Modelo para reconstrução 3D de cenas baseado em imagens

3D Reconstruction is the process used to obtain a detailed graphical model in three dimensions that represents some real objectified scene. This process uses sequences of images taken from the scene, so it can automatically extract the information about the depth of feature points. These points are then highlighted using some computational technique on the images that compose the used dataset. Using SURF feature points this work propose a model for obtaining depth information of feature points detected by the system. At the ending, the proposed system extract three important information from the images dataset: the 3D position for feature points; relative rotation and translation matrices between images; the realtion between the baseline for adjacent images and the 3D point accuracy error found.

Registro global de nuvens de pontos RGB-D em tempo real usando fluxo óptico e marcadores

Registration of point clouds captured by depth sensors is an important task in 3D reconstruction applications based on computer vision. In many applications with strict performance requirements, the registration should be executed not only with precision, but also in the same frequency as data is acquired by the sensor. This thesis proposes theuse of the pyramidal sparse optical flow algorithm to incrementally register point clouds captured by RGB-D sensors (e.g. Microsoft Kinect) in real time. The accumulated errorinherent to the process is posteriorly minimized by utilizing a marker and pose graph optimization. Experimental results gathered by processing several RGB-D datasets validatethe system proposed by this thesis in visual odometry and simultaneous localization and mapping (SLAM) applications.

Impact of Curling and Warping on Concrete Pavement, TR-668, 2016

Portland cement concrete (PCC) pavement undergoes repeated environmental load-related deflection resulting from temperature and moisture variations across the pavement depth. This phenomenon, referred to as PCC pavement curling and warping, has been known and studied since the mid-1920s. Slab curvature can be further magnified under repeated traffic loads and may ultimately lead to fatigue failures, including top-down and bottom-up transverse, longitudinal, and corner cracking. It is therefore important to measure the “true” degree of curling and warping in PCC pavements, not only for quality control (QC) and quality assurance (QA) purposes, but also to achieve a better understanding of its relationship to long-term pavement performance. In order to better understand the curling and warping behavior of PCC pavements in Iowa and provide recommendations to mitigate curling and warping deflections, field investigations were performed at six existing sites during the late fall of 2015. These sites included PCC pavements with various ages, slab shapes, mix design aspects, and environmental conditions during construction. A stationary light detection and ranging (LiDAR) device was used to scan the slab surfaces. The degree of curling and warping along the longitudinal, transverse, and diagonal directions was calculated for the selected slabs based on the point clouds acquired using LiDAR. The results and findings are correlated to variations in pavement performance, mix design, pavement design, and construction details at each site. Recommendations regarding how to minimize curling and warping are provided based on a literature review and this field study. Some examples of using point cloud data to build three-dimensional (3D) models of the overall curvature of the slab shape are presented to show the feasibility of using this 3D analysis method for curling and warping analysis.

BDNF gene effects on brain circuitry replicated in 455 twins

Brain-derived neurotrophic factor (BDNF) plays a key role in learning and memory, but its effects on the fiber architecture of the living brain are unknown. We genotyped 455 healthy adult twins and their non-twin siblings (188 males/267 females; age: 23.7 ± 2.1. years, mean ± SD) and scanned them with high angular resolution diffusion tensor imaging (DTI), to assess how the BDNF Val66Met polymorphism affects white matter microstructure. By applying genetic association analysis to every 3D point in the brain images, we found that the Val-BDNF genetic variant was associated with lower white matter integrity in the splenium of the corpus callosum, left optic radiation, inferior fronto-occipital fasciculus, and superior corona radiata. Normal BDNF variation influenced the association between subjects' performance intellectual ability (as measured by Object Assembly subtest) and fiber integrity (as measured by fractional anisotropy; FA) in the callosal splenium, and pons. BDNF gene may affect the intellectual performance by modulating the white matter development. This combination of genetic association analysis and large-scale diffusion imaging directly relates a specific gene to the fiber microstructure of the living brain and to human intelligence.

