Дисертації: "Scanner-laser 3D"

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Liu, Junjie. "3D laser scanner development and analysis." Thesis, Aberystwyth University, 2013. http://hdl.handle.net/2160/b3a1beca-3d92-48bc-945e-2e50b3e7755a.

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This PhD project is a collaboration between Smart Light Devices, Ltd. in Aberdeen and Aberystwyth University on the development of such 3D laser scanners with an ultimate aim to inspect the underwater oil and gas pipes or structure. At the end of this project, a workable and full functional 3D laser scanner is to be developed. This PhD project puts a particular emphasis on the engineering and implementation of the scanner according to real applications’ requirements. Our 3D laser scanner is based on the principle of triangulation and its high accuracy over a short range scanning. Accurate 3D data can be obtained from a triangle between the scanner, camera lens, laser source, and the object being scanned. Once the distance between the scanner camera lens and laser source (stereo baseline) is known and the laser projection angle can be measured by the goniometer, all the X, Y,Z coordinates of the object surface can be obtained through trigonometry. This 3D laser scanner development involves a lot of issues and tasks including image noise removal, laser peak detection, corner detection, camera calibration and 3D reconstruction. These issues and tasks have been addressed, analysed and improved during the PhD period. Firstly, the Sparse Code Shrinkage (SCS) image de-noise is implemented, since it is one of the most suitable de-noising methods for our laser images with dark background and white laser stripe. Secondly, there are already plenty of methods for corner and laser peak detection, it is necessary to compare and evaluate which is the most suitable for our 3D laser scanner. Thus, comparative studies are carried out and their results are presented in this thesis. Thirdly, our scanner is based on laser triangulation, in this case, laser projection angle α and baseline distance D from the centre of the camera lens to laser source plays a crucial role in 3D reconstruction. However, these two parameters are hard to measure directly, and there are no particular tools designed for this purpose. Thus, a new approach is proposed in this thesis to estimate them which combines camera calibration results with the precise linear stage. Fourthly, it is very expensive to customize an accurate positional pattern for camera calibration, due to budget limit, this pattern is printed by a printer or even painted on a paper or white board which is inaccurate and contains errors in absolute distance and location. An iterative camera calibration method is proposed. It can compensate up to 10% error and the calibration parameters remain stable. Finally, in the underwater applications, the light travel angle is changed from water to air which makes the normal calibration method less accurate. Hence, a new approach is proposed to compensate between the estimate and real distance in 3D reconstruction with normal calibration parameters. Experimental results show the proposed methods reduce the distance error in 3D down to ±0.2mm underwater. Overall, the developed scanning systems have been successfully applied in several real scanning and 3D modelling projects such as mooring chain, underwater pipeline surface and reducer. Positive feedback has been received from these projects, the scanning results satisfy the resolution and accuracy requirements.

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Preuksakarn, Chakkrit. "Reconstructing plant architecture from 3D laser scanner data." Thesis, Montpellier 2, 2012. http://www.theses.fr/2012MON20116/document.

