scholarly journals An Egg Volume Measurement System Based on the Microsoft Kinect

Sensors ◽  
2018 ◽  
Vol 18 (8) ◽  
pp. 2454 ◽  
Author(s):  
Ting Chan ◽  
Derek Lichti ◽  
Adam Jahraus ◽  
Hooman Esfandiari ◽  
Herve Lahamy ◽  
...  
Keyword(s):  
Least Squares ◽  
Point Cloud ◽  
Least Squares Method ◽  
Point Clouds ◽  
Volume Estimation ◽  
Microsoft Kinect ◽  
Estimation Accuracy ◽  
Shape Parameters ◽  
Post Processing ◽  
Egg Volume

Measuring the volume of bird eggs is a very important task for the poultry industry and ornithological research due to the high revenue generated by the industry. In this paper, we describe a prototype of a new metrological system comprising a 3D range camera, Microsoft Kinect (Version 2) and a point cloud post-processing algorithm for the estimation of the egg volume. The system calculates the egg volume directly from the egg shape parameters estimated from the least-squares method in which the point clouds of eggs captured by the Kinect are fitted to novel geometric models of an egg in a 3D space. Using the models, the shape parameters of an egg are estimated along with the egg’s position and orientation simultaneously under the least-squares criterion. Four sets of experiments were performed to verify the functionality and the performance of the system, while volumes estimated from the conventional water displacement method and the point cloud captured by a survey-grade laser scanner serve as references. The results suggest that the method is straightforward, feasible and reliable with an average egg volume estimation accuracy 93.3% when compared to the reference volumes. As a prototype, the software part of the system was implemented in a post-processing mode. However, as the proposed processing techniques is computationally efficient, the prototype can be readily transformed into a real-time egg volume system.

scholarly journals Computational Geometry-Based Surface Reconstruction for Volume Estimation: A Case Study on Magnitude-Frequency Relations for a LiDAR-Derived Rockfall Inventory

2021 ◽  
Vol 10 (3) ◽  
pp. 157
Author(s):  
Paul-Mark DiFrancesco ◽  
David A. Bonneau ◽  
D. Jean Hutchinson
Keyword(s):  
Computational Geometry ◽  
Surface Reconstruction ◽  
Power Law ◽  
Point Cloud ◽  
Point Clouds ◽  
Volume Estimation ◽  
Estimation Methods ◽  
Small Scale ◽  
Reconstruction Methods ◽  
3D Volume

Key to the quantification of rockfall hazard is an understanding of its magnitude-frequency behaviour. Remote sensing has allowed for the accurate observation of rockfall activity, with methods being developed for digitally assembling the monitored occurrences into a rockfall database. A prevalent challenge is the quantification of rockfall volume, whilst fully considering the 3D information stored in each of the extracted rockfall point clouds. Surface reconstruction is utilized to construct a 3D digital surface representation, allowing for an estimation of the volume of space that a point cloud occupies. Given various point cloud imperfections, it is difficult for methods to generate digital surface representations of rockfall with detailed geometry and correct topology. In this study, we tested four different computational geometry-based surface reconstruction methods on a database comprised of 3668 rockfalls. The database was derived from a 5-year LiDAR monitoring campaign of an active rock slope in interior British Columbia, Canada. Each method resulted in a different magnitude-frequency distribution of rockfall. The implications of 3D volume estimation were demonstrated utilizing surface mesh visualization, cumulative magnitude-frequency plots, power-law fitting, and projected annual frequencies of rockfall occurrence. The 3D volume estimation methods caused a notable shift in the magnitude-frequency relations, while the power-law scaling parameters remained relatively similar. We determined that the optimal 3D volume calculation approach is a hybrid methodology comprised of the Power Crust reconstruction and the Alpha Solid reconstruction. The Alpha Solid approach is to be used on small-scale point clouds, characterized with high curvatures relative to their sampling density, which challenge the Power Crust sampling assumptions.

scholarly journals MATLAB Virtual Toolbox for Retrospective Rockfall Source Detection and Volume Estimation Using 3D Point Clouds: A Case Study of a Subalpine Molasse Cliff