Documentación y representación de paramentos verticales en riesgo de colapso. Aplicación en el Monasterio de San Prudencio (Clavijo, La Rioja)

[ES] Los datos de este registro provienen de la una actividad académica que también aparece descrita en el repositorio y desde donde se puede acceder a otros trabajos relacionados con el Monasterio:

Metodología fotogramétrica para la cuantificación de las alteraciones en paramentos pétreos patrimoniales. Aplicación a la iglesia de San Juan de Laguardia

[ES] Este proyecto fin de carrera está realacionado con el siguiente proyecto de documentación de un elemento patrimonial:

Detección de límites arquitectónicos en edificios históricos combinando imágenes digitales con nubes de puntos

[ES] El proyecto estudia algoritmos de detección de bordes aplicados a imágenes fotográficas y procedentes de nubes de puntos, posteriormente combina los resultados y analiza las posibilidades de mejora de la solución conjunta.

Documentación geométrica de las zonas en riesgo de derrumbe. Aplicación en el Monasterio de San Prudencio de Monte Laturce (Clavijo, La Rioja)

[ES] Los datos de este registro provienen de la una actividad académica que también aparece descrita en el repositorio y desde donde se puede acceder a otros trabajos relacionados con el Monasterio:

[B_Muskiz_Muñatones] Documentación geométrica y modelado virtual del Castillo de Muñatones (Muskiz, Bizkaia)

[ES] Este proyecto tuvo una continuación en 2008, cuando se documentó la muralla interior del castillo. Este trabajo también está disponible en este repositorio. Asimismo, algunos artículos y proyectos fin de carrera hacen referencia a los datos capturados en este proyecto. En concreto, los registros relacionados son los siguientes:

How does Oyster work? The simple interpretation of Oyster mathematics

Oyster® is a surface-piercing flap-type device designed to harvest wave energy in the nearshore environment. Established mathematical theories of wave energy conversion, such as 3D point-absorber and 2D terminator theory, are inadequate to accurately describe the behaviour of Oyster, historically resulting in distorted conclusions regarding the potential of such a concept to harness the power of ocean waves. Accurately reproducing the dynamics of Oyster requires the introduction of a new reference mathematical model, the “flap-type absorber”. A flap-type absorber is a large thin device which extracts energy by pitching about a horizontal axis parallel to the ocean bottom. This paper unravels the mathematics of Oyster as a flap-type absorber. The main goals of this work are to provide a simple–yet accurate–physical interpretation of the laws governing the mechanism of wave power absorption by Oyster and to emphasise why some other, more established, mathematical theories cannot be expected to accurately describe its behaviour.

Handlungsinduktionen durch die visuelle Wahrnehmung von Linear- und Drehbewegungen im Sport

