Detecting the filamentary structure of 3D point clouds: Proposal of a wavelet-based method

2017 ◽  
Vol 08 (03) ◽  
pp. 1750041 ◽  
Author(s):  
Roberto D’Ercole
Keyword(s):  
Point Process ◽  
Point Processes ◽  
Three Dimensional ◽  
Random Measure ◽  
Point Clouds ◽  
Filamentary Structure ◽  
Point Patterns ◽  
3D Point Clouds ◽  
Mexican Hat ◽  
Dirac Measures

The analysis of the filamentary structure of the cosmo as well as that of the internal structure of the polar ice suggests the development of models based on three-dimensional (3D) point processes. A point process, regarded as a random measure, can be expressed as a sum of Delta Dirac measures concentrated at some random points. The integration with respect to the point process leads the continuous wavelet transform of the process itself. As possible mother wavelets, we propose the application of the Mexican hat and the Morlet wavelet in order to implement the scale-angle energy density of the process, depending on the dilation parameter and on the three angles which define the direction in the Euclidean space. Such indicator proves to be a sensitive detector of any variation in the direction and it can be successfully implemented to study the isotropy or the filamentary structure in 3D point patterns.

Structural and hidden properties of 1D point processes: A wavelet-based study

2017 ◽  
Vol 15 (05) ◽  
pp. 1750041 ◽  
Author(s):  
Roberto D’Ercole
Keyword(s):  
Point Process ◽  
Point Processes ◽  
Random Measure ◽  
Mathematical Tool ◽  
One Dimensional ◽  
Homogeneous Cluster ◽  
Mexican Hat ◽  
Depth Analysis ◽  
Definition Of ◽  
Dirac Measures

A one-dimensional (1D) point process, if considered as a random measure, can be represented by a sum, at most countable, of Delta Dirac measures concentrated at some random points. The integration with respect to the point process leads to the definition of the continuous wavelet transform of the process itself. As a possible choice of the mother wavelet, we propose the Mexican hat and the Morlet wavelet in order to implement the energy density of the process as a function of two wavelet parameters. Such mathematical tool works as a microscope to process an in-depth analysis of some classes of processes, in particular homogeneous, cluster, and locally scaled processes.

A CONTINUOUS WAVELET-BASED APPROACH TO DETECT ANISOTROPIC PROPERTIES IN SPATIAL POINT PROCESSES

2013 ◽  
Vol 11 (02) ◽  
pp. 1350017 ◽  
Author(s):  
ROBERTO D'ERCOLE ◽  
JORGE MATEU
Keyword(s):  
Point Process ◽  
Point Processes ◽  
Unitary Operator ◽  
Random Measure ◽  
Continuous Wavelet ◽  
Two Dimensional ◽  
Mother Wavelet ◽  
Spatial Point Processes ◽  
Stochastic Point Process ◽  
Dirac Measures

A two-dimensional stochastic point process can be regarded as a random measure and thus represented as a (countable) sum of Delta Dirac measures concentrated at some points. Integration with respect to the point process itself leads to the concept of the continuous wavelet transform of a point process. Applying then suitable translation, rotation and dilation operations through a non unitary operator, we obtain a transformed point process which highlights main properties of the original point process. The choice of the mother wavelet is relevant and we thus conduct a detailed analysis proposing three two-dimensional mother wavelets. We use this approach to detect main directions present in the point process, and to test for anisotropy.

Robotic motion compensation for bone movement, using ultrasound images

2015 ◽  
Vol 42 (5) ◽  
pp. 466-474 ◽  
Author(s):  
P.M.B. Torres ◽  
P. J. S. Gonçalves ◽  
J.M.M. Martins
Keyword(s):  
Motion Compensation ◽  
Optical Measurement ◽  
Three Dimensional ◽  
Point Clouds ◽  
Robotic System ◽  
Ultrasound Images ◽  
Bone Drilling ◽  
Content Type ◽  
3D Point Clouds ◽  
Robotic Motion

