in situations where they detect different targets. We first compute distinct continuous surface representations for each sensing modality, with uncertainty, using Gaussian Process Implicit Surfaces (GPIS). Second, we perform a local consistency test between these representations, to separate consistent data (i.e. data corresponding to the detection of the same target by the sensors) from inconsistent data. The consistent data can then be fused together, using another GPIS process, and the rest of the data can be combined as appropriate. The approach is first validated using synthetic data. We then demonstrate its benefit using a mobile robot, equipped with a laser scanner and a radar, which operates in an outdoor environment in the presence of large clouds of airborne dust and smoke.

Histogram matching and global initialization for laser-only SLAM in large unstructured environments

This paper presents an enhanced algorithm for matching laser scan maps using histogram correlations. The histogram representation effectively summarizes a map's salient features such that pairs of maps can be matched efficiently without any prior guess as to their alignment. The histogram matching algorithm has been enhanced in order to work well in outdoor unstructured environments by using entropy metrics, weighted histograms and proper thresholding of quality metrics. Thus our large-scale scan-matching SLAM implementation has a vastly improved ability to close large loops in real-time even when odometry is not available. Our experimental results have demonstrated a successful mapping of the largest area ever mapped to date using only a single laser scanner. We also demonstrate our ability to solve the lost robot problem by localizing a robot to a previously built map without any prior initialization.

Obstacle detection for a mining vehicle using a 2D laser

This paper discusses a number of key issues for the development of robust obstacle detection systems for autonomous mining vehicles. Strategies for obstacle detection are described and an overview of the state-of-the-art in obstacle detection for outdoor autonomous vehicles using lasers is presented, with their applicability to the mining environment noted. The development of an obstacle detection system for a mining vehicle is then detailed. This system uses a 2D laser scanner as the prime sensor and combines dead-reckoning data with laser data to create local terrain maps. The slope of the terrain maps is then used to detect potential obstacles.

Use of LIDAR in landslide investigations: A review

This paper presents a short history of the appraisal of laser scanner technologies in geosciences used for imaging relief by high-resolution digital elevation models (HRDEMs) or 3D models. A general overview of light detection and ranging (LIDAR) techniques applied to landslides is given, followed by a review of different applications of LIDAR for landslide, rockfall and debris-flow. These applications are classified as: (1) Detection and characterization of mass movements; (2) Hazard assessment and susceptibility mapping; (3) Modelling; (4) Monitoring. This review emphasizes how LIDARderived HRDEMs can be used to investigate any type of landslides. It is clear that such HRDEMs are not yet a common tool for landslides investigations, but this technique has opened new domains of applications that still have to be developed.

Integração de imagem aérea de alta resolução e dados de varredura a laser na classificação de cenas urbanas para detectar regiões de via

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Proposta metodológica para o imageamento, caracterização, parametrização e geração de modelos virtuais de afloramentos

The aim of this work was to describe the methodological procedures that were mandatory to develop a 3D digital imaging of the external and internal geometry of the analogue outcrops from reservoirs and to build a Virtual Outcrop Model (VOM). The imaging process of the external geometry was acquired by using the Laser Scanner, the Geodesic GPS and the Total Station procedures. On the other hand, the imaging of the internal geometry was evaluated by GPR (Ground Penetrating Radar).The produced VOMs were adapted with much more detailed data with addition of the geological data and the gamma ray and permeability profiles. As a model for the use of the methodological procedures used on this work, the adapted VOM, two outcrops, located at the east part of the Parnaiba Basin, were selected. On the first one, rocks from the aeolian deposit of the Piaui Formation (Neo-carboniferous) and tidal flat deposits from the Pedra de Fogo Formation (Permian), which arises in a large outcrops located between Floriano and Teresina (Piauí), are present. The second area, located at the National Park of Sete Cidades, also at the Piauí, presents rocks from the Cabeças Formation deposited in fluvial-deltaic systems during the Late Devonian. From the data of the adapted VOMs it was possible to identify lines, surfaces and 3D geometry, and therefore, quantify the geometry of interest. Among the found parameterization values, a table containing the thickness and width, obtained in canal and lobes deposits at the outcrop Paredão and Biblioteca were the more relevant ones. In fact, this table can be used as an input for stochastic simulation of reservoirs. An example of the direct use of such table and their predicted radargrams was the identification of the bounding surface at the aeolian sites from the Piauí Formation. In spite of such radargrams supply only bi-dimensional data, the acquired lines followed of a mesh profile were used to add a third dimension to the imaging of the internal geometry. This phenomenon appears to be valid for all studied outcrops. As a conclusion, the tool here presented can became a new methodology in which the advantages of the digital imaging acquired from the Laser Scanner (precision, accuracy and speed of acquisition) were combined with the Total Station procedure (precision) using the classical digital photomosaic technique

Monitoramento e avaliação de processos erosivos marginais em reservatórios de usinas hidrelétricas por meio de varredura a laser

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Reverse Engineering tools: development and experimentation of innovative methods for physical and geometrical data integration and post-processing

In recent years, the use of Reverse Engineering systems has got a considerable interest for a wide number of applications. Therefore, many research activities are focused on accuracy and precision of the acquired data and post processing phase improvements. In this context, this PhD Thesis deals with the definition of two novel methods for data post processing and data fusion between physical and geometrical information. In particular a technique has been defined for error definition in 3D points’ coordinates acquired by an optical triangulation laser scanner, with the aim to identify adequate correction arrays to apply under different acquisition parameters and operative conditions. Systematic error in data acquired is thus compensated, in order to increase accuracy value. Moreover, the definition of a 3D thermogram is examined. Object geometrical information and its thermal properties, coming from a thermographic inspection, are combined in order to have a temperature value for each recognizable point. Data acquired by an optical triangulation laser scanner are also used to normalize temperature values and make thermal data independent from thermal-camera point of view.

