scholarly journals Passing through Open/Closed Doors: A Solution for 3D Scanning Robots

Sensors ◽  
2019 ◽  
Vol 19 (21) ◽  
pp. 4740 ◽  
Author(s):  
Samuel A. Prieto ◽  
Antonio Adán ◽  
Andrés S. Vázquez ◽  
Blanca Quintana
Keyword(s):  
Planning System ◽  
Robot Arm ◽  
Mobile Platforms ◽  
3D Data ◽  
Laser Scanners ◽  
Exit Door ◽  
Architectural Models ◽  
Closed Door ◽  
3D Information ◽  
Global Planning

In this article, a traversing door methodology for building scanning mobile platforms is proposed. The problem of passing through open/closed doors entails several actions that can be implemented by processing 3D information provided by dense 3D laser scanners. Our robotized platform, denominated as MoPAD (Mobile Platform for Autonomous Digitization), has been designed to collect dense 3D data and generate basic architectural models of the interiors of buildings. Moreover, the system identifies the doors of the room, recognises their respective states (open, closed or semi-closed) and completes the aforementioned 3D model, which is later integrated into the robot global planning system. This document is mainly focused on describing how the robot navigates towards the exit door and passes to a contiguous room. The steps of approaching, door-handle recognition/positioning and handle–robot arm interaction (in the case of a closed door) are shown in detail. This approach has been tested using our MoPAD platform on the floors of buildings composed of several rooms in the case of open doors. For closed doors, the solution has been formulated, modeled and successfully tested in the Gazebo robot simulation tool by using a 4DOF robot arm on board MoPAD. The excellent results yielded in both cases lead us to believe that our solution could be implemented/adapted to other platforms and robot arms.

scholarly journals AN INTEGRATED BIM-GIS PLATFORM FOR REPRESENTING AND VISUALIZING 3D CADASTRAL DATA

2020 ◽  
Vol VI-4/W1-2020 ◽  
pp. 3-11
Author(s):  
D. E. Andrianesi ◽  
E. Dimopoulou
Keyword(s):  
Urban Landscape ◽  
Complex Structure ◽  
Sustainable Growth ◽  
Rapid Urbanization ◽  
3D Data ◽  
Information Models ◽  
Building Information ◽  
Surrounding Areas ◽  
3D Information ◽  
Land Administration Systems

Abstract. The rapid urbanization over the last decades is leading to intensive land exploitation, and thus to the degradation of the city environment and the surrounding areas. This reality that applies at a global level, challenges new needs for sustainable growth and new ways to protect and ensure land property. It is of great importance, for the viable growth of every organized social structure, to protect land ownership and land-use in an appropriate way. Therefore arises the need for continuous and valid update of the complex Rights, Restrictions and Responsibilities (RRRs) within a developing 3D urban environment. For this environment, the interest focuses on ensuring land properties by improved methods of 3D information management, within modern land administration systems. The integration of Building Information Models (BIMs) and Geographic Information Systems (GIS) is expected to produce various advantages and play an important role in constructing 3D city models that successfully deal with every challenge in the urban landscape. GIS, in one hand, can manage and provide information about the existing environment, while on the other hand, BIMs focus on information regarding the design, construction and maintenance of a building /or complex structure inside that environment. This paper discusses the development of an integrated GIS and BIM 3D data platform enriched with 3D cadastral information This is illustrated with two use cases, a city block (No 464) in the area of Chalandri, Athens, and a four-floor building (at Kithaironos 21 street, in the same buildings’ block), used for applying BIM technology.

scholarly journals Design of a robot-assisted system for transforaminal percutaneous endoscopic lumbar surgeries: study protocol

2020 ◽  
Author(s):  
Ning Fan ◽  
Shuo Yuan ◽  
Peng Du ◽  
Wenyi Zhu ◽  
Liang Li ◽  
...  
Keyword(s):  
Learning Curve ◽  
Navigation System ◽  
High Speed ◽  
Preoperative Planning ◽  
3D Visualization ◽  
Lumbar Disc ◽  
Planning System ◽  
Robot Arm ◽  
Robot Assisted ◽  
And Performance