Die vorliegende Arbeit beschäftigt sich mit den Einflüssen visuell wahrgenommener Bewegungsmerkmale auf die Handlungssteuerung eines Beobachters. Im speziellen geht es darum, wie die Bewegungsrichtung und die Bewegungsgeschwindigkeit als aufgabenirrelevante Reize die Ausführung von motorischen Reaktionen auf Farbreize beeinflussen und dabei schnellere bzw. verzögerte Reaktionszeiten bewirken. Bisherige Studien dazu waren auf lineare Bewegungen (von rechts nach links und umgekehrt) und sehr einfache Reizumgebungen (Bewegungen einfacher geometrischer Symbole, Punktwolken, Lichtpunktläufer etc.) begrenzt (z.B. Ehrenstein, 1994; Bosbach, 2004, Wittfoth, Buck, Fahle & Herrmann, 2006). In der vorliegenden Dissertation wurde die Gültigkeit dieser Befunde für Dreh- und Tiefenbewegungen sowie komplexe Bewegungsformen (menschliche Bewegungsabläufe im Sport) erweitert, theoretisch aufgearbeitet sowie in einer Serie von sechs Reaktionszeitexperimenten mittels Simon-Paradigma empirisch überprüft. Allen Experimenten war gemeinsam, dass Versuchspersonen an einem Computermonitor auf einen Farbwechsel innerhalb des dynamischen visuellen Reizes durch einen Tastendruck (links, rechts, proximal oder distal positionierte Taste) reagieren sollten, wobei die Geschwindigkeit und die Richtung der Bewegungen für die Reaktionen irrelevant waren. Zum Einfluss von Drehbewegungen bei geometrischen Symbolen (Exp. 1 und 1a) sowie bei menschlichen Drehbewegungen (Exp. 2) zeigen die Ergebnisse, dass Probanden signifikant schneller reagieren, wenn die Richtungsinformationen einer Drehbewegung kompatibel zu den räumlichen Merkmalen der geforderten Tastenreaktion sind. Der Komplexitätsgrad des visuellen Ereignisses spielt dabei keine Rolle. Für die kognitive Verarbeitung des Bewegungsreizes stellt nicht der Drehsinn, sondern die relative Bewegungsrichtung oberhalb und unterhalb der Drehachse das entscheidende räumliche Kriterium dar. Zum Einfluss räumlicher Tiefenbewegungen einer Kugel (Exp. 3) und einer gehenden Person (Exp. 4) belegen unsere Befunde, dass Probanden signifikant schneller reagieren, wenn sich der Reiz auf den Beobachter zu bewegt und ein proximaler gegenüber einem distalen Tastendruck gefordert ist sowie umgekehrt. Auch hier spielt der Komplexitätsgrad des visuellen Ereignisses keine Rolle. In beiden Experimenten führt die Wahrnehmung der Bewegungsrichtung zu einer Handlungsinduktion, die im kompatiblen Fall eine schnelle und im inkompatiblen Fall eine verzögerte Handlungsausführung bewirkt. In den Experimenten 5 und 6 wurden die Einflüsse von wahrgenommenen menschlichen Laufbewegungen (freies Laufen vs. Laufbandlaufen) untersucht, die mit und ohne eine Positionsveränderung erfolgten. Dabei zeigte sich, dass unabhängig von der Positionsveränderung die Laufgeschwindigkeit zu keiner Modulation des richtungsbasierten Simon Effekts führt. Zusammenfassend lassen sich die Studienergebnisse gut in effektbasierte Konzepte zur Handlungssteuerung (z.B. die Theorie der Ereigniskodierung von Hommel et al., 2001) einordnen. Weitere Untersuchungen sind nötig, um diese Ergebnisse auf großmotorische Reaktionen und Displays, die stärker an visuell wahrnehmbaren Ereignissen des Sports angelehnt sind, zu übertragen.

DTM generation from LIDAR data using skewness balancing

LIght Detection And Ranging (LIDAR) data for terrain and land surveying has contributed to many environmental, engineering and civil applications. However, the analysis of Digital Surface Models (DSMs) from complex LIDAR data is still challenging. Commonly, the first task to investigate LIDAR data point clouds is to separate ground and object points as a preparatory step for further object classification. In this paper, the authors present a novel unsupervised segmentation algorithm-skewness balancing to separate object and ground points efficiently from high resolution LIDAR point clouds by exploiting statistical moments. The results presented in this paper have shown its robustness and its potential for commercial applications.

Preliminary leaf area index estimates from airborne small footprint full-waveform LiDAR data

This study has compared preliminary estimates of effective leaf area index (LAI) derived from fish-eye lens photographs to those estimated from airborne full-waveform small-footprint LiDAR data for a forest dataset in Australia. The full-waveform data was decomposed and optimized using a trust-region-reflective algorithm to extract denser point clouds. LAI LiDAR estimates were derived in two ways (1) from the probability of discrete pulses reaching the ground without being intercepted (point method) and (2) from raw waveform canopy height profile processing adapted to small-footprint laser altimetry (waveform method) accounting for reflectance ratio between vegetation and ground. The best results, that matched hemispherical photography estimates, were achieved for the waveform method with a study area-adjusted reflectance ratio of 0.4 (RMSE of 0.15 and 0.03 at plot and site level, respectively). The point method generally overestimated, whereas the waveform method with an arbitrary reflectance ratio of 0.5 underestimated the fish-eye lens LAI estimates.

