scholarly journals A NEW INDOOR LIDAR-BASED MMS CHALLENGING COMPLEX ARCHITECTURAL ENVIRONMENTS

2021 ◽  
Vol XLVI-M-1-2021 ◽  
pp. 79-86
Author(s):  
C. Bonfanti ◽  
G. Patrucco ◽  
S. Perri ◽  
G. Sammartano ◽  
A. Spanò
Keyword(s):  
Disruptive Innovation ◽  
Integrated System ◽  
Portable Devices ◽  
Mapping Algorithms ◽  
Localization And Mapping ◽  
Outdoor Spaces ◽  
Application Fields ◽  
Global And Local ◽  
Mobile Mapping Systems ◽  
Swift System

Abstract. The use of moving devices equipped with range- and image-based sensor, generically defined Mobile Mapping systems (MMS), have been quite a disruptive innovation in the development of Geomatics techniques for 3D surveying large indoor-outdoor spaces and offer multiple solutions. The recent expansion of portable devices in the form of trolleys, backpacks, handheld tools largely implements SLAM (Simultaneous Localization and Mapping) algorithms and technology based on both Lidar and/or visual solutions for answering to the positioning and the 3D reconstruction problems. The research on MMS is directed to improve both multi-sensor integration implementation and usability of systems in diversified use contexts and application fields. The aim of the presented research is the evaluation of the potential of the Swift system recently developed by FARO Technologies, that has been fine-tuned for regular and large extent interiors mapping (such as factories, hospitals, airports, offices). The work tries to preliminary investigate the data delivery and usability of the integrated system. This is based on three elements mounted on a sliding trolley moved by the operator walking: the ScanPlan profilometer working for the 2D SLAM mapping, the static TLS Focus S-series, and the smartphone managing the sensors operation and the acquisition progress. The evaluation strategy undertaken will be based on the global and local performance analysis related to the trajectory, the data accuracy, the metric content and consistency. Two test studies belonging to the 20th century. architecture are presented in a preliminary framework of evaluation and validation: a Liberty-style cinema and the Torino Esposizioni Hall B designed in ferrocement by pier Luigi Nervi.

scholarly journals INDOOR BUILDING SURVEY ASSESSMENT

2020 ◽  
Vol XLIII-B1-2020 ◽  
pp. 251-257
Author(s):  
T. Lovas ◽  
K. Hadzijanisz ◽  
V. Papp ◽  
A. J. Somogyi
Keyword(s):  
Point Clouds ◽  
Mobile Mapping ◽  
Localization And Mapping ◽  
Resource Needs ◽  
Land Surveying ◽  
Laser Scanners ◽  
Mapping Technology ◽  
Application Fields ◽  
Mobile Mapping Systems ◽  
Mapping Systems

Abstract. There are multiple emerging technologies, devices and integrated equipment to support indoor mapping. The two main categories are the wearable/portable (e.g. hand-held or backpack devices) and the trolley based devices. The most widely used sensors of the integrated systems are the laser scanners (usually profile scanners), camera(s) and the IMU unit. Compared to outdoor mobile mapping systems the main difference is the lack of GNSS signals; localization is usually supported by SLAM (Simultaneous Localization and Mapping) technology, using Kalman-filtering. Current paper discusses the assessment of the potential of trolley-based indoor mobile mapping systems (MMS) by surveying a building part by multiple technologies. Besides conventional land surveying measurements, terrestrial lasers scanning and a backpack-based mobile survey have been carried out. The analysis included cloud-to-cloud comparison as well as CAD-based evaluation focusing on the geometric accuracy of the point clouds. The paper also presents the surveying workflow; on its resource-needs and potential application fields. The paper discusses the data acquisition technologies and procedures and the different quality assessment methods and results. Since an experimental survey was conducted with a backpack-based unit in the same study area, the paper gives a brief overview on how the two different mobile mapping technologies can be applied indoor, and presents the main differences, advantages and drawbacks.

scholarly journals PARAMETRIC GENERATION IN HBIM WORKFLOWS FOR SLAM-BASED DATA: DISCUSSING EXPECTATIONS ON SUITABILITY AND ACCURACY

2021 ◽  
Author(s):  
Giulia Sammartano ◽  
Mattia Previtali ◽  
Fabrizio Banfi
Keyword(s):  
Data Acquisition ◽  
Cost Effective ◽  
Parametric Modeling ◽  
Portable Devices ◽  
Raw Data ◽  
Mapping Algorithms ◽  
Parametric Generation ◽  
Localization And Mapping ◽  
Actual Use ◽  
Modelling Strategies