Geosciences ◽  
2021 ◽  
Vol 11 (2) ◽  
pp. 75
Author(s):  
Dario Carrea ◽  
Antonio Abellan ◽  
Marc-Henri Derron ◽  
Neal Gauvin ◽  
Michel Jaboyedoff
Keyword(s):  
Point Cloud ◽  
Natural Hazard ◽  
Point Clouds ◽  
Volume Estimation ◽  
Natural Phenomena ◽  
Frequency Distributions ◽  
Erosion Rates ◽  
3D Point Clouds

The use of 3D point clouds to improve the understanding of natural phenomena is currently applied in natural hazard investigations, including the quantification of rockfall activity. However, 3D point cloud treatment is typically accomplished using nondedicated (and not optimal) software. To fill this gap, we present an open-source, specific rockfall package in an object-oriented toolbox developed in the MATLAB® environment. The proposed package offers a complete and semiautomatic 3D solution that spans from extraction to identification and volume estimations of rockfall sources using state-of-the-art methods and newly implemented algorithms. To illustrate the capabilities of this package, we acquired a series of high-quality point clouds in a pilot study area referred to as the La Cornalle cliff (West Switzerland), obtained robust volume estimations at different volumetric scales, and derived rockfall magnitude–frequency distributions, which assisted in the assessment of rockfall activity and long-term erosion rates. An outcome of the case study shows the influence of the volume computation on the magnitude–frequency distribution and ensuing erosion process interpretation.

scholarly journals Principal Component Analysis For ICP Pose Estimation Of Space Structures

2021 ◽  
Author(s):  
Lun H. Mark
Keyword(s):  
Pose Estimation ◽  
Point Cloud ◽  
Principal Component ◽  
Point Clouds ◽  
Optimal Combination ◽  
Estimation Accuracy ◽  
Space Structures ◽  
Complex Objects ◽  
Error Norm ◽  
Simulation Results

This thesis investigates how geometry of complex objects is related to LIDAR scanning with the Iterative Closest Point (ICP) pose estimation and provides statistical means to assess the pose accuracy. LIDAR scanners have become essential parts of space vision systems for autonomous docking and rendezvous. Principal Componenet Analysis based geometric constraint indices have been found to be strongly related to the pose error norm and the error of each individual degree of freedom. This leads to the development of several strategies for identifying the best view of an object and the optimal combination of localized scanned areas of the object's surface to achieve accurate pose estimation. Also investigated is the possible relation between the ICP pose estimation accuracy and the districution or allocation of the point cloud. The simulation results were validated using point clouds generated by scanning models of Quicksat and a cuboctahedron using Neptec's TriDAR scanner.

scholarly journals Principal Component Analysis For ICP Pose Estimation Of Space Structures

2021 ◽  
Author(s):  
Lun H. Mark
Keyword(s):  
Pose Estimation ◽  
Point Cloud ◽  
Principal Component ◽  
Point Clouds ◽  
Optimal Combination ◽  
Estimation Accuracy ◽  
Space Structures ◽  
Complex Objects ◽  
Error Norm ◽  
Simulation Results

This thesis investigates how geometry of complex objects is related to LIDAR scanning with the Iterative Closest Point (ICP) pose estimation and provides statistical means to assess the pose accuracy. LIDAR scanners have become essential parts of space vision systems for autonomous docking and rendezvous. Principal Componenet Analysis based geometric constraint indices have been found to be strongly related to the pose error norm and the error of each individual degree of freedom. This leads to the development of several strategies for identifying the best view of an object and the optimal combination of localized scanned areas of the object's surface to achieve accurate pose estimation. Also investigated is the possible relation between the ICP pose estimation accuracy and the districution or allocation of the point cloud. The simulation results were validated using point clouds generated by scanning models of Quicksat and a cuboctahedron using Neptec's TriDAR scanner.

Automatic Point Clouds Registration Based on the Method of Least Squares

2009 ◽  
Vol 419-420 ◽  
pp. 305-308
Author(s):  
Fan Wen Meng ◽  
Lu Shen Wu ◽  
Qing Jin Peng
Keyword(s):  
Coordinate System ◽  
Least Squares ◽  
Least Squares Method ◽  
Local Coordinate System ◽  
Surface Profile ◽  
Point Clouds ◽  
Fringe Projection ◽  
Method Of Least Squares ◽  
Surface Patches ◽  
Euclidean Distances

An object has to be measured to recover its 3D shape in reverse engineering applications. The object surface is sampled point by point using a fringe projection. The method of least squares is used to match overlapping surfaces to estimate transformation parameters between a local coordinate system and the template coordinate system. The Gauss–Markoff model can minimize the sum of squares of Euclidean distances between surfaces for matching arbitrarily oriented 3D surface patches. This research uses the least squares method for the registration of point clouds. A relief example shows the feasibility of the proposed method. It takes about 4 seconds for the registration of 1531209 points with the error less than 0.03mm, and the iteration number is only 20. The surface profile is complete and smooth after the registration, which can meet the requirement of surface reconstruction.

