Three-dimensional planar model estimation using multi-constraint knowledge based on k-means and RANSAC

Plane model extraction from three-dimensional point clouds is a necessary step in many different applications such as planar object reconstruction, indoor mapping and indoor localization. Different RANdom SAmple Consensus (RANSAC)-based methods have been proposed for this purpose in recent years. In this study, we propose a novel method-based on RANSAC called Multiplane Model Estimation, which can estimate multiple plane models simultaneously from a noisy point cloud using the knowledge extracted from a scene (or an object) in order to reconstruct it accurately. This method comprises two steps: first, it clusters the data into planar faces that preserve some constraints defined by knowledge related to the object (e.g., the angles between faces); and second, the models of the planes are estimated based on these data using a novel multi-constraint RANSAC. We performed experiments in the clustering and RANSAC stages, which showed that the proposed method performed better than state-of-the-art methods.

3D model reconstruction using neural gas accelerated on GPU

In this work, we propose the use of the neural gas (NG), a neural network that uses an unsupervised Competitive Hebbian Learning (CHL) rule, to develop a reverse engineering process. This is a simple and accurate method to reconstruct objects from point clouds obtained from multiple overlapping views using low-cost sensors. In contrast to other methods that may need several stages that include downsampling, noise filtering and many other tasks, the NG automatically obtains the 3D model of the scanned objects. To demonstrate the validity of our proposal we tested our method with several models and performed a study of the neural network parameterization computing the quality of representation and also comparing results with other neural methods like growing neural gas and Kohonen maps or classical methods like Voxel Grid. We also reconstructed models acquired by low cost sensors that can be used in virtual and augmented reality environments for redesign or manipulation purposes. Since the NG algorithm has a strong computational cost we propose its acceleration. We have redesigned and implemented the NG learning algorithm to fit it onto Graphics Processing Units using CUDA. A speed-up of 180× faster is obtained compared to the sequential CPU version.

3DCOMET: 3D compression methods test dataset

The use of 3D data in mobile robotics applications provides valuable information about the robot’s environment. However usually the huge amount of 3D information is difficult to manage due to the fact that the robot storage system and computing capabilities are insufficient. Therefore, a data compression method is necessary to store and process this information while preserving as much information as possible. A few methods have been proposed to compress 3D information. Nevertheless, there does not exist a consistent public benchmark for comparing the results (compression level, distance reconstructed error, etc.) obtained with different methods. In this paper, we propose a dataset composed of a set of 3D point clouds with different structure and texture variability to evaluate the results obtained from 3D data compression methods. We also provide useful tools for comparing compression methods, using as a baseline the results obtained by existing relevant compression methods.

SMR analysis using 3DPC datasets

Datasets and results of the paper: Characterization of rock slopes through slope mass rating using 3D point clouds, Riquelme et al 2016, IJRMMS.

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.

Notebook of John Allen, 1772

Paper-covered notebook containing handwritten poems and verse by Harvard graduate John Allen. Some of the poems refer to Allen’s illnesses in October 1772. The notebook also contains a short list titled “The Gentleman that I wrote diplomas for," with a list of sixteen individuals who received degrees from Harvard. The inside cover includes the inscription: “John Allen – November 4, 1772. Poetic Composition.” “Dr. T. C. Gilman” is stamped on cover.