In the wide framework of Scan-to-BIM 3D modelling procedures, the complexity of the architectural heritage and its components is evidencing a gap of best practices and specification in the HBIM-modeling and thus it is requiring important considerations about the modelling strategies and protocols between the requested level of detail (LOD), the expect accuracy and above all the actual use-oriented requirements. Several works are largely focusing on developing workflows for traditional static LiDAR scanning sensors. However, the chance to benefit from on-site faster data acquisition is needful at times, and procedures are directing toward rapid mapping 3D approaches, evolving from traditional static scanning toward MMS (Mobile Mapping Systems) based on SLAM technology (Simultaneous Localization and Mapping) algorithms implemented in portable devices. The potential of these solutions can contribute to increase a massive cost-effective documentation, and also in view of BIM-HBIM modelling generation, and this needs further researches. At the same time, the descriptive capabilities of this class of portable scanners do not reach the precision of the static solutions. Many time-cost balance evaluations towards an analysis of geometry, grade of generation (GOG) and details can be thus conducted. This paper presents a first comparison between TLS (Faro Focus 3D) and hand-held scanner Zeb Revo (by GeoSLAM) of the entire workflow (from raw data acquisition up to parametric modeling) focusing on the Bramante’s Canonica Court in the Basilica di Sant’Ambrogio. First, the two raw data are compared, considering geometric features (data density, precision, possibility to detect edges, details and accurate curvature). Then, some well-established modelling procedures developed for TLS data, as triangulation mesh and NURBS generation, are applied to MMS point cloud to identify their suitability. Different elements belonging to the architectural structure hierarchy are considered in a multi-scale perspective: the vaulted system of the porch, the columns and the arches of the porch with their different architectural elements.

Different Mapping Algorithms for the Analysis of Exfoliated Cervical Cells by Infrared Microscopy

1997 ◽  
Vol 3 (S2) ◽  
pp. 827-828
Author(s):  
S.R. Lowry ◽  
M.J. Smith ◽  
B.A. Leimer
Keyword(s):  
Pap Smear ◽  
Standard Procedure ◽  
Nir Spectroscopy ◽  
Integrated System ◽  
Mapping Algorithms ◽  
Cervical Cell ◽  
Infrared Microscope ◽  
Abnormal Cells ◽  
Cervical Cells ◽  
Chemometric Algorithms

The Papanicolaou (Pap) smear is the technique used to screen for abnormalities in cervical cells that may be related to cervical cancer and other problems. A number of research groups have reported results that indicate the infrared or NIR spectroscopy can be used to differentiate between samples of normal cervical cells and abnormal cells.In this paper we will describe studies performed on cervical cell samples with an infrared microscope and a motorized x-y stage. This configuration allowed us to “Map” the sample in 100 micron increments, where an infrared spectrum is acquired at each point. This integrated system also allowed chemometric algorithms developed with the Nicolet TQ Analyst software to be automatically applied to the spectral data. Samples of cervical cells were obtained from patients using the standard procedure. Part of the sample was used to prepare the Pap smear slide and the remainder was placed in a saline solution and centrifuged for several minutes. The cell suspension was then applied to a Barium Fluoride 5mm X 5mm window and dried.

scholarly journals The Katwijk beach planetary rover dataset

2017 ◽  
Vol 37 (1) ◽  
pp. 3-12 ◽  
Author(s):  
Robert A Hewitt ◽  
Evangelos Boukas ◽  
Martin Azkarate ◽  
Marco Pagnamenta ◽  
Joshua A Marshall ◽  
...  
Keyword(s):  
Satellite System ◽  
Entire Area ◽  
Mapping Algorithms ◽  
Planetary Rover ◽  
Localization And Mapping ◽  
Stereo Cameras ◽  
Landing Sites ◽  
Aerial Vehicle ◽  
Global Navigation Satellite ◽  
Rock Size

This paper describes a dataset collected along a 1 km section of beach near Katwijk, The Netherlands, which was populated with a collection of artificial rocks of varying sizes to emulate known rock size densities at current and potential Mars landing sites. First, a fixed-wing unmanned aerial vehicle collected georeferenced images of the entire area. Then, the beach was traversed by a rocker-bogie-style rover equipped with a suite of sensors that are envisioned for use in future planetary rover missions. These sensors, configured so as to emulate the ExoMars rover, include stereo cameras, and time-of-flight and scanning light-detection-and-ranging sensors. This dataset will be of interest to researchers developing localization and mapping algorithms for vehicles traveling over natural and unstructured terrain in environments that do not have access to the global navigation satellite system, and where only previously taken satellite or aerial imagery is available.

Integration of Internet of Things with quantum dots: A state-of-the-art of medicine.