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Les modèles virtuels de plantes sont visuellement de plus en plus réalistes dans les applications infographiques. Cependant, dans le contexte de la biologie et l'agronomie, l'acquisition de modèles précis de plantes réelles reste un problème majeur pour la construction de modèles quantitatifs du développement des plantes.Récemment, des scanners laser 3D permettent d'acquérir des images 3D avec pour chaque pixel une profondeur correspondant à la distance entre le scanner et la surface de l'objet visé. Cependant, une plante est généralement un ensemble important de petites surfaces sur lesquelles les méthodes classiques de reconstruction échouent. Dans cette thèse, nous présentons une méthode pour reconstruire des modèles virtuels de plantes à partir de scans laser. Mesurer des plantes avec un scanner laser produit des données avec différents niveaux de précision. Les scans sont généralement denses sur la surface des branches principales mais recouvrent avec peu de points les branches fines. Le cœur de notre méthode est de créer itérativement un squelette de la structure de la plante en fonction de la densité locale de points. Pour cela, une méthode localement adaptative a été développée qui combine une phase de contraction et un algorithme de suivi de points.Nous présentons également une procédure d'évaluation quantitative pour comparer nos reconstructions avec des structures reconstruites par des experts de plantes réelles. Pour cela, nous explorons d'abord l'utilisation d'une distance d'édition entre arborescence. Finalement, nous formalisons la comparaison sous forme d'un problème d'assignation pour trouver le meilleur appariement entre deux structures et quantifier leurs différences
In the last decade, very realistic rendering of plant architectures have been produced in computer graphics applications. However, in the context of biology and agronomy, acquisition of accurate models of real plants is still a tedious task and a major bottleneck for the construction of quantitative models of plant development. Recently, 3D laser scanners made it possible to acquire 3D images on which each pixel has an associate depth corresponding to the distance between the scanner and the pinpointed surface of the object. Standard geometrical reconstructions fail on plants structures as they usually contain a complex set of discontinuous or branching surfaces distributed in space with varying orientations. In this thesis, we present a method for reconstructing virtual models of plants from laser scanning of real-world vegetation. Measuring plants with laser scanners produces data with different levels of precision. Points set are usually dense on the surface of the main branches, but only sparsely cover thin branches. The core of our method is to iteratively create the skeletal structure of the plant according to local density of point set. This is achieved thanks to a method that locally adapts to the levels of precision of the data by combining a contraction phase and a local point tracking algorithm. In addition, we present a quantitative evaluation procedure to compare our reconstructions against expertised structures of real plants. For this, we first explore the use of an edit distance between tree graphs. Alternatively, we formalize the comparison as an assignment problem to find the best matching between the two structures and quantify their differences

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Wachten, Christian. "Entwicklung eines Lasertrackersystems mit Galvanometerscanner zur 3D-Positionsbestimmung." Tönning Lübeck Marburg Der Andere Verl, 2009. http://d-nb.info/994323778/04.

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Azim, Asma. "3D Perception of Outdoor and Dynamic Environment using Laser Scanner." Thesis, Grenoble, 2013. http://www.theses.fr/2013GRENM070/document.

