Search results for "Point cloud"
showing 10 items of 81 documents
Camera-LiDAR Data Fusion for Autonomous Mooring Operation
2020
Author's accepted manuscript. © 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The use of camera and LiDAR sensors to sense the environment has gained increasing popularity in robotics. Individual sensors, such as cameras and LiDARs, fail to meet the growing challenges in complex autonomous systems. One such scenario is autonomous mooring, where the ship has to …
D Sensor-Based Obstacle Detection Comparing Octrees and Point clouds Using CUDA
2012
This paper presents adaptable methods for achieving fast collision detection using the GPU and Nvidia CUDA together with Octrees. Earlier related work have focused on serial methods, while this paper presents a parallel solution which shows that there is a great increase in time if the number of operations is large. Two dierent models of the environment and the industrial robot are presented, the rst is Octrees at dierent resolutions, the second is a point cloud representation. The relative merits of the two dierent world model representations are shown. In particular, the experimental results show the potential of adapting the resolution of the robot and environment models to the task at h…
Automatic object detection in point clouds based on knowledge guided algorithms
2013
The modeling of real-world scenarios through capturing 3D digital data has been proven applicable in a variety of industrial applications, ranging from security, to robotics and to fields in the medical sciences. These different scenarios, along with variable conditions, present a challenge in discovering flexible appropriate solutions. In this paper, we present a novel approach based on a human cognition model to guide processing. Our method turns traditional data-driven processing into a new strategy based on a semantic knowledge system. Robust and adaptive methods for object extraction and identification are modeled in a knowledge domain, which has been created by purely numerical strate…
Noise Robustness Analysis of Point Cloud Descriptors
2013
In this paper, we investigate the effect of noise on 3D point cloud descriptors. Various types of point cloud descriptors have been introduced in the recent years due to advances in computing power, which makes processing point cloud data more feasible. Most of these descriptors describe the orientation difference between pairs of 3D points in the object and represent these differences in a histogram. Earlier studies dealt with the performances of different point cloud descriptors; however, no study has ever discussed the effect of noise on the descriptors performances. This paper presents a comparison of performance for nine different local and global descriptors amidst 10 varying levels o…
Adapting robot paths for automated NDT of complex structures using ultrasonic alignment
2019
Automated inspection systems using industrial robots have been available for several years. The IntACom robot inspection system was developed at TWI Wales and utilizes phased array ultrasonic probes to inspect complex geometries, in particular aerospace composite components. To increase inspection speed and accuracy, off-line path planning is employed to define a series of robotic movements following the surface of a component. To minimize influences of refraction at the component interface and effects of anisotropy, the ultrasonic probe must be kept perpendicular to the surface throughout the inspection. Deviations between the actual component and computer model used for path-planning resu…
A Scan-to-BIM Approach for the Management of Two Arab-Norman Churches in Palermo (Italy)
2023
The paper shows the results of the research activities carried out by the Department of Engineering at the University of Palermo (Italy), which assessed the application of the Heritage Building Information Modelling (HBIM) methodology through a Scan-to-BIM approach to two local churches belonging to the medieval period. This project was motivated by a renewed interest from the city administrators towards the conservation of cultural heritage dating back to the Arab-Norman domination in Sicily since one of the two buildings was included in the UNESCO World Heritage Sites list in 2015. The morpho-typological style of the churches has been acquired by high-detailed 3D surveys, which provided t…
HYPERSPECTRAL REFLECTANCE SIGNATURES AND POINT CLOUDS FOR PRECISION AGRICULTURE BY LIGHT WEIGHT UAV IMAGING SYSTEM
2018
Abstract. The objective of this investigation was to study the use of a new type of a low-weight unmanned aerial vehicle (UAV) imaging system in the precision agriculture. The system consists of a novel Fabry-Perot interferometer based hyperspectral camera and a high-resolution small-format consumer camera. The sensors provide stereoscopic imagery in a 2D frame-format and they both weigh less than 500 g. A processing chain was developed for the production of high density point clouds and hyperspectral reflectance image mosaics (reflectance signatures), which are used as inputs in the agricultural application. We demonstrate the use of this new technology in the biomass estimation process, w…
FROM SFM TO 3D PRINT: AUTOMATED WORKFLOW ADDRESSED TO PRACTITIONER AIMED AT THE CONSERVATION AND RESTAURATION
2017
Abstract. In In the last years there has been an increasing use of digital techniques for conservation and restoration purposes. Among these, a very dominant rule is played by the use of digital photogrammetry packages (Agisoft Photoscan, 3D Zephir) which allow to obtain in few steps 3D textured models of real objects. Combined with digital documentation technologies digital fabrication technologies can be employed in a variety of ways to assist in heritage documentation, conservation and dissemination. This paper will give to practitioners an overview on the state of the art available technologies and a feasible workflow for optimizing point cloud and polygon mesh datasets for the purpose …
SCAN-TO-BIM FOR THE MANAGEMENT OF HERITAGE BUILDINGS: THE CASE STUDY OF THE CASTLE OF MAREDOLCE (PALERMO, ITALY)
2020
Abstract. Conservation and preservation of heritage buildings require the knowledge and sharing of a great deal of data and information about buildings. Such information comes from the different disciplines involved in the restoration and maintenance processes. The integration and use of all this information in a single working environment is a key factor for the success of historical building conservation and management projects. Heritage (or Historic) Building Information Modelling (HBIM) is nowadays the most appropriate tool to collect and manage all data related to Architectural Heritage. The HBIM process requires an in-depth knowledge of the historical building that can be achieved usi…
3D DIGITAL MODELS FOR A WIDESPREAD MUSEUM: THE RENON’S “BAUERNHÖFE”
2019
Abstract. The aim of the paper is to study the characteristics of different 3D digital models (point clouds, mesh, CSG, BIM) for the realization of a museum of historical buildings widespread in the territory of South Tyrol through the 3D modeling of several farmhouses between the towns of Collalbo, Longomoso and Siffiano, in the Renon area. Therefore, moving from a defined case study, the paper proposes a workflow for model choice, use, and sharing considering also users profile.The objective is to create a system that allows, the sharing, both on site and remotely, of farmhouses digital models, information, images and documents found during the research. The purpose is to enhance the terr…