Leopoli-Cencelle beyond virtual reality Documentazione, interpretazione e comprensione di una città medievale

La città medievale di Leopoli-Cencelle (fondata da Papa Leone IV nell‘854 d.C. non lontano da Civitavecchia) è stata oggetto di studio e di periodiche campagne di scavo a partire dal 1994. Le stratigrafie investigate con metodi tradizionali, hanno portato alla luce le numerose trasformazioni che la città ha subìto nel corso della sua esistenza in vita. Case, torri, botteghe e strati di vissuto, sono stati interpretati sin dall’inizio dello scavo basandosi sulla documentazione tradizionale e bi-dimensionale, legata al dato cartaceo e al disegno. Il presente lavoro intende re-interpretare i dati di scavo con l’ausilio delle tecnologie digitali. Per il progetto sono stati utilizzati un laser scanner, tecniche di Computer Vision e modellazione 3D. I tre metodi sono stati combinati in modo da poter visualizzare tridimensionalmente gli edifici abitativi scavati, con la possibilità di sovrapporre semplici modelli 3D che permettano di formulare ipotesi differenti sulla forma e sull’uso degli spazi. Modellare spazio e tempo offrendo varie possibilità di scelta, permette di combinare i dati reali tridimensionali, acquisiti con un laser scanner, con semplici modelli filologici in 3D e offre l’opportunità di valutare diverse possibili interpretazioni delle caratteristiche dell’edificio in base agli spazi, ai materiali, alle tecniche costruttive. Lo scopo del progetto è andare oltre la Realtà Virtuale, con la possibilità di analizzare i resti e di re-interpretare la funzione di un edificio, sia in fase di scavo che a scavo concluso. Dal punto di vista della ricerca, la possibilità di visualizzare le ipotesi sul campo favorisce una comprensione più profonda del contesto archeologico. Un secondo obiettivo è la comunicazione a un pubblico di “non-archeologi”. Si vuole offrire a normali visitatori la possibilità di comprendere e sperimentare il processo interpretativo, fornendo loro qualcosa in più rispetto a una sola ipotesi definitiva.

Il rilievo della facciata della chiesa di Santa Lucia a Bologna, mediante sistemi fotogrammetrici a basso costo e open source.

Questo elaborato presenta una procedura di rilievo eseguito con la scansione Laser e la Fotogrammetria per lo studio della facciata della Chiesa di Santa Lucia in Bologna e le successive elaborazioni dei dati tramite software di correlazione automatica Open Source e commerciali Low Cost basati sui principi della Structure from Motion. Nel particolare, il rilievo laser è stato eseguito da 5 posizioni diverse e tramite l’utilizzo di 7 target, mentre il rilievo fotogrammetrico è stato di tipo speditivo poiché le prese sono state eseguite solo da terra ed è stato impiegato un tempo di lavoro minimo (una decina di minuti). I punti di appoggio per la georeferenziazione dei dati fotogrammetrici sono stati estratti dal datum fornito dal laser e dal set di fotogrammi a disposizione è stato ottenuta una nuvola di punti densa tramite programmi Open Source e con software commerciali. Si sono quindi potuti operare confronti tra i risultati ottenuti con la fotogrammetria e tra il dato che si aveva di riferimento, cioè il modello tridimensionale ottenuto grazie al rilievo laser. In questo modo si è potuto verificare l’accuratezza dei risultati ottenuti con la fotogrammetria ed è stato possibile determinare quale calcolo teorico approssimativo dell’errore poteva essere funzionante per questo caso di studio e casi simili. Inoltre viene mostrato come produrre un foto raddrizzamento tramite l’utilizzo di una sola foto utilizzando un programma freeware. Successivamente è stata vettorializzata la facciata della chiesa ed è stata valutata l’accuratezza di tale prodotto, sempre confrontandola con il dato di riferimento, ed infine è stato determinato quale calcolo teorico dell’errore poteva essere utilizzato in questo caso. Infine, avendo notato la diffusione nel commercio odierno della stampa di oggetti 3D, è stato proposto un procedimento per passare da una nuvola di punti tridimensionale ad un modello 3D stampato.

Assessment of melanocytic skin lesions with a high-definition laser Doppler imaging system

Early detection is a major goal in the management of malignant melanoma. Besides clinical assessment many noninvasive technologies such as dermoscopy, digital dermoscopy and in vivo laser scanner microscopy are used as additional methods. Herein we tested a system to assess lesional perfusion as a tool for early melanoma detection.