Purpose – The purpose of this paper is to present a robotic motion compensation system, using ultrasound images, to assist orthopedic surgery. The robotic system can compensate for femur movements during bone drilling procedures. Although it may have other applications, the system was thought to be used in hip resurfacing (HR) prosthesis surgery to implant the initial guide tool. The system requires no fiducial markers implanted in the patient, by using only non-invasive ultrasound images. Design/methodology/approach – The femur location in the operating room is obtained by processing ultrasound (USA) and computer tomography (CT) images, obtained, respectively, in the intra-operative and pre-operative scenarios. During surgery, the bone position and orientation is obtained by registration of USA and CT three-dimensional (3D) point clouds, using an optical measurement system and also passive markers attached to the USA probe and to the drill. The system description, image processing, calibration procedures and results with simulated and real experiments are presented and described to illustrate the system in operation. Findings – The robotic system can compensate for femur movements, during bone drilling procedures. In most experiments, the update was always validated, with errors of 2 mm/4°. Originality/value – The navigation system is based entirely on the information extracted from images obtained from CT pre-operatively and USA intra-operatively. Contrary to current surgical systems, it does not use any type of implant in the bone to track the femur movements.

scholarly journals Comparison of Depth Camera and Terrestrial Laser Scanner in Monitoring Structural Deflections

Sensors ◽  
2020 ◽  
Vol 21 (1) ◽  
pp. 201
Author(s):  
Michael Bekele Maru ◽  
Donghwan Lee ◽  
Kassahun Demissie Tola ◽  
Seunghee Park
Keyword(s):  
Optical Sensors ◽  
Point Cloud ◽  
Three Dimensional ◽  
Laser Scanner ◽  
Point Clouds ◽  
Depth Camera ◽  
Terrestrial Laser Scanner ◽  
Cloud Data ◽  
3D Point Clouds ◽  
3D Information

Modeling a structure in the virtual world using three-dimensional (3D) information enhances our understanding, while also aiding in the visualization, of how a structure reacts to any disturbance. Generally, 3D point clouds are used for determining structural behavioral changes. Light detection and ranging (LiDAR) is one of the crucial ways by which a 3D point cloud dataset can be generated. Additionally, 3D cameras are commonly used to develop a point cloud containing many points on the external surface of an object around it. The main objective of this study was to compare the performance of optical sensors, namely a depth camera (DC) and terrestrial laser scanner (TLS) in estimating structural deflection. We also utilized bilateral filtering techniques, which are commonly used in image processing, on the point cloud data for enhancing their accuracy and increasing the application prospects of these sensors in structure health monitoring. The results from these sensors were validated by comparing them with the outputs from a linear variable differential transformer sensor, which was mounted on the beam during an indoor experiment. The results showed that the datasets obtained from both the sensors were acceptable for nominal deflections of 3 mm and above because the error range was less than ±10%. However, the result obtained from the TLS were better than those obtained from the DC.

scholarly journals Estimating tree stem diameters and volume from smartphone photogrammetric point clouds

2019 ◽  
Vol 93 (3) ◽  
pp. 411-429 ◽  
Author(s):  
Maria Immacolata Marzulli ◽  
Pasi Raumonen ◽  
Roberto Greco ◽  
Manuela Persia ◽  
Patrizia Tartarino
Keyword(s):  
Low Cost ◽  
Three Dimensional ◽  
Laser Scanner ◽  
Point Clouds ◽  
Stem Volume ◽  
Forest Plot ◽  
3D Point Clouds ◽  
Dense Point ◽  
Minimum Number ◽  
Scale Point