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Depuis des décennies, les chercheurs essaient de développer des systèmes intelligents pour les véhicules modernes, afin de rendre la conduite plus sûre et plus confortable. Ces systèmes peuvent conduire automatiquement le véhicule ou assister un conducteur en le prévenant et en l'assistant en cas de situations dangereuses. Contrairement aux conducteurs, ces systèmes n'ont pas de contraintes physiques ou psychologiques et font preuve d'une grande robustesse dans des conditions extrêmes. Un composant clé de ces systèmes est la fiabilité de la perception de l'environnement. Pour cela, les capteurs lasers sont très populaires et largement utilisés. Les capteurs laser 2D classiques ont des limites qui sont souvent compensées par l'ajout d'autres capteurs complémentaires comme des caméras ou des radars. Les avancées récentes dans le domaine des capteurs, telles que les capteurs laser 3D qui perçoivent l'environnement avec une grande résolution spatiale, ont montré qu'ils étaient une solution intéressante afin d'éviter l'utilisation de plusieurs capteurs. Bien qu'il y ait des méthodes bien connues pour la perception avec des capteurs laser 2D, les approches qui utilisent des capteurs lasers 3D sont relativement rares dans la littérature. De plus, la plupart d'entre elles utilisent plusieurs capteurs et réduisent le problème de la 3ème dimension en projetant les données 3D sur un plan et utilisent les méthodes classiques de perception 2D. Au contraire de ces approches, ce travail résout le problème en utilisant uniquement un capteur laser 3D et en utilisant les informations spatiales fournies par ce capteur. Notre première contribution est une extension des méthodes génériques de cartographie 3D fondée sur des grilles d'occupations optimisées pour résoudre le problème de cartographie et de localisation simultanée (SLAM en anglais). En utilisant des grilles d'occupations 3D, nous définissons une carte d'élévation pour la segmentation des données laser correspondant au sol. Pour corriger les erreurs de positionnement, nous utilisons une méthode incrémentale d'alignement des données laser. Le résultat forme la base pour le reste de notre travail qui constitue nos contributions les plus significatives. Dans la deuxième partie, nous nous focalisons sur la détection et le suivi des objets mobiles (DATMO en anglais). La deuxième contribution de ce travail est une méthode pour distinguer les objets dynamiques des objets statiques. L'approche proposée utilise une détection fondée sur le mouvement et sur des techniques de regroupement pour identifier les objets mobiles à partir de la grille d'occupations 3D. La méthode n'utilise pas de modèles spécifiques d'objets et permet donc la détection de tout type d'objets mobiles. Enfin, la troisième contribution est une méthode nouvelle pour classer les objets mobiles fondée sur une technique d'apprentissage supervisée. La contribution finale est une méthode pour suivre les objets mobiles en utilisant l'algorithme de Viterbi pour associer les nouvelles observations avec les objets présents dans l'environnement, Dans la troisième partie, l'approche propose est testée sur des jeux de données acquis à partir d'un capteur laser 3D monté sur le toit d'un véhicule qui se déplace dans différents types d'environnement incluant des environnements urbains, des autoroutes et des zones piétonnes. Les résultats obtenus montrent l'intérêt du système intelligent proposé pour la cartographie et la localisation simultanée ainsi que la détection et le suivi d'objets mobiles en environnement extérieur et dynamique en utilisant un capteur laser 3D
With an anticipation to make driving experience safer and more convenient, over the decades, researchers have tried to develop intelligent systems for modern vehicles. The intended systems can either drive automatically or monitor a human driver and assist him in navigation by warning in case of a developing dangerous situation. Contrary to the human drivers, these systems are not constrained by many physical and psychological limitations and therefore prove more robust in extreme conditions. A key component of an intelligent vehicle system is the reliable perception of the environment. Laser range finders have been popular sensors which are widely used in this context. The classical 2D laser scanners have some limitations which are often compensated by the addition of other complementary sensors including cameras and radars. The recent advent of new sensors, such as 3D laser scanners which perceive the environment at a high spatial resolution, has proven to be an interesting addition to the arena. Although there are well-known methods for perception using 2D laser scanners, approaches using a 3D range scanner are relatively rare in literature. Most of those which exist either address the problem partially or augment the system with many other sensors. Surprisingly, many of those rely on reducing the dimensionality of the problem by projecting 3D data to 2D and using the well-established methods for 2D perception. In contrast to these approaches, this work addresses the problem of vehicle perception using a single 3D laser scanner. First contribution of this research is made by the extension of a generic 3D mapping framework based on an optimized occupancy grid representation to solve the problem of simultaneous localization and mapping (SLAM). Using the 3D occupancy grid, we introduce a variance-based elevation map for the segmentation of range measurements corresponding to the ground. To correct the vehicle location from odometry, we use a grid-based incremental scan matching method. The resulting SLAM framework forms a basis for rest of the contributions which constitute the major achievement of this work. After obtaining a good vehicle localization and a reliable map with ground segmentation, we focus on the detection and tracking of moving objects (DATMO). The second contribution of this thesis is the method for discriminating between the dynamic objects and the static environment. The presented approach uses motion-based detection and density-based clustering for segmenting the moving objects from 3D occupancy grid. It does not use object specific models but enables detecting arbitrary traffic participants. Third contribution is an innovative method for layered classification of the detected objects based on supervised learning technique which makes it easier to estimate their position with time. Final contribution is a method for tracking the detected objects by using Viterbi algorithm to associate the new observations with the existing objects in the environment. The proposed framework is verified with the datasets acquired from a laser scanner mounted on top of a vehicle moving in different environments including urban, highway and pedestrian-zone scenarios. The promising results thus obtained show the applicability of the proposed system for simultaneous localization and mapping with detection, classification and tracking of moving objects in dynamic outdoor environments using a single 3D laser scanner

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Gonçales, Rodrigo. "Dispositivo de varredura laser 3D terrestre e suas aplicações na engenharia, com ênfase em túneis." Universidade de São Paulo, 2007. http://www.teses.usp.br/teses/disponiveis/3/3138/tde-10082007-173531/.