Abstract Background Transforaminal percutaneous endoscopic lumbar surgeries (PELS) for lumbar disc herniation and spinal stenosis are growing in popularity. However, there are some problems in the establishment of the working channel and foraminoplasty such as nerve and blood vessel injuries, more radiation exposure, and steeper learning curve. Rapid technological advancements have allowed robotic technology to assist surgeons in improving the accuracy and safety of surgeries. Therefore, the purpose of this study is to develop a robot-assisted system for transforaminal PELS, which can provide navigation and foraminoplasty. Methods The robot-assisted system consists of three systems: preoperative planning system, navigation system, and foraminoplasty system. In the preoperative planning system, 3D visualization of the surgical segment and surrounding tissues are realized using the multimodal image fusion technique of Computed tomography and Magnetic resonance imaging, and the working channel planning is carried out to reduce the risk for injury to vital blood vessels and nerves. In the navigation system, the robot can obtain visual perception ability from a visual receptor and automatically adjust the robotic platform and robot arm to the appropriate positions according to the patient’s position and preoperative plan. In addition, the robot can automatically register the surgical target through intraoperative fluoroscopy. After that, the robot will provide navigation using the 6 degree-of-freedom (DOF) robot arm according to the preoperative planning system and guide the surgeon to complete the establishment of the working channel. In the foraminoplasty system, according to the foraminoplasty planning in the preoperative planning system, the robot performs foraminoplasty automatically using the high speed burr at the end of the robot arm. The system can provide real-time feedback on the working status of the bur through multi-mode sensors such as multidimensional force, position, and acceleration. Finally, a prototype of the system is constructed and performance tests are conducted. Discussion Our study will develop a robot-assisted system to perform transforaminal PELS, and this robot-assisted system can also be used for other percutaneous endoscopic spinal surgeries such as interlaminar PELS and percutaneous endoscopic cervical and thoracic surgeries through further research. The development of this robot-assisted system can be of great significance. First, the robot can improve the accuracy and efficiency of endoscopic spinal surgeries. In addition, it can avoid multiple intraoperative fluoroscopies, minimize exposure to both patients and the surgical staff, shorten the operative time, and improve the learning curve of beginners, which is beneficial to the popularization of percutaneous endoscopic spinal surgeries.

scholarly journals 3D DOCUMENTATION AND DATA MANAGEMENT IN THE DAZU THOUSAND-HAND BODHISATTVA STATUE IN CHINA

2016 ◽  
Vol XLI-B5 ◽  
pp. 273-276
Author(s):  
M. L. Hou ◽  
Y. G. Hu ◽  
Y. H. Wu ◽  
X. S. Zhao
Keyword(s):  
Data Management ◽  
Data Retrieval ◽  
3D Models ◽  
Scientific Basis ◽  
3D Data ◽  
Different Types ◽  
Data Problem ◽  
3D Documentation ◽  
3D Information ◽  
Cultural Relics

Recently different types 3D data of many cultural heritage are collected, however, how to store and manage these data problem. This paper presents a new solution regarding cultural 3D information fine reconstruction and data management based on 3D modeling. These data were stored with the file system and database, which improved the efficiency of data retrieval; on this basis, hyper-fine 3D models of cultural relics were established. Fine 3D information model based on this method can be used for 3D statistics, virtual restoration and change detection, etc. It can provide a scientific basis for the field of conservation and restoration of cultural relics, but can also provide a reference for fine 3D reconstruction to be applied to other cultural relics. Finally, the Dazu Thousand-hand Bodhisattva has been taken as an example, which verified the feasibility and effectiveness of the program.

scholarly journals USAGE OF MULTIPLE LIDAR SENSORS ON A MOBILE SYSTEM FOR THE DETECTION OF PERSONS WITH IMPLICIT SHAPE MODELS

2018 ◽  
Vol XLII-2 ◽  
pp. 125-131
Author(s):  
B. Borgmann ◽  
M. Hebel ◽  
M. Arens ◽  
U. Stilla
Keyword(s):  
Object Detection ◽  
Sensor Data ◽  
Mobile System ◽  
Data Merging ◽  
Shape Models ◽  
3D Data ◽  
Laser Scanners ◽  
Data Density ◽  
Direct Data ◽  
Sensor Information