Abstract Methods for the three-dimensional (3D) reconstruction of forest trees have been suggested for data from active and passive sensors. Laser scanner technologies have become popular in the last few years, despite their high costs. Since the improvements in photogrammetric algorithms (e.g. structure from motion—SfM), photographs have become a new low-cost source of 3D point clouds. In this study, we use images captured by a smartphone camera to calculate dense point clouds of a forest plot using SfM. Eighteen point clouds were produced by changing the densification parameters (Image scale, Point density, Minimum number of matches) in order to investigate their influence on the quality of the point clouds produced. In order to estimate diameter at breast height (d.b.h.) and stem volumes, we developed an automatic method that extracts the stems from the point cloud and then models them with cylinders. The results show that Image scale is the most influential parameter in terms of identifying and extracting trees from the point clouds. The best performance with cylinder modelling from point clouds compared to field data had an RMSE of 1.9 cm and 0.094 m3, for d.b.h. and volume, respectively. Thus, for forest management and planning purposes, it is possible to use our photogrammetric and modelling methods to measure d.b.h., stem volume and possibly other forest inventory metrics, rapidly and without felling trees. The proposed methodology significantly reduces working time in the field, using ‘non-professional’ instruments and automating estimates of dendrometric parameters.

scholarly journals USING MOBILE LASER SCANNING DATA FOR FEATURES EXTRACTION OF HIGH ACCURACY DRIVING MAPS

2016 ◽  
Vol XLI-B3 ◽  
pp. 433-439 ◽  
Author(s):  
Bisheng Yang ◽  
Yuan Liu ◽  
Fuxun Liang ◽  
Zhen Dong
Keyword(s):  
Laser Scanning ◽  
Human Error ◽  
Traffic Accidents ◽  
Three Dimensional ◽  
Point Clouds ◽  
High Accuracy ◽  
3D Point Clouds ◽  
Assistant Systems ◽  
Novel Method ◽  
High Flexibility

High Accuracy Driving Maps (HADMs) are the core component of Intelligent Drive Assistant Systems (IDAS), which can effectively reduce the traffic accidents due to human error and provide more comfortable driving experiences. Vehicle-based mobile laser scanning (MLS) systems provide an efficient solution to rapidly capture three-dimensional (3D) point clouds of road environments with high flexibility and precision. This paper proposes a novel method to extract road features (e.g., road surfaces, road boundaries, road markings, buildings, guardrails, street lamps, traffic signs, roadside-trees, power lines, vehicles and so on) for HADMs in highway environment. Quantitative evaluations show that the proposed algorithm attains an average precision and recall in terms of 90.6% and 91.2% in extracting road features. Results demonstrate the efficiencies and feasibilities of the proposed method for extraction of road features for HADMs.

scholarly journals ACCURACY ASSESSMENT OF UNDERWATER PHOTOGRAMMETRIC THREE DIMENSIONAL MODELLING FOR CORAL REEFS

2016 ◽  
Vol XLI-B5 ◽  
pp. 821-828 ◽  
Author(s):  
T. Guo ◽  
A. Capra ◽  
M. Troyer ◽  
A. Gruen ◽  
A. J. Brooks ◽  
...  
Keyword(s):  
Coral Cover ◽  
Accuracy Assessment ◽  
Low Cost ◽  
Three Dimensional ◽  
Point Clouds ◽  
3D Modelling ◽  
Relative Accuracy ◽  
3D Point Clouds ◽  
The Individual ◽  
Working Distance

Recent advances in automation of photogrammetric 3D modelling software packages have stimulated interest in reconstructing highly accurate 3D object geometry in unconventional environments such as underwater utilizing simple and low-cost camera systems. The accuracy of underwater 3D modelling is affected by more parameters than in single media cases. This study is part of a larger project on 3D measurements of temporal change of coral cover in tropical waters. It compares the accuracies of 3D point clouds generated by using images acquired from a system camera mounted in an underwater housing and the popular GoPro cameras respectively. A precisely measured calibration frame was placed in the target scene in order to provide accurate control information and also quantify the errors of the modelling procedure. In addition, several objects (cinder blocks) with various shapes were arranged in the air and underwater and 3D point clouds were generated by automated image matching. These were further used to examine the relative accuracy of the point cloud generation by comparing the point clouds of the individual objects with the objects measured by the system camera in air (the best possible values). Given a working distance of about 1.5 m, the GoPro camera can achieve a relative accuracy of 1.3 mm in air and 2.0 mm in water. The system camera achieved an accuracy of 1.8 mm in water, which meets our requirements for coral measurement in this system.

scholarly journals Supervised Learning of Natural-Terrain Traversability with Synthetic 3D Laser Scans