Stress Inversion Using LiDAR Tunnel Deformation Measurements

Far-field stresses are those present in a volume of rock prior to excavations being created. Estimates of the orientation and magnitude of far-field stresses, often used in mine design, are generally obtained by single-point measurements of stress, or large-scale, regional trends. Point measurements can be a poor representation of far-field stresses as a result of excavation-induced stresses and geological structures. For these reasons, far-field stress estimates can be associated with high levels of uncertainty. The purpose of this thesis is to investigate the practical feasibility, applications, and limitations of calibrating far-field stress estimates through tunnel deformation measurements captured using LiDAR imaging. A method that estimates the orientation and magnitude of excavation-induced principal stress changes through back-analysis of deformation measurements from LiDAR imaged tunnels was developed and tested using synthetic data. If excavation-induced stress change orientations and magnitudes can be accurately estimated, they can be used in the calibration of far-field stress input to numerical models. LiDAR point clouds have been proven to have a number of underground applications, thus it is desired to explore their use in numerical model calibration. The back-analysis method is founded on the superposition of stresses and requires a two-dimensional numerical model of the deforming tunnel. Principal stress changes of known orientation and magnitude are applied to the model to create calibration curves. Estimation can then be performed by minimizing squared differences between the measured tunnel and sets of calibration curve deformations. In addition to the back-analysis estimation method, a procedure consisting of previously existing techniques to measure tunnel deformation using LiDAR imaging was documented. Under ideal conditions, the back-analysis method estimated principal stress change orientations within ±5° and magnitudes within ±2 MPa. Results were comparable for four different tunnel profile shapes. Preliminary testing using plastic deformation, a rough tunnel profile, and profile occlusions suggests that the method can work under more realistic conditions. The results from this thesis set the groundwork for the continued development of a new, inexpensive, and efficient far-field stress estimate calibration method.

Solar radiation over and under sea ice during the POLARSTERN cruise ARK-XXVI/3 (TransArc) in summer 2011

Arctic sea ice has declined and become thinner and younger (more seasonal) during the last decade. One consequence of this is that the surface energy budget of the Arctic Ocean is changing. While the role of surface albedo has been studied intensively, it is still widely unknown how much light penetrates through sea ice into the upper ocean, affecting sea-ice mass balance, ecosystems, and geochemical processes. Here we present the first large-scale under-ice light measurements, operating spectral radiometers on a remotely operated vehicle (ROV) under Arctic sea ice in summer. This data set is used to produce an Arctic-wide map of light distribution under summer sea ice. Our results show that transmittance through first-year ice (FYI, 0.11) was almost three times larger than through multi-year ice (MYI, 0.04), and that this is mostly caused by the larger melt-pond coverage of FYI (42 vs. 23%). Also energy absorption was 50% larger in FYI than in MYI. Thus, a continuation of the observed sea-ice changes will increase the amount of light penetrating into the Arctic Ocean, enhancing sea-ice melt and affecting sea-ice and upper-ocean ecosystems.

Composition of benthic taxa collected during POLARSTERN cruise ANT-XXI/5 (BENDEX) at Bouvet Island and Spiess Seamound

Bouvet (Bouvetøya) is a geologically young and very remote island just south of the Polar Front. Here we report samples taken during the RV "Polarstern" cruise ANTXXI/2 on 3 days in November 2003 and January 2004. This work was part of SCAR's EASIZ programme and intended, by providing data on the marine fauna of this "white gap" in the Atlantic sector of the Southern Ocean, to contribute to identifying the role of Bouvet in the faunal exchange between the Sub- and high Antarctic. While this goal demands extensive molecular analysis of the material sampled (future work), a checklist of the samples and data at hand widens the faunal and environmental inventory substantially. We suggest some preliminary conclusions on the relationship of Bouvet Island's fauna with that of other regions, such as Magellanic South America, the Antarctic Peninsula, and the high Antarctic Weddell Sea, which have been sampled previously. There seem to be different connections for individual higher taxa rather than a generally valid consistent picture.