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Novas tecnologias estão sendo desenvolvidas constantemente para coletar informações de superfícies ou de sólidos para diversas finalidades. Alguns métodos clássicos, como a Topografia e a Fotogrametria terrestre, com o passar dos anos, tiveram uma grande evolução. Na Fotogrametria terrestre todo o processo está sendo feito em meio digital. Na topografia, as estações totais automatizaram a medição de ângulos e distâncias. Essa evolução tecnológica fez com que os levantamentos se tornassem cada vez mais rápidos e precisos, aumentando a produtividade. O mais recente nessa evolução é o levantamento através do sistema de varredura a laser (Laser Scanner) 3D. São muitas as aplicações dessa tecnologia, dentre as quais pode-se citar: túneis, levantamento do como construído (as-built), mineração (principalmente subterrânea), arqueologia, levantamento de monumentos para restauração, refinarias e instalações industriais e outras, caracterizadas pela grande complexidade dos elementos envolvidos. A presente dissertação apresenta os conceitos envolvidos em todos os processos, desde a coleta de dados até o produto final. Desenvolve uma metodologia de uso que possa ser útil em diversas áreas, mostra uma aplicação completa na área de túneis, complementada por uma visão geral da área de plantas industriais e procura apresentar testes para quantificar a precisão que se obtém por essa tecnologia.
New technologies are constantly being developed in order to collect information of surfaces or solids for diverse purposes. Some classic methods such as topography and terrestrial photogrammetry have had a great evolution in the past. For example, all the processes of the terrestrial photogrammetry are made in digital way and the Total Stations have automated the measurements of angles and distances. This technical evolution made the surveying faster and accurate, increasing the productivity. However this evolution does not stop for there; in other words, the last technology in the area of topography is the surveying with the system known as Laser Scanner 3D. The Laser Scanner technology 3D has a lot of applications such as: tunnel, as-built, mining (mainly in the underground); archaeology (for restore monuments), refineries, industrial installations, etc., characterized by the great complexity of the involved elements. This work presents concepts involved in all the processes, since from data collection to the final product. It develops a methodology of use that can be applied in several areas, with emphasis in tunnels surveying area and presents some tests to quantization the accuracy.

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Cacciari, Pedro Pazzoto. "Estudo de um túnel em maciço rochoso fraturado por investigação geológico-geotécnica e análises pelo método dos elementos distintos." Universidade de São Paulo, 2014. http://www.teses.usp.br/teses/disponiveis/3/3145/tde-26082015-153054/.

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O comportamento geomecânico de túneis em rocha é fortemente influenciado pelas estruturas geológicas (descontinuidades) presentes no maciço. Do ponto de vista geométrico, estas estruturas são caracterizadas por parâmetros que descrevem suas orientações, frequências e comprimentos. Estes parâmetros, na maioria dos casos, são determinados em campanhas de campo, com bússola geológica e trena. Entretanto, limitações de tempo e acesso dificultam a execução destes trabalhos, impossibilitando a obtenção de números elevados de dados, que possibilitam análises estatísticas mais complexas. Para superar estas dificuldades, no presente estudo, o mapeamento das descontinuidades foi realizado em imagens do túnel Monte Seco, pertencente a Estrada de Ferro Vitória Minas (EFVM), obtidas por scanner a laser 3D. Neste mapeamento, tanto a orientação, quanto a posição e o comprimento dos traços das descontinuidades foram determinados com boa precisão, possibilitando a verificação da distribuição da intensidade de fraturamento de diferentes trechos, ao longo do túnel. Utilizando estes trechos diferenciados pela intensidade de fraturamento, foram elaboradas análises estatísticas mais complexas e adequadas (por janelas de amostragem e linhas de varredura) para determinação da orientação, comprimento médio dos traços e espaçamentos médios das famílias de descontinuidades. Com os parâmetros geométricos das descontinuidades, o modelo probabilístico de blocos rígidos foi construído, utilizando o software 3DEC. Assim, os parâmetros mecânicos das descontinuidades foram estimados utilizando correlações empíricas (a partir de descrições do maciço rochoso realizadas em mapeamentos geológicos por dentro do túnel), além de alguns ensaios de campo e laboratório. As análises com este modelo foram executadas para verificação da queda de blocos, e comparadas com as seções atuais do túnel. Os resultados indicaram que diferentes critérios de ruptura devem ser utilizados para diferentes tipos de descontinuidades (fraturas e foliação), e evidenciaram a importância de estimativas mais coerentes de parâmetros geométricos das descontinuidades nos resultados finais das análises.
The geomechanical behaviour of rock tunnels is strongly influenced by geological structures in the rock mass. Rock discontinuities are geometrically characterized by parameters that describes their orientations, frequency and lengths. In most cases, these parameters are determined in field inspections, using geological compass and measuring tapes. However, timeframes and access limitation hinder this procedure, making it impossible to obtain large amount of data that allow complex statistical analysis. To overcome these difficulties, here the discontinuity mapping was performed using images of the Monte Seco tunnel, obtained by 3D terrestrial laser scanning. In this case, the orientation, position and trace length of each discontinuity was determined with precision, allowing the verification of the fracture intensity distribution in different parts of the tunnel. Using these parts (differentiated by its fracture intensities), statistical analyses were performed, using sampling windows and scanlines, in order to determine the orientation mean trace length and spacing of discontinuity sets. Once the geometrical parameters of discontinuity sets were determined, a probabilistic model of rigid blocks was generated, using the 3DEC software. Thus, the mechanical parameters of discontinuity sets were estimated by empirical correlations (performed using descriptions of the rock mass obtained during geological inspections in the tunnel), and some laboratory and field tests. The analyses with this model were performed to verify the instability of blocks (block falls), and compared with actual cross sections of the tunnel. The results indicate that different failure criteria must be used for different discontinuity types (fractures and foliation), and revealed the importance of consistent estimated of geometrical parameters of discontinuity sets.

