Modern Solution for Fast and Accurate Inventorization of Open-Pit Mines by the Active Remote Sensing Technique—Case Study of Mikoszów Granite Mine (Lower Silesia, SW Poland)

Mining industry faces new technological and economic challenges which need to be overcome in order to raise it to a new technological level in accordance with the ideas of Industry 4.0. Mining companies are searching for new possibilities of optimizing and automating processes, as well as for using digital technology and modern computer software to aid technological processes. Every stage of deposit management requires mining engineers, geologists, surveyors, and environment protection specialists who are involved in acquiring, storing, processing, and sharing data related to the parameters describing the deposit, its exploitation and the environment. These data include inter alia: geometries of the deposit, of the excavations, of the overburden and of the mined mineral, borders of the support pillars and of the buffer zones, mining advancements with respect to the set borders, effects of mining activities on the ground surface, documentation of landslide hazards and of the impact of mining operations on the selected elements of the environment. Therefore, over the life cycle of a deposit, modern digital technological solutions should be implemented in order to automate the processes of acquiring, sharing, processing and analyzing data related to deposit management. In accordance with this idea, the article describes the results of a measurement experiment performed in the Mikoszów open-pit granite mine (Lower Silesia, SW Poland) with the use of mobile LiDAR systems. The technology combines active sensors with automatic and global navigation system synchronized on a mobile platform in order to generate an accurate and precise geospatial 3D cloud of points.

Optical 3D scanning methods in biological research – selected cases

Shape measurement by optical methods is more and more often used in research both in human and veterinary medicine. As a result of the measurement, a set with marker positions in space or a cloud of points representing a scanned surface is obtained. The collected data contains useful information, but to extract it, it is necessary to process the data using appropriate algorithms. The aim of this study was to present the algorithms that the author used to process data for the purposes of analyzes which results and conclusions were included in four articles published earlier. The algorithms concern the determination and identification of markers on the body when measuring the posture of soccer players and the analysis of the cloud of points for determining the angles describing the base and surface of the hoof bones in the polar coordinate system. The measurement systems in which data were collected are also described. Sample results obtained with the presented analysis methods are shown. For the first case these are given directional views of the markers determined in 3D space, while for the other two the result containing information about the calculated angles in the form of a table and a graph are presented. The presented data processing methods and algorithms are not only applicable to the cases on which they were tested. Directly or after a small modification, they can be applied in another area.

CONTRIBUTION OF BATHYMETRIC MULTI-BEAM SONAR AND LASER SCANNERS IN 3D MODELING AND ESTIMATION OF SILTATION OF DAM BASIN IN MOROCCO

In Morocco, the phenomenon of silting affects all the dams, where more than 75 Mm3 of sediments are deposited every year at the bottom of the reservoirs. The aim of our study is to assess the contribution of the bathymetric multi-beam sonar as well as static and mobile laser scanners in the estimation of siltation of the basin of the Tanger-Med dam in the north of Morocco. The proposed methodology consists of performing and fusion of a bathymetric survey by multi-beam echo-sounder with terrestrial laser scanner surveys in static mode and mobile mode. The result of these surveys is used, for the calculation of the siltation volume and the inspection of the upstream facing of the main structure. Siltation calculation was carried out with comparison to a reference survey obtained by single beam sonar. The comparison between these two instruments showed that the multi-beam presents many advantages: high density of the cloud of points acquired and precision. The density allows providing a better description of the dam's bottom. The comparative study between the two types of scanners showed that static scanner offers a better accuracy. However, mobile scanner gives more accessibility of all parts of the dam. As a conclusion, the multi-beam echo-sounder with additional laser scanner data have many advantages in this study: volume calculation precision, reduction of the acquisition time and the enhancement of the acquired point cloud density. We also obtained a global 3d modelling useful for the monitoring of the infrastructure.

Generating a three-dimensional measuring scene for the forest sector as based on modern geodetic technologies

Modern geodetic technologies of gathering three-dimensional spatial data incorporate terrestrial laser scanning and aerial photo survey from unmanned aerial vehicles. The combination of these technologies and joint result of survey provide the data of 3D point model and accurate information on trunks and crowns of individual trees. The paper examines the experiment with the application of method of formation of 3D measuring scene in the form of dense cloud of points combining the results of terrestrial laser scanning and materials of photogrammetric processing of UAV-provided data. The method eliminates basic shortcomings of each technology, enhances their advantages, and opens the way to the compilation of more representative 3D measuring scenes. A specific advantage of the method is the outcropping of detailed information on the form, size and condition of individual tree crowns. This option finds a practical application in landscape evaluation and design, remote measuring of trunk parameters excluding the felling of model trees for the compilation of regional timber account tables. The closest perspectives of method development are related to increasing the accuracy of combined survey by specifying flight missions and working with the light regime under forest canopy.