An allometric area-based approach—a cost-effective method for stand volume estimation based on ALS and NFI data

2019 ◽  
Vol 93 (3) ◽  
pp. 344-358 ◽  
Author(s):  
Jarosław Socha ◽  
Paweł Hawryło ◽  
Marcin Pierzchalski ◽  
Krzysztof Stereńczak ◽  
Grzegorz Krok ◽  
...  
Keyword(s):  
Forest Management ◽  
Scots Pine ◽  
Point Cloud ◽  
Field Measurements ◽  
Point Clouds ◽  
Volume Estimation ◽  
Linear Regression Method ◽  
Maximum Height ◽  
Stand Volume ◽  
Field Plots

Abstract Reliable information concerning stand volume is fundamental to making strategic decisions in sustainable forest management. A variety of remotely sensed data and different inventory methods have been used for the estimation of forest biometric parameters. Particularly, airborne laser scanning (ALS) point clouds are widely used for the estimation of stand volume and forest biomass using an area-based approach (ABA) framework. This method relies on the reference measurements of field plots with the necessary prerequisite of a precise co-registration between ground reference plots and the corresponding ALS samples. In this research, the allometric area-based approach (AABA) is proposed in the context of stand volume estimation of Scots pine (Pinus sylvestris L.) stands. The proposed method does not require detailed information about the coordinates of the field plots. We applied Polish National Forest Inventory data from 9400 circular field plots (400 m2) to develop a plot level stand volume allometric model using two independent variables: top height (TH) and relative spacing index (RSI). The model was developed using the multiple linear regression method with a log–log transformation of variables. The hypothesis was that, the field measurements of TH and RSI could be replaced with corresponding ALS-derived metrics. It was assumed that TH could be represented by the maximum height of the ALS point cloud, while RSI can be calculated based on the number of tree crowns delineated within the ALS-derived canopy height model. Performance of the developed AABA model was compared with the semi-empirical ABASE (with two predictors: TH and RSI) and empirical ABAE (several point cloud metrics as predictors). The models were validated at the plot level using 315 forest management inventory plots (400 m2) and at the stand level using the complete field measurements from 42 Scots pine dominated forest stands in the Milicz forest district (Poland). The AABA model showed a comparable accuracy to the traditional ABA models with relatively high accuracy at the plot (relative root mean square error (RMSE) = 22.8 per cent; R2 = 0.63) and stand levels (RMSE = 17.8 per cent, R2 = 0.65). The proposed novel approach reduces time- and cost-consuming field work required for the classic ABA method, without a significant reduction in the accuracy of stand volume estimations. The AABA is potentially applicable in the context of forest management inventory without the necessity for field measurements at local scale. The transportability of the approach to other species and more complex stands needs to be explored in future studies.

scholarly journals POINT CLOUD SMOOTH SAMPLING AND SURFACE RECONSTRUCTION BASED ON MOVING LEAST SQUARES

2020 ◽  
Vol XLII-3/W10 ◽  
pp. 145-151 ◽  
Author(s):  
C. L. Kang ◽  
T. N. Lu ◽  
M. M. Zong ◽  
F. Wang ◽  
Y. Cheng
Keyword(s):  
Least Squares ◽  
Surface Reconstruction ◽  
Point Cloud ◽  
Least Squares Method ◽  
Moving Least Squares ◽  
Cloud Data ◽  
Grid Sampling ◽  
Moving Least Squares Method ◽  
Feature Information ◽  
Voxel Grid