2021 ◽  
Vol 27 ◽  
Author(s):  
Drashti Desai ◽  
Pravin Shende
Keyword(s):  
Quantum Dots ◽  
Internet Of Things ◽  
Real Time ◽  
Cost Effective ◽  
Disruptive Innovation ◽  
Integrated System ◽  
Healthcare Sector ◽  
Sensor Technology ◽  
Biomedical Sciences ◽  
Medical Quality

: Internet of Things (IoT) emerges as disruptive innovation and development in the fields of drug delivery and biomedical sciences using on-target active transportation, sensors, wearable devices, real-time diagnostics, etc. Semiconducting fluorescence emitting material, quantum dots on integration with IoT displayed interesting results in healthcare sector especially in hospitals and pathological laboratories. Presently, the integrated system is used to improve productivity without the interference of human and offer cost-effective system. This integrated system can be used for detection of various diseases like epilepsy, cancer, diabetes, etc. and various biomedical applications like energy storage, lights, sensor technology, light filters, etc. The integrated technology is implemented into the field of medicine for simplifying the approaches in therapeutics and diagnostic applications. The collected and analyzed data are further useful for healthcare professionals to find patient-centric solutions. Artificial Intelligence-aided IoT emerges as a novel technology for transmitting and securing the health data. Despite some of the limitations like e-waste and risk of hacking, IoT-based QD system will be considered as a modern healthcare provider with life-saving products for enriching medical quality and real-time accessibility.

Navigation and Obstacle Avoidance of Snake-Robot Guided by a Co-Robot UAV Visual Servoing

2020 ◽  
Author(s):  
Mahdi Haghshenas-Jaryani ◽  
Hakki Erhan Sevil ◽  
Liang Sun
Keyword(s):  
Obstacle Avoidance ◽  
Autonomous Navigation ◽  
Visual Servoing ◽  
Integrated System ◽  
Ground Vehicles ◽  
Snake Robot ◽  
Cluttered Environments ◽  
Localization And Mapping ◽  
Path Planner ◽  
Snake Robots

Abstract This paper presents the concept of teaming up snake-robots, as unmanned ground vehicles (UGVs), and unmanned aerial vehicles (UAVs) for autonomous navigation and obstacle avoidance. Snake robots navigate in cluttered environments based on visual servoing of a co-robot UAV. It is assumed that snake-robots do not have any means to map the surrounding environment, detect obstacles, or self-localize, and these tasks are allocated to the UAV, which uses visual sensors to track the UGVs. The obtained images were used for the geo-localization and mapping the environment. Computer vision methods were utilized for the detection of obstacles, finding obstacle clusters, and then, mapping based on Probabilistic Threat Exposure Map (PTEM) construction. A path planner module determines the heading direction and velocity of the snake robot. A combined heading-velocity controller was used for the snake robot to follow the desired trajectories using the lateral undulatory gait. A series of simulations were carried out for analyzing the snake-robot’s maneuverability and proof-of-concept by navigating the snake robot in an environment with two obstacles based on the UAV visual servoing. The results showed the feasibility of the concept and effectiveness of the integrated system for navigation.

An architecture for multi-robot localization and mapping in the Gazebo/Robot Operating System simulation environment

SIMULATION ◽  
2017 ◽  
Vol 93 (9) ◽  
pp. 771-780 ◽  
Author(s):  
Erkan Uslu ◽  
Furkan Çakmak ◽  
Nihal Altuntaş ◽  
Salih Marangoz ◽  
Mehmet Fatih Amasyalı ◽  
...  
Keyword(s):  
Operating System ◽  
Three Dimensional ◽  
Simulation Environment ◽  
Urban Search And Rescue ◽  
Mapping Algorithms ◽  
Robot Operating System ◽  
Mapping Algorithm ◽  
Localization And Mapping ◽  
Dimensional Simulation ◽  
Multi Robot

Robots are an important part of urban search and rescue tasks. World wide attention has been given to developing capable physical platforms that would be beneficial for rescue teams. It is evident that use of multi-robots increases the effectiveness of these systems. The Robot Operating System (ROS) is becoming a standard platform for the robotics research community for both physical robots and simulation environments. Gazebo, with connectivity to the ROS, is a three-dimensional simulation environment that is also becoming a standard. Several simultaneous localization and mapping algorithms are implemented in the ROS; however, there is no multi-robot mapping implementation. In this work, two multi-robot mapping algorithm implementations are presented, namely multi-robot gMapping and multi-robot Hector Mapping. The multi-robot implementations are tested in the Gazebo simulation environment. Also, in order to achieve a more realistic simulation, every incremental robot movement is modeled with rotational and translational noise.

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