FROM TLS POINT CLOUD DATA TO GEOMETRICAL GENESIS DETERMINATION OF RIBBED MASONRY VAULTS

The contribution aims to explore the possibility of tracing the geometry of ribbed vaults from two different Mediterranean regions to a single matrix, verifying the presence of possible local variations of the same rules. In particular, the analyses are being carried out in parallel on some case studies of the regions of Sardinia in Italy and Aragon in Spain. The two case studies include the Iglesia Parroquial del Salvador la Seo in Zaragoza and the Church of Santa Lucia in Cagliari. Both constructions can be traced back to the style known as Late Mediterranean Gothic, which characterised the architecture of the countries bordering the Mediterranean basin between the 14th and 17th centuries. The two case studies chosen were almost at the extreme ends of the Late Gothic period, to determine whether some invariants sought could persist even in relatively distant periods. The analysis focused on cross vaults covering the two naves, which included a laser scanner survey in order to obtain a cloud of points of sufficient precision to carry out studies on the geometry of the vaulted systems, the identification of the intrados profiles of the ribs and therefore the definition of the curvatures and centres of all the arches making up the vaults. Finally, the results are presented by means of summary diagrams and comparison tables.

Occlusion Culling for Wide-Angle Computer-Generated Holograms Using Phase Added Stereogram Technique

A computer-generated hologram (CGH) allows synthetizing view of 3D scene of real or virtual objects. Additionally, CGH with wide-angle view offers the possibility of having a 3D experience for large objects. An important feature to consider in the calculation of CGHs is occlusion between surfaces because it provides correct perception of encoded 3D scenes. Although there is a vast family of occlusion culling algorithms, none of these, at the best of our knowledge, consider occlusion when calculating CGHs with wide-angle view. For that reason, in this work we propose an occlusion culling algorithm for wide-angle CGHs that uses the Fourier-type phase added stereogram (PAS). It is shown that segmentation properties of the PAS can be used for setting efficient conditions for occlusion culling of hidden areas. The method is efficient because it enables processing of dense cloud of points. The investigated case has 24 million of point sources. Moreover, quality of the occluded wide-angle CGHs is tested by two propagation methods. The first propagation technique quantifies quality of point reproduction of calculated CGH, while the second method enables the quality assessment of the occlusion culling operation over an object of complex shape. Finally, the applicability of proposed occlusion PAS algorithm is tested by synthetizing wide-angle CGHs that are numerically and optically reconstructed.

SLAM-OR: Simultaneous Localization, Mapping and Object Recognition Using Video Sensors Data in Open Environments from the Sparse Points Cloud

In this paper, we propose a novel approach that enables simultaneous localization, mapping (SLAM) and objects recognition using visual sensors data in open environments that is capable to work on sparse data point clouds. In the proposed algorithm the ORB-SLAM uses the current and previous monocular visual sensors video frame to determine observer position and to determine a cloud of points that represent objects in the environment, while the deep neural network uses the current frame to detect and recognize objects (OR). In the next step, the sparse point cloud returned from the SLAM algorithm is compared with the area recognized by the OR network. Because each point from the 3D map has its counterpart in the current frame, therefore the filtration of points matching the area recognized by the OR algorithm is performed. The clustering algorithm determines areas in which points are densely distributed in order to detect spatial positions of objects detected by OR. Then by using principal component analysis (PCA)—based heuristic we estimate bounding boxes of detected objects. The image processing pipeline that uses sparse point clouds generated by SLAM in order to determine positions of objects recognized by deep neural network and mentioned PCA heuristic are main novelties of our solution. In contrary to state-of-the-art approaches, our algorithm does not require any additional calculations like generation of dense point clouds for objects positioning, which highly simplifies the task. We have evaluated our research on large benchmark dataset using various state-of-the-art OR architectures (YOLO, MobileNet, RetinaNet) and clustering algorithms (DBSCAN and OPTICS) obtaining promising results. Both our source codes and evaluation data sets are available for download, so our results can be easily reproduced.

Sandstone reservoir characteristics of Rio Del Rey basin, Cameroon, using well-logging analysis

The present work deals with an interpretation of well log data (gamma ray (GR), resistivity, density, and neutron) from four wells, namely P-1, P-2, P-3 and P-4 in the study area of the Rio Del Rey basin. The well logs analysis indicates five potential sandstone reservoirs at the P-1, two at the P-2, four at the P-3 and six at the P-4. The neutron–density-GR logs highlight the sandstone gas reservoir characterized by high resistivity and crossover between neutron density. The neutron–density-GR cross-plot confirms the presence of sandstone containing hydrocarbons by a displacement of the cloud of points, from low to medium GR values, from the sandstone line to the left. Petrophysical parameters exhibit the value 12–41% for a volume of shale, 15–34% for effective porosity, 29–278 mD for permeability and 3–63% for water saturation. The three potential hydrocarbon reservoir saturation ranges from 22 to 45%. The study will contribute to future offshore oil and gas exploration and development in the Rio Del Rey basin, based on the geological and geophysical characteristics of the reservoirs delineated.