New Methods for Triangulation-based Shape Acquisition using Laser Scanners

Tradicionalment, la reproducció del mon real se'ns ha mostrat a traves d'imatges planes. Aquestes imatges se solien materialitzar mitjançant pintures sobre tela o be amb dibuixos. Avui, per sort, encara podem veure pintures fetes a ma, tot i que la majoria d'imatges s'adquireixen mitjançant càmeres, i es mostren directament a una audiència, com en el cinema, la televisió o exposicions de fotografies, o be son processades per un sistema computeritzat per tal d'obtenir un resultat en particular. Aquests processaments s'apliquen en camps com en el control de qualitat industrial o be en la recerca mes puntera en intel·ligència artificial. Aplicant algorismes de processament de nivell mitja es poden obtenir imatges 3D a partir d'imatges 2D, utilitzant tècniques ben conegudes anomenades Shape From X, on X es el mètode per obtenir la tercera dimensió, i varia en funció de la tècnica que s'utilitza a tal nalitat. Tot i que l'evolució cap a la càmera 3D va començar en els 90, cal que les tècniques per obtenir les formes tridimensionals siguin mes i mes acurades. Les aplicacions dels escàners 3D han augmentat considerablement en els darrers anys, especialment en camps com el lleure, diagnosi/cirurgia assistida, robòtica, etc. Una de les tècniques mes utilitzades per obtenir informació 3D d'una escena, es la triangulació, i mes concretament, la utilització d'escàners laser tridimensionals. Des de la seva aparició formal en publicacions científiques al 1971 [SS71], hi ha hagut contribucions per solucionar problemes inherents com ara la disminució d'oclusions, millora de la precisió, velocitat d'adquisició, descripció de la forma, etc. Tots i cadascun dels mètodes per obtenir punts 3D d'una escena te associat un procés de calibració, i aquest procés juga un paper decisiu en el rendiment d'un dispositiu d'adquisició tridimensional. La nalitat d'aquesta tesi es la d'abordar el problema de l'adquisició de forma 3D, des d'un punt de vista total, reportant un estat de l'art sobre escàners laser basats en triangulació, provant el funcionament i rendiment de diferents sistemes, i fent aportacions per millorar la precisió en la detecció del feix laser, especialment en condicions adverses, i solucionant el problema de la calibració a partir de mètodes geomètrics projectius.

Aplicações do Laser em Dermatologia

O laser é uma técnica cada vez mais utilizada no tratamento e diagnóstico de variadas doenças, em múltiplas especialidades – desde a neurocirurgia até à ginecologia, da gastroenterologia à ortopedia e da oftalmologia à dermatologia. É extremamente difícil afirmar o quão diferente seria a medicina hoje em dia se a tecnologia laser não se encontrasse disponível. Ao longo desta monografia, a área a abordar vai ser a Dermatologia e as aplicações dos lasers nesta área. Inicialmente irá ser abordada a história dos lasers, desde a sua descoberta até ao dia de hoje, passando pelas suas limitações iniciais e acabando nas suas evoluções e estado actual. De seguida, irá ser analisada a constituição da pele e os fototipos cutâneos. Ao longo do trabalho, irá ser explicado o que são lasers, quais as suas características principais e interacções com o tecido, quais os tipos de lasers existentes e quais os mais utilizados em Dermatologia. Nesta área, os lasers podem ser utilizados em diversas situações e patologias. Nesta monografia, irá ser discutida a utilização dos lasers na remoção de pêlos (epilação), em lesões pigmentares, na remoção de tatuagens e em lesões vasculares, nomeadamente nas PWS e no hemangioma. Além disso, os lasers são igualmente utilizados como técnicas de diagnóstico, pelo que serão descritas três técnicas utilizadas como tal – LDF, CM e LIF. Por último, serão abordadas as considerações práticas dos lasers, isto é, os factores que influenciam a escolha de um laser, os efeitos secundários derivados do uso de lasers e as contra-indicações ao uso de lasers, tal como qual o futuro na utilização dos lasers.