Abstract. In point cloud data processing, smooth sampling and surface reconstruction are important aspects of point cloud data processing. In view of the current point cloud sampling method, the point cloud distribution is not uniform, the point cloud feature information is incomplete, and the reconstructed model surface is not smooth. This paper proposes a method of smoothing sampling processing and surface reconstruction using point cloud using moving least squares method. This paper first introduces the traditional moving least squares method in detail, and then proposes an improved moving least squares method for point cloud smooth sampling and surface reconstruction. In this paper, the algorithm is designed for the proposed theory, combined with C++ and point cloud library PCL programming, using voxel grid sampling and uniform sampling and moving least squares smooth sampling comparison, after sampling, using greedy triangulation algorithm surface reconstruction. The experimental results show that the improved moving least squares method performs point cloud smooth sampling more uniformly than the voxel grid sampling and the feature information is more prominent. The surface reconstructed by the moving least squares method is smooth, the surface reconstructed by the voxel grid sampling and the uniformly sampled data surface is rough, and the surface has a rough triangular surface. Point cloud smooth sampling and surface reconstruction based on moving least squares method can better maintain point cloud feature information and smooth model smoothness. The superiority and effectiveness of the method are demonstrated, which provides a reference for the subsequent study of point cloud sampling and surface reconstruction.

scholarly journals PROCESSING UAV AND LIDAR POINT CLOUDS IN GRASS GIS

2016 ◽  
Vol XLI-B7 ◽  
pp. 945-952 ◽  
Author(s):  
V. Petras ◽  
A. Petrasova ◽  
J. Jeziorska ◽  
H. Mitasova
Keyword(s):  
Open Source ◽  
Point Cloud ◽  
Low Cost ◽  
Point Clouds ◽  
Physical Models ◽  
Microsoft Kinect ◽  
Surface Model ◽  
3D Scanner ◽  
Grass Gis ◽  
Point Data

Today’s methods of acquiring Earth surface data, namely lidar and unmanned aerial vehicle (UAV) imagery, non-selectively collect or generate large amounts of points. Point clouds from different sources vary in their properties such as number of returns, density, or quality. We present a set of tools with applications for different types of points clouds obtained by a lidar scanner, structure from motion technique (SfM), and a low-cost 3D scanner. To take advantage of the vertical structure of multiple return lidar point clouds, we demonstrate tools to process them using 3D raster techniques which allow, for example, the development of custom vegetation classification methods. Dense point clouds obtained from UAV imagery, often containing redundant points, can be decimated using various techniques before further processing. We implemented and compared several decimation techniques in regard to their performance and the final digital surface model (DSM). Finally, we will describe the processing of a point cloud from a low-cost 3D scanner, namely Microsoft Kinect, and its application for interaction with physical models. All the presented tools are open source and integrated in GRASS GIS, a multi-purpose open source GIS with remote sensing capabilities. The tools integrate with other open source projects, specifically Point Data Abstraction Library (PDAL), Point Cloud Library (PCL), and OpenKinect libfreenect2 library to benefit from the open source point cloud ecosystem. The implementation in GRASS GIS ensures long term maintenance and reproducibility by the scientific community but also by the original authors themselves.

scholarly journals PERSPECTIVE INTENSITY IMAGES FOR CO-REGISTRATION OF TERRESTRIAL LASER SCANNER AND DIGITAL CAMERA

2016 ◽  
Vol XLI-B3 ◽  
pp. 295-300
Author(s):  
Yubin Liang ◽  
Yan Qiu ◽  
Tiejun Cui
Keyword(s):  
Point Cloud ◽  
Laser Scanning ◽  
Least Squares Method ◽  
Laser Scanner ◽  
Digital Camera ◽  
Point Clouds ◽  
Terrestrial Laser Scanner ◽  
Automatic Registration ◽  
Intensity Images ◽  
Intensity Image

Co-registration of terrestrial laser scanner and digital camera has been an important topic of research, since reconstruction of visually appealing and measurable models of the scanned objects can be achieved by using both point clouds and digital images. This paper presents an approach for co-registration of terrestrial laser scanner and digital camera. A perspective intensity image of the point cloud is firstly generated by using the collinearity equation. Then corner points are extracted from the generated perspective intensity image and the camera image. The fundamental matrix F is then estimated using several interactively selected tie points and used to obtain more matches with RANSAC. The 3D coordinates of all the matched tie points are directly obtained or estimated using the least squares method. The robustness and effectiveness of the presented methodology is demonstrated by the experimental results. Methods presented in this work may also be used for automatic registration of terrestrial laser scanning point clouds.

Sign in / Sign up

Export Citation Format

Share Document