Global 2009 1km MODIS (MOD35/MOD09) cloud frequency and MOD35 processing path

Identifying cloud interference in satellite-derived data is a critical step toward developing useful remotely sensed products. Most MODIS land products use a combination of the MODIS (MOD35) cloud mask and the 'internal' cloud mask of the surface reflectance product (MOD09) to mask clouds, but there has been little discussion of how these masks differ globally. We calculated global mean cloud frequency for both products, for 2009, and found that inflated proportions of observations were flagged as cloudy in the Collection 5 MOD35 product. These erroneously categorized areas were spatially and environmentally non-random and usually occurred over high-albedo land-cover types (such as grassland and savanna) in several regions around the world. Additionally, we found that spatial variability in the processing path applied in the Collection 5 MOD35 algorithm affects the likelihood of a cloudy observation by up to 20% in some areas. These factors result in abrupt transitions in recorded cloud frequency across landcover and processing-path boundaries impeding their use for fine-scale spatially contiguous modeling applications. We show that together, these artifacts have resulted in significantly decreased and spatially biased data availability for Collection 5 MOD35-derived composite MODIS land products such as land surface temperature (MOD11) and net primary productivity (MOD17). Finally, we compare our results to mean cloud frequency in the new Collection 6 MOD35 product, and find that landcover artifacts have been reduced but not eliminated. Collection 6 thus increases data availability for some regions and land cover types in MOD35-derived products but practitioners need to consider how the remaining artifacts might affect their analysis.

Clay mineralogy of ODP Site 131-808 sediments

Drill core recovered at Ocean Drilling Program Site 808 (Leg 131) proves that the wedge of trench sediment within the central region of the Nankai Trough comprises approximately 600 m of hemipelagic mud, sandy turbidites, and silty turbidites. The stratigraphic succession thickens and coarsens upward, with hemipelagic muds and volcanic-ash layers of the Shikoku Basin overlain by silty and sandy trench-wedge deposits. Past investigations of clay mineralogy and sand petrography within this region have led to the hypothesis that most of the detritus in the Nankai Trough was derived from the Izu-Honshu collision zone and transported southwestward via axial turbidity currents. Shipboard analyses of paleocurrent indicators, on the other hand, show that most of the ripple cross-laminae within silty turbidites of the outer marginal trench-wedge facies are inclined to the north and northwest; thus, many of the turbidity currents reflected off the seaward slope of the trench rather than moving straight down the trench axis. Shore-based analyses of detrital clay minerals demonstrate that the hemipelagic muds and matrix materials within sandy and silty turbidites are all enriched in illite; chlorite is the second-most abundant clay mineral, followed by smectite. In general, the relative mineral percentages change relatively little as a function of depth, and the hemipelagic clay-mineral population is virtually identical to the turbidite-matrix population. Comparisons between different size fractions (<2 µm and 2-6 µm) show modest amounts of mineral partitioning, with chlorite content increasing in the coarser fraction and smectite increasing in the finer fraction. Values of illite crystallinity index are consistent with conditions of advanced anchimetamorphism and epimetamorphism within the source region. Of the three mica polytypes detected, the 2M1 variety dominates over the 1M and 1Md polytypes; these data are consistent with values of illite crystallinity. Measurements of mica bo lattice spacing show that the detrital illite particles were eroded from a zone of intermediate-pressure metamorphism. Collectively, these data provide an excellent match with the lithologic and metamorphic character of the Izu-Honshu collision zone. Data from Leg 131, therefore, confirm the earlier interpretations of detrital provenance. The regional pattern of sediment dispersal is dominated by a combination of southwest-directed axial turbidity currents, radial expansion of the axial flows, oblique movement of suspended clouds onto and beyond the seaward slope of the Nankai Trough, and flow reflection back toward the trench axis.

Beneath Helvellyn's shade. Notes and sketches in the valley of Wythburn.

Includes chapters on clouds.

The book of Elizabethan verse,

Issued also as the first in a series of four volumes to cover British poetry from the publication of Tottel's miscellany, 1557; the other volumes being The book of restoration verse, The book of Georgian verse, and The book of Victorian verse (not yet published?)

The Comedies of Aristophanes /

Each play has special t.p.

Las nubes en el archipiélago Filipino; colaboración al trabajo internacional de medición de nubes (1 junio 1896-31 de julio 1897).

At head of title: Observatorio de Manila, dirigido por los padres de la Compania de Jesús.