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Střižík, Jakub. "Vizualizace dat z 3D laserového skeneru." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2013. http://www.nusl.cz/ntk/nusl-220141.

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Master thesis deals with the creation of the data visualization measured by 3D laser scanner using the Point Cloud method. Measured data were parameterized after loading for use in programming environment of Microsoft Visual Studio 2010 and in platform XNA. Individual data points forms the center of defined cubes which are displayed and create a scene where is possible to move through a user input in the form of a keyboard or mouse. Created algorithms were analyzed to determine the total running speed of the program, the individual as well as critical sections. The algorithms were optimized to a higher running speed of the program on the basis of analyzed data. Optimization was focused on the selection of retrieved data and on the method of their saving within the program environment. The next optimization process was based on the using of the other method for displaying of measured data points. Individual data points were displayed in form of square 2D texture replacing the cube. This square is rotating according to move of observer. Designed algorithm optimization leads to faster running of the program.

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Schilling, Anita. "Automatic Retrieval of Skeletal Structures of Trees from Terrestrial Laser Scanner Data." Doctoral thesis, Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2014. http://nbn-resolving.de/urn:nbn:de:bsz:14-qucosa-155698.

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Research on forest ecosystems receives high attention, especially nowadays with regard to sustainable management of renewable resources and the climate change. In particular, accurate information on the 3D structure of a tree is important for forest science and bioclimatology, but also in the scope of commercial applications. Conventional methods to measure geometric plant features are labor- and time-intensive. For detailed analysis, trees have to be cut down, which is often undesirable. Here, Terrestrial Laser Scanning (TLS) provides a particularly attractive tool because of its contactless measurement technique. The object geometry is reproduced as a 3D point cloud. The objective of this thesis is the automatic retrieval of the spatial structure of trees from TLS data. We focus on forest scenes with comparably high stand density and with many occlusions resulting from it. The varying level of detail of TLS data poses a big challenge. We present two fully automatic methods to obtain skeletal structures from scanned trees that have complementary properties. First, we explain a method that retrieves the entire tree skeleton from 3D data of co-registered scans. The branching structure is obtained from a voxel space representation by searching paths from branch tips to the trunk. The trunk is determined in advance from the 3D points. The skeleton of a tree is generated as a 3D line graph. Besides 3D coordinates and range, a scan provides 2D indices from the intensity image for each measurement. This is exploited in the second method that processes individual scans. Furthermore, we introduce a novel concept to manage TLS data that facilitated the researchwork. Initially, the range image is segmented into connected components. We describe a procedure to retrieve the boundary of a component that is capable of tracing inner depth discontinuities. A 2D skeleton is generated from the boundary information and used to decompose the component into sub components. A Principal Curve is computed from the 3D point set that is associated with a sub component. The skeletal structure of a connected component is summarized as a set of polylines. Objective evaluation of the results remains an open problem because the task itself is ill-defined: There exists no clear definition of what the true skeleton should be w.r.t. a given point set. Consequently, we are not able to assess the correctness of the methods quantitatively, but have to rely on visual assessment of results and provide a thorough discussion of the particularities of both methods. We present experiment results of both methods. The first method efficiently retrieves full skeletons of trees, which approximate the branching structure. The level of detail is mainly governed by the voxel space and therefore, smaller branches are reproduced inadequately. The second method retrieves partial skeletons of a tree with high reproduction accuracy. The method is sensitive to noise in the boundary, but the results are very promising. There are plenty of possibilities to enhance the method’s robustness. The combination of the strengths of both presented methods needs to be investigated further and may lead to a robust way to obtain complete tree skeletons from TLS data automatically