Use of fused airborne scanning laser altimetry and digital map data for urban flood modelling

Flood modelling of urban areas is still at an early stage, partly because until recently topographic data of sufficiently high resolution and accuracy have been lacking in urban areas. However, Digital Surface Models (DSMs) generated from airborne scanning laser altimetry (LiDAR) having sub-metre spatial resolution have now become available, and these are able to represent the complexities of urban topography. The paper describes the development of a LiDAR post-processor for urban flood modelling based on the fusion of LiDAR and digital map data. The map data are used in conjunction with LiDAR data to identify different object types in urban areas, though pattern recognition techniques are also employed. Post-processing produces a Digital Terrain Model (DTM) for use as model bathymetry, and also a friction parameter map for use in estimating spatially-distributed friction coefficients. In vegetated areas, friction is estimated from LiDAR-derived vegetation height, and (unlike most vegetation removal software) the method copes with short vegetation less than ~1m high, which may occupy a substantial fraction of even an urban floodplain. The DTM and friction parameter map may also be used to help to generate an unstructured mesh of a vegetated urban floodplain for use by a 2D finite element model. The mesh is decomposed to reflect floodplain features having different frictional properties to their surroundings, including urban features such as buildings and roads as well as taller vegetation features such as trees and hedges. This allows a more accurate estimation of local friction. The method produces a substantial node density due to the small dimensions of many urban features.

Using airborne laser altimetry to improve river flood extents delineated from SAR data

Flood extent maps derived from SAR images are a useful source of data for validating hydraulic models of river flood flow. The accuracy of such maps is reduced by a number of factors, including changes in returns from the water surface caused by different meteorological conditions and the presence of emergent vegetation. The paper describes how improved accuracy can be achieved by modifying an existing flood extent delineation algorithm to use airborne laser altimetry (LiDAR) as well as SAR data. The LiDAR data provide an additional constraint that waterline (land-water boundary) heights should vary smoothly along the flooded reach. The method was tested on a SAR image of a flood for which contemporaneous aerial photography existed, together with LiDAR data of the un-flooded reach. Waterline heights of the SAR flood extent conditioned on both SAR and LiDAR data matched the corresponding heights from the aerial photo waterline significantly more closely than those from the SAR flood extent conditioned only on SAR data.

Laser granulometry of Holocene estuarine silts: effects of hydrogen peroxide treatment

The Holocene estuarine silts of the Severn Estuary Levels (southwest Britain) are representative of their kind in northwest Europe. They contain two broad types of plant material: particles codeposited with mineral grains from the estuarine water body, and extraneous debris (stems of indigenous prior plants; post depositional root matter) which is difficult to remove completely by physical means. Treatment with hydrogen peroxide before laser granulometry removes all plant material regardless of kind, drastically reduces values for the mean grain size and median size relative to untreated samples, but has little effect on the mode, except for a restricted group of bimodal-platykurtic, medium-coarse silts. It is concluded that, in the case of sediments of the general kind examined, no advantages acrue from the treatment of samples with hydrogen peroxide prior to analysis. Although a discrete rather than continuous variable, values of the mode obtained from untreated sediments are suggested to be acceptable for most purposes where a measure of central tendency is required.

Record of natural and anthropogenic changes in reef environments (Barbados West Indies) using laser ablation ICP-MS and sclerochronology on coral cores