2020 ◽  
Vol 10 (3) ◽  
pp. 1140 ◽  
Author(s):  
Jorge L. Martínez ◽  
Mariano Morán ◽  
Jesús Morales ◽  
Alfredo Robles ◽  
Manuel Sánchez
Keyword(s):  
Supervised Learning ◽  
Autonomous Navigation ◽  
Three Dimensional ◽  
Point Clouds ◽  
Natural Environments ◽  
Good Prediction ◽  
Ground Vehicles ◽  
3D Point Clouds ◽  
Natural Terrain ◽  
Robotic Simulator

Autonomous navigation of ground vehicles on natural environments requires looking for traversable terrain continuously. This paper develops traversability classifiers for the three-dimensional (3D) point clouds acquired by the mobile robot Andabata on non-slippery solid ground. To this end, different supervised learning techniques from the Python library Scikit-learn are employed. Training and validation are performed with synthetic 3D laser scans that were labelled point by point automatically with the robotic simulator Gazebo. Good prediction results are obtained for most of the developed classifiers, which have also been tested successfully on real 3D laser scans acquired by Andabata in motion.

Rarefactions of compound point processes

1984 ◽  
Vol 21 (04) ◽  
pp. 710-719
Author(s):  
Richard F. Serfozo
Keyword(s):  
Poisson Process ◽  
Point Process ◽  
Classical Result ◽  
Point Processes ◽  
Rare Events ◽  
Random Measure ◽  
Bernoulli Trials ◽  
Random Measures ◽  
Infinitely Divisible ◽  
Independent Increments

The Poisson process is regarded as a point process of rare events because of the classical result that the number of successes in a sequence of Bernoulli trials is asymptotically Poisson as the probability of a success tends to 0. It is shown that this rareness property of the Poisson process is characteristic of any infinitely divisible point process or random measure with independent increments. These processes and measures arise as limits of certain rarefactions of compound point processes: purely atomic random measures with uniformly null atom sizes. Examples include thinnings and partitions of point processes.

scholarly journals Three-Dimensional Reconstruction of Structural Surface Model of Heritage Bridges Using UAV-Based Photogrammetric Point Clouds

2019 ◽  
Vol 11 (10) ◽  
pp. 1204 ◽  
Author(s):  
Yue Pan ◽  
Yiqing Dong ◽  
Dalei Wang ◽  
Airong Chen ◽  
Zhen Ye
Keyword(s):  
Classification Tree ◽  
Three Dimensional ◽  
Point Clouds ◽  
3D Models ◽  
Surface Model ◽  
Reconstruction Method ◽  
3D Point Clouds ◽  
Surface Models ◽  
Structural Surface ◽  
Better Than

Three-dimensional (3D) digital technology is essential to the maintenance and monitoring of cultural heritage sites. In the field of bridge engineering, 3D models generated from point clouds of existing bridges is drawing increasing attention. Currently, the widespread use of the unmanned aerial vehicle (UAV) provides a practical solution for generating 3D point clouds as well as models, which can drastically reduce the manual effort and cost involved. In this study, we present a semi-automated framework for generating structural surface models of heritage bridges. To be specific, we propose to tackle this challenge via a novel top-down method for segmenting main bridge components, combined with rule-based classification, to produce labeled 3D models from UAV photogrammetric point clouds. The point clouds of the heritage bridge are generated from the captured UAV images through the structure-from-motion workflow. A segmentation method is developed based on the supervoxel structure and global graph optimization, which can effectively separate bridge components based on geometric features. Then, recognition by the use of a classification tree and bridge geometry is utilized to recognize different structural elements from the obtained segments. Finally, surface modeling is conducted to generate surface models of the recognized elements. Experiments using two bridges in China demonstrate the potential of the presented structural model reconstruction method using UAV photogrammetry and point cloud processing in 3D digital documentation of heritage bridges. By using given markers, the reconstruction error of point clouds can be as small as 0.4%. Moreover, the precision and recall of segmentation results using testing date are better than 0.8, and a recognition accuracy better than 0.8 is achieved.

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