Twofold adaptive partition of unity implicits

Partition of Unity Implicits (PUI) has been recently introduced for surface reconstruction from point clouds. In this work, we propose a PUI method that employs a set of well-observed solutions in order to produce geometrically pleasant results without requiring time consuming or mathematically overloaded computations. One feature of our technique is the use of multivariate orthogonal polynomials in the least-squares approximation, which allows the recursive refinement of the local fittings in terms of the degree of the polynomial. However, since the use of high-order approximations based only on the number of available points is not reliable, we introduce the concept of coverage domain. In addition, the method relies on the use of an algebraically defined triangulation to handle two important tasks in PUI: the spatial decomposition and an adaptive polygonization. As the spatial subdivision is based on tetrahedra, the generated mesh may present poorly-shaped triangles that are improved in this work by means a specific vertex displacement technique. Furthermore, we also address sharp features and raw data treatment. A further contribution is based on the PUI locality property that leads to an intuitive scheme for improving or repairing the surface by means of editing local functions.

Mapeamento dos parâmetros florísticos e estruturais de floresta de mangue com dados LIDAR e SRTM

Este estudo apresenta a estimativa dos parâmetros florísticos e estruturais (determinação da espécie, altura, diâmetro a altura do Peito - DAP e biomassa) do mangue a partir de informações da superfície adquiridas remotamente com os sensores Laser Detection and Range (LIDAR), Shuttle Radar Topography Mission (SRTM) e ortofotos na Ilha dos Guarás, conjunto de arquipélagos localizado a 30 km da desembocadura do rio amazonas. Para esse trabalho foram utilizadas informações do SRTM, LIDAR e fotografias aéreas processadas e ortorretificadas durante dois sobrevôos realizados entre o mês de julho e agosto de 2011. Com a ortofoto foi feito o mapa do reconhecimento de unidades geobotânicas que delimitou apenas a classe mangue. Em seguida, foi realizada a correção da altura elipsoidal para a altura ortométrica, onde a nuvem de pontos foi interpolada pelo método vizinho mais próximo, gerando Modelo Digital de Elevação (MDE) LIDAR (full points) com RMSE de 0,88 cm e por meio de uma linguagem macro foi estatisticamente separadas as informações do último pulso da superfície, conhecido também por ground points. Em seguida, os dados foram interpolados pelo método de krigeagem que gerou o valor de Modelo Digital de Superfície (MDS), o qual foi subtraído do MDE. Com base no Modelo Digital de Vegetação (MDV) foram definidos os sítios de coleta e selecionadas as árvores ascendentes, intermediárias e emergentes, porte no qual foi medido o DAP e altura. No total foram coletadas 212 amostras individuais de mangue e para assegurar o nível de acurácia do conjunto coletado, foi realizado o cálculo de RMSE entre as alturas do LIDAR e Campo, que resultou em RMSE= 1,10 m. Os modelos escolhidos para calibração LIDAR e altura de campo foi do tipo linear, com R² = 91% e RMSE= 0,98 cm e para calibração da DAP e altura de campo foi escolhido o modelo Logarítmico R² = 74,1%. Nos resultados da calibração do SRTM o modelo logarítmico também foi o mais adequado para a relação entre altura média e SRTM com R² = 91% e RMSE de 2,2 m e DAP Médio e SRTM, com R² = 88% e RMSE 2,2 cm. A partir de um inventário foi realizada a estimativa da biomassa por espécie por meio das equações alométricas de Fromard e posteriormente os resultados foram espacializados em forma de mapas com alto nível de detalhamento oriundo das informações LIDAR e SRTM corrigido e ortofotos.