Die Erforschung des ÖkosystemsWald spielt gerade heutzutage im Hinblick auf den nachhaltigen Umgang mit nachwachsenden Rohstoffen und den Klimawandel eine große Rolle. Insbesondere die exakte Beschreibung der dreidimensionalen Struktur eines Baumes ist wichtig für die Forstwissenschaften und Bioklimatologie, aber auch im Rahmen kommerzieller Anwendungen. Die konventionellen Methoden um geometrische Pflanzenmerkmale zu messen sind arbeitsintensiv und zeitaufwändig. Für eine genaue Analyse müssen Bäume gefällt werden, was oft unerwünscht ist. Hierbei bietet sich das Terrestrische Laserscanning (TLS) als besonders attraktives Werkzeug aufgrund seines kontaktlosen Messprinzips an. Die Objektgeometrie wird als 3D-Punktwolke wiedergegeben. Basierend darauf ist das Ziel der Arbeit die automatische Bestimmung der räumlichen Baumstruktur aus TLS-Daten. Der Fokus liegt dabei auf Waldszenen mit vergleichsweise hoher Bestandesdichte und mit zahlreichen daraus resultierenden Verdeckungen. Die Auswertung dieser TLS-Daten, die einen unterschiedlichen Grad an Detailreichtum aufweisen, stellt eine große Herausforderung dar. Zwei vollautomatische Methoden zur Generierung von Skelettstrukturen von gescannten Bäumen, welche komplementäre Eigenschaften besitzen, werden vorgestellt. Bei der ersten Methode wird das Gesamtskelett eines Baumes aus 3D-Daten von registrierten Scans bestimmt. Die Aststruktur wird von einer Voxelraum-Repräsentation abgeleitet indem Pfade von Astspitzen zum Stamm gesucht werden. Der Stamm wird im Voraus aus den 3D-Punkten rekonstruiert. Das Baumskelett wird als 3D-Liniengraph erzeugt. Für jeden gemessenen Punkt stellt ein Scan neben 3D-Koordinaten und Distanzwerten auch 2D-Indizes zur Verfügung, die sich aus dem Intensitätsbild ergeben. Bei der zweiten Methode, die auf Einzelscans arbeitet, wird dies ausgenutzt. Außerdem wird ein neuartiges Konzept zum Management von TLS-Daten beschrieben, welches die Forschungsarbeit erleichtert hat. Zunächst wird das Tiefenbild in Komponenten aufgeteilt. Es wird eine Prozedur zur Bestimmung von Komponentenkonturen vorgestellt, die in der Lage ist innere Tiefendiskontinuitäten zu verfolgen. Von der Konturinformation wird ein 2D-Skelett generiert, welches benutzt wird um die Komponente in Teilkomponenten zu zerlegen. Von der 3D-Punktmenge, die mit einer Teilkomponente assoziiert ist, wird eine Principal Curve berechnet. Die Skelettstruktur einer Komponente im Tiefenbild wird als Menge von Polylinien zusammengefasst. Die objektive Evaluation der Resultate stellt weiterhin ein ungelöstes Problem dar, weil die Aufgabe selbst nicht klar erfassbar ist: Es existiert keine eindeutige Definition davon was das wahre Skelett in Bezug auf eine gegebene Punktmenge sein sollte. Die Korrektheit der Methoden kann daher nicht quantitativ beschrieben werden. Aus diesem Grund, können die Ergebnisse nur visuell beurteiltwerden. Weiterhinwerden die Charakteristiken beider Methoden eingehend diskutiert. Es werden Experimentresultate beider Methoden vorgestellt. Die erste Methode bestimmt effizient das Skelett eines Baumes, welches die Aststruktur approximiert. Der Detaillierungsgrad wird hauptsächlich durch den Voxelraum bestimmt, weshalb kleinere Äste nicht angemessen reproduziert werden. Die zweite Methode rekonstruiert Teilskelette eines Baums mit hoher Detailtreue. Die Methode reagiert sensibel auf Rauschen in der Kontur, dennoch sind die Ergebnisse vielversprechend. Es gibt eine Vielzahl von Möglichkeiten die Robustheit der Methode zu verbessern. Die Kombination der Stärken von beiden präsentierten Methoden sollte weiter untersucht werden und kann zu einem robusteren Ansatz führen um vollständige Baumskelette automatisch aus TLS-Daten zu generieren

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Janoušek, Pavel. "Modernizace 3D měřicího přístroje." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2012. http://www.nusl.cz/ntk/nusl-230151.