The focus of this paper is the processing of data from multiple LiDAR (light detection and ranging) sensors for the purpose of detecting persons in that data. Many LiDAR sensors (e.g., laser scanners) use a rotating scan head, which makes it difficult to properly timesynchronize multiple of such LiDAR sensors. An improper synchronization between LiDAR sensors causes temporal distortion effects if their data are directly merged. A merging of data is desired, since it could increase the data density and the perceived area. For the usage in person and object detection tasks, we present an alternative which circumvents the problem by performing the merging of multi-sensor data in the voting space of a method that is based on Implicit Shape Models (ISM). Our approach already assumes that there exist some uncertainties in the voting space. Therefore it is robust against additional uncertainties induced by temporal distortions. Unlike many existing approaches for object detection in 3D data, our approach does not rely on a segmentation step in the data preprocessing. We show that our merging of multi-sensor information in voting space has its advantages in comparison to a direct data merging, especially in situations with a lot of distortion effects.

scholarly journals Design of a robot-assisted system for transforaminal percutaneous endoscopic lumbar surgeries: study protocol

2020 ◽  
Author(s):  
Ning Fan ◽  
Shuo Yuan ◽  
Peng Du ◽  
Wenyi Zhu ◽  
Liang Li ◽  
...  
Keyword(s):  
Learning Curve ◽  
Navigation System ◽  
High Speed ◽  
Preoperative Planning ◽  
3D Visualization ◽  
Lumbar Disc ◽  
Planning System ◽  
Robot Arm ◽  
Robot Assisted ◽  
And Performance

Abstract Background Transforaminal percutaneous endoscopic lumbar surgeries (PELS) for lumbar disc herniation and spinal stenosis are growing in popularity. However, there are some problems in the establishment of the working channel and foraminoplasty such as nerve and blood vessel injuries, more radiation exposure, and steeper learning curve. Rapid technological advancements have allowed robotic technology to assist surgeons in improving the accuracy and safety of surgeries. Therefore, the purpose of this study is to develop a robot-assisted system for transforaminal PELS, which can provide navigation and foraminoplasty. Methods The robot-assisted system consists of three systems: preoperative planning system, navigation system, and foraminoplasty system. In the preoperative planning system, 3D visualization of the surgical segment and surrounding tissues are realized using the multimodal image fusion technique of Computed tomography and Magnetic resonance imaging, and the working channel planning is carried out to reduce the risk for injury to vital blood vessels and nerves. In the navigation system, the robot can obtain visual perception ability from a visual receptor and automatically adjust the robotic platform and robot arm to the appropriate positions according to the patient’s position and preoperative plan. In addition, the robot can automatically register the surgical target through intraoperative fluoroscopy. After that, the robot will provide navigation using the 6 degree-of-freedom (DOF) robot arm according to the preoperative planning system and guide the surgeon to complete the establishment of the working channel. In the foraminoplasty system, according to the foraminoplasty planning in the preoperative planning system, the robot performs foraminoplasty automatically using the high speed burr at the end of the robot arm. The system can provide real-time feedback on the working status of the bur through multi-mode sensors such as multidimensional force, position, and acceleration. Finally, a prototype of the system is constructed and performance tests are conducted. Discussion Our study will develop a robot-assisted system to perform transforaminal PELS, and this robot-assisted system can also be used for other percutaneous endoscopic spinal surgeries such as interlaminar PELS and percutaneous endoscopic cervical and thoracic surgeries through further research. The development of this robot-assisted system can be of great significance. First, the robot can improve the accuracy and efficiency of endoscopic spinal surgeries. In addition, it can avoid multiple intraoperative fluoroscopies, minimize exposure to both patients and the surgical staff, shorten the operative time, and improve the learning curve of beginners, which is beneficial to the popularization of percutaneous endoscopic spinal surgeries.

scholarly journals A Self-Calibrating Probabilistic Framework for 3D Environment Perception Using Monocular Vision

Sensors ◽  
2020 ◽  
Vol 20 (5) ◽  
pp. 1280 ◽  
Author(s):  
Razvan Itu ◽  
Radu Gabriel Danescu
Keyword(s):  
Traffic Safety ◽  
Tracking System ◽  
Measurement Model ◽  
Monocular Vision ◽  
Automatic Calibration ◽  
3D Data ◽  
Environment Perception ◽  
Set Up ◽  
3D Information ◽  
Real Traffic