Coral growth rate can be affected by environmental parameters such as seawater temperature, depth, and light intensity. The natural reef environment is also disturbed by human influences such as anthropogenic pollutants, which in Barbados are released close to the reefs. Here we describe a relatively new method of assessing the history of pollution and explain how these effects have influenced the coral communities off the west coast of Barbados. We evaluate the relative impact of both anthropogenic pollutants and natural stresses. Sclerochronology documents framework and skeletal growth rate and records pollution history (recorded as reduced growth) for a suite of sampled Montastraea annularis coral cores. X-radiography shows annual growth band patterns of the corals extending back over several decades and indicates significantly lower growth rate in polluted sites. Results using laser-ablation inductively coupled plasma mass spectrometry (LA-ICP-MS) on the whole sample (aragonite, organic matter, trapped particulate matter, etc.), have shown contrasting concentrations of the trace elements (Cu, Sn, Zn, and Pb) between corals at different locations and within a single coral. Deepwater corals 7 km apart, record different levels of Pb and Sn, suggesting that a current transported the metal pollution in the water. In addition, the 1995 hurricanes are associated with anomalous values for Sn and Cu from most sites. These are believed to result from dispersion of nearshore polluted water. We compared the concentrations of trace elements in the coral growth of particular years to those in the relevant contemporaneous seawater. Mean values for the concentration factor in the coral, relative to the water, ranged from 10 for Cu and Ni to 2.4 and 0.7 for Cd and Zn, respectively. Although the uncertainties are large (60-80%), the coral record enabled us to demonstrate the possibility of calculating a history of seawater pollution for these elements from the 1940s to 1997. Our values were much higher than those obtained from analysis of carefully cleaned coral aragonite; they demonstrate the incorporation of more contamination including that from particulate material as well as dissolved metals.

Characterising errors in airborne laser altimetry data to extract soil roughness

Airborne laser altimetry has the potential to make frequent detailed observations that are important for many aspects of studying land surface processes. However, the uncertainties inherent in airborne laser altimetry data have rarely been well measured. Uncertainty is often specified as generally as 20cm in elevation, and 40cm planimetric. To better constrain these uncertainties, we present an analysis of several datasets acquired specifically to study the temporal consistency of laser altimetry data, and thus assess its operational value. The error budget has three main components, each with a time regime. For measurements acquired less than 50ms apart, elevations have a local standard deviation in height of 3.5cm, enabling the local measurement of surface roughness of the order of 5cm. Points acquired seconds apart acquire an additional random error due to Differential Geographic Positioning System (DGPS) fluctuation. Measurements made up to an hour apart show an elevation drift of 7cm over a half hour. Over months, this drift gives rise to a random elevation offset between swathes, with an average of 6.4cm. The RMS planimetric error in point location was derived as 37.4cm. We conclude by considering the consequences of these uncertainties on the principle application of laser altimetry in the UK, intertidal zone monitoring.

Extraction of tidal channel networks from aerial photographs alone and combined with laser altimetry

Tidal channel networks play an important role in the intertidal zone, exerting substantial control over the hydrodynamics and sediment transport of the region and hence over the evolution of the salt marshes and tidal flats. The study of the morphodynamics of tidal channels is currently an active area of research, and a number of theories have been proposed which require for their validation measurement of channels over extensive areas. Remotely sensed data provide a suitable means for such channel mapping. The paper describes a technique that may be adapted to extract tidal channels from either aerial photographs or LiDAR data separately, or from both types of data used together in a fusion approach. Application of the technique to channel extraction from LiDAR data has been described previously. However, aerial photographs of intertidal zones are much more commonly available than LiDAR data, and most LiDAR flights now involve acquisition of multispectral images to complement the LiDAR data. In view of this, the paper investigates the use of multispectral data for semiautomatic identification of tidal channels, firstly from only aerial photographs or linescanner data, and secondly from fused linescanner and LiDAR data sets. A multi-level, knowledge-based approach is employed. The algorithm based on aerial photography can achieve a useful channel extraction, though may fail to detect some of the smaller channels, partly because the spectral response of parts of the non-channel areas may be similar to that of the channels. The algorithm for channel extraction from fused LiDAR and spectral data gives an increased accuracy, though only slightly higher than that obtained using LiDAR data alone. The results illustrate the difficulty of developing a fully automated method, and justify the semi-automatic approach adopted.