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The theme of this thesis is solving modernization of 3D measuring instrument. The modernization was necessary for implementation of new activities. Based on customer’s requirements, a new Incoming Inspection for the new projects was established. Another reason for modernization is development of new products. These new products require the most modernized measuring technology. There are presented 4 variants of solution.

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Rahel, Rahel. "Mesure de champs de déplacements 3D à l'aide d'un scanner laser couplé à une caméra." Dijon, 2009. http://www.theses.fr/2009DIJOS033.

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Gazziro, Mario Alexandre. "Projeto e construção de um scanner antropométrico baseado no método de triangulação a laser." Universidade Federal de São Carlos, 2005. https://repositorio.ufscar.br/handle/ufscar/619.

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Made available in DSpace on 2016-06-02T19:06:26Z (GMT). No. of bitstreams: 1 DissMAG.pdf: 11643347 bytes, checksum: dcaf64ea49dba6f68c7f414fd7f548a0 (MD5) Previous issue date: 2005-08-30
Three-dimensional (3D) surface anthropometry enables us to extend the study to 3D geometry and morphology of human body. The purpose of this study is to build a whole 3D body scanner. Using lasers and cameras mounted on a scanning platform moved by a single motor and controlled by an embedded controller, a device has been implemented to capture the shape of the entire human body. One application case study (body fat percentage) is presented. The results suggests that the developed scanner can be useful for that particular case study and other like size surveying and medicine.
Um scanner antropométrico possibilita ampliar nossos estudos sobre geometria e morfologia tridimensional do corpo humano. O propósito desse estudo é construir um scanner 3D para todo o corpo humano. Utilizando lasers e câmeras instalados em uma plataforma movida por um único motor, controlado por um dispositivo dedicado, foi implementado um equipamento que permite a aquisição das formas do corpo inteiro. Uma aplicação para estudo de caso (determinação do percentual de gordura) é apresentada. Os resultados sugerem que o scanner desenvolvido pode ser útil para este caso de estudo em particular, além de outras aplicações tais como em censos antropométricos e em medicina.

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12

Klečka, Jan. "Pořízení a zpracování dat pro 2D a 3D SLAM úlohy robotické navigace." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2014. http://www.nusl.cz/ntk/nusl-220918.

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This paper describe design and implementation of SLAM algorithm for selflocalization and mapping in indoor environment using data from laser scanner. Design is focused on 2D variant of SLAM, but parts is purposely reliazed to be usable in 3D SLAM. This ability is demonstrated at the end of paper.

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13

Falcone, Laura. "Dall'acquisizione dei dati al modello fisico nella modellazione 3D in alta risoluzione." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2018.

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Анотація:

La scansione ad alta risoluzione è una tecnica che trova applicazione in numerosi ambiti, tra i quali il rilevamento di piccoli oggetti nel campo dei beni culturali. È stato sperimentato l’uso di uno strumento di scansione ad alta risoluzione su bassorilievi di interesse storico-artistico, analizzando le problematiche insite nel processo di acquisizione e generazione di un oggetto in 3 dimensioni in uno spazio virtuale. A partire da questi modelli numerici sono state generate delle copie fisiche tramite stampanti 3D con l’intento di verificarne la fedeltà geometrica, sfruttando il medesimo strumento di scansione usato per il rilievo dell’opera originale.

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14

Bennis, Abdelhamid. "Contribution à la reconstruction 3D de bâtiments à partir de nuage de points de scanner laser terrestre." Thesis, Université de Lorraine, 2015. http://www.theses.fr/2015LORR0139/document.