Cameras are sensors that are available anywhere and to everyone, and can be placed easily inside vehicles. While stereovision setups of two or more synchronized cameras have the advantage of directly extracting 3D information, a single camera can be easily set up behind the windshield (like a dashcam), or above the dashboard, usually as an internal camera of a mobile phone placed there for navigation assistance. This paper presents a framework for extracting and tracking obstacle 3D data from the surrounding environment of a vehicle in traffic, using as a sensor a generic camera. The system combines the strength of Convolutional Neural Network (CNN)-based segmentation with a generic probabilistic model of the environment, the dynamic occupancy grid. The main contributions presented in this paper are the following: A method for generating the probabilistic measurement model from monocular images, based on CNN segmentation, which takes into account the particularities, uncertainties, and limitations of monocular vision; a method for automatic calibration of the extrinsic and intrinsic parameters of the camera, without the need of user assistance; the integration of automatic calibration and measurement model generation into a scene tracking system that is able to work with any camera to perceive the obstacles in real traffic. The presented system can be easily fitted to any vehicle, working standalone or together with other sensors, to enhance the environment perception capabilities and improve the traffic safety.

Humanoid Arm Motion Planning Using Stereo Vision and RRT Search

2003 ◽  
Vol 15 (2) ◽  
pp. 200-207 ◽  
Author(s):  
Satoshi Kagami ◽  
◽  
James J. Kuffner ◽  
Koichi Nishiwaki ◽  
Kei Okada ◽  
...  
Keyword(s):  
Motion Planning ◽  
Stereo Vision ◽  
Humanoid Robots ◽  
Random Trees ◽  
Planning System ◽  
Robot Arm ◽  
Consistency Checking ◽  
Disparity Map ◽  
Arm Motion ◽  
High Level

This paper describes an experimental stereo vision based motion planning system for humanoid robots. The goal is to automatically generate arm trajectories that avoid obstacles in unknown environments from high-level task commands. Our system consists of three components: 1) environment sensing using stereo vision with disparity map generation and online consistency checking, 2) probabilistic mesh modeling in order to accumulate continuous vision input, and 3) motion planning for the robot arm using RRTs (Rapidly exploring Random Trees). We demonstrate results from experiments using an implementation designed for the humanoid robot H7.

scholarly journals 3D IMAGE RECONSTRUCTION OF OVARIAN TUMOR IN THE ULTRASONIC IMAGES

2001 ◽  
Vol 13 (02) ◽  
pp. 93-98 ◽  
Author(s):  
C. F. JIANG
Keyword(s):  
Ovarian Tumor ◽  
The Other ◽  
3D Image ◽  
Data Set ◽  
3D Image Reconstruction ◽  
3D Data ◽  
3D Information ◽  
Ultrasonic Images ◽  
2D Images ◽  
Degree Of Irregularity

The prevalence of ovarian tumor malignancy can be monitored by the degree of irregularity in the ovarian contour and by the septal structure inside the tumor observed in ultrasonic images. However the 2D ultrasonic images can not integrate 3D information form the ovarian tumor. In this paper, we present an algorithm that can render the 3D image of an ovarian tumor by reconstructing the 2D ultrasonic images into a 3D data set. This is based on sequentially boundary detection in a series of 2D images to form a 3D tumor contour. This contour is then used as a barrier to remove the data containing the other tissue adhering to the tumor surface. The final 3D image rendered by the isolated data provides a clear view of both the surface and inner structure of the ovarian tumor.

Computer simulation of sensor-based robot collision avoidance in an unknown environment

Robotica ◽  
1987 ◽  
Vol 5 (4) ◽  
pp. 291-302 ◽  
Author(s):  
K. Sun ◽  
V. Lumelsky
Keyword(s):  
Computer Simulation ◽  
Motion Planning ◽  
Collision Avoidance ◽  
Autonomous Vehicle ◽  
Planning System ◽  
Robot Motion ◽  
Robot Arm ◽  
Fixed Base ◽  
The One ◽  
Robot Path

SUMMARYComputer simulation is a major tool in validation of robot motion planning systems, since, on the one hand, underlying theory of algorithms typically requires questionable assumptions and simplifications, and, on the other hand, experiments with hardware are necessarily limited by available resources and time. This is especially true when the motion planning system in question is based on sensor feedback and the generated trajectory is, therefore, unpredictable. This paper describes a simulation system ROPAS (for RObot PAth Simulation) for testing one approach — called Dynmic Path Planning (DPP) — to sensor-based robot collision avoidance in an environment with unknown obstacles. Using real time graphics animation of the motion planning system, the user can simulate the behavior of an autonomous vehicle or a robot arm manipulator with a fixed base. The overall structure of the system is described, and examples are presented.

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