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Анотація:

La rénovation et la réhabilitation énergétique du parc de bâtiment est un des grands défis identifiés pour les décennies à venir. Devant cet impératif d'une rénovation d'ampleur du parc construit, les solutions techniques utilisant des ossatures rapportées sont employées de plus en plus fréquemment car elles permettent de combiner performance thermique, renouvellement esthétique et ajouts fonctionnels. Une des difficultés dans l'amélioration et l'automatisation des projets de rénovation est liée à la connaissance de la géométrie du bâti existant. Des plans de l'état existant ne sont pas toujours disponibles, et dans le cas échéant, ne sont pas forcément exacts en raison de modifications apportées au bâti et non documentées ou d'écarts initiaux entre les plans et la réalisation. Après une étude bibliographique des méthodes existantes détaillées dans le chapitre 1. Les travaux menés dans le cadre d'une collaboration entre le CRITT Bois et le CRAN ont permis de développer une méthode automatique de reconstruction 3D du modèle de bâtiments à partir de nuages de points obtenus par scanner LASER terrestre. La méthode proposée se décompose en trois phases principales. La première phase détaillée dans le deuxième chapitre, consiste à segmenter le nuage de points en plusieurs plans représentants les façades du bâtiment. L'exploitation de la colorimétrie durant la phase de segmentation du nuage de points permet une réduction importante de la complexité de l'algorithme de segmentation géométrique. L'approche consiste à effectuer dans un premier temps une classification préalable du nuage de points en se basant sur les informations colorimétriques de chaque point. Puis, dans un second temps, il s'agit d'effectuer une segmentation géométrique du nuage de points en utilisant un algorithme de segmentation robuste (RANSAC). Le chapitre 3 présente la deuxième phase qui consiste à modéliser le pas d'échantillonnage de la surface à partir duquel on définit le seuil d'extraction des points de contours. Le but étant d'améliorer la fiabilité d'extraction des points de contours, ainsi que l'approximation de l'erreur sur le modèle. Le chapitre 4 détaille les principales étapes de la reconstruction d'un modèle filaire. Dans un premier temps les régions définies par les points de contours sont classées en Régions d'Irrégularités (RI), Régions d'Eléments Architecturaux (REA) comme les fenêtres et Régions de Façade (RF) représentées par les contours extérieurs de la façade. La deuxième étape consiste à modéliser les différentes régions, par un maillage de Delaunay pour les RI, et des polyèdres pour les RF et REA. La dernière étape calcule une approximation de l'erreur sur le modèle. Les tests de fiabilité de la méthode ont été réalisés sur des chantiers réels conduits par des industriels de la construction et de la rénovation. Il en ressort que la qualité de la reconstruction 3D reste fortement dépendante des facteurs d'acquisition ainsi que de la surface numérisée. L'approximation de l'erreur de modélisation permet ainsi de prévoir à l'avance les erreurs sur le modèle CAO
The renovation and the improvement of the energy efficiency of existing housing stock is one of big challenges identified for coming decades. In front of this imperative, timber based elements for building renovation are more and more used due to their substantial improvement of the building insulation, aesthetic renewal and functional additions. However, this technology faces some difficulties, one of them is the improvement of the renovation projects automation, which is bound to the knowledge of the existing built geometry. The plans representing the existing state of the building are not always available, and if so, they may be not exact, because the modifications made on the building are usually undocumented. After a literature review of existing methods which are detailed the first chapter. The work within the framework of cooperation between the CRITTBois and CRAN have allowed to develop an automatic method for 3D building CAD model reconstruction from point clouds acquired by a terrestrial LASER scanner. The proposed method is composed of three main phases. The first one detailed in the second chapter, consists in segmenting the point cloud into planar patches representing the building facades. To decrease the segmentation algorithm complexity, the colorimetric information is also considered. The approach consists in making a colorimetric classification of the point cloud in a first step, then a geometrical segmentation of the point cloud using a robust segmentation algorithm (RANSAC). The third chapter presents the second phase of our approach consists in surface sampling steps modeling and boundary point extraction. Here, we consider a local threshold defined according to the approximated surface sampling steps. The aim of considering local threshold is to improve the reliability of the boundary point extraction algorithm and approximating the CAD model error. The last chapter presents the main three steps of the boundary model reconstruction method. The first step consists in classifying the regions defined by their boundary points into three types of regions: Irregularity Region (IR), Architectural Element Region (AER) as windows, and Facades Regions (FR) which represent the building facades defined by their outer boundaries. The second step consists in modeling these regions considering a Delaunay triangulation for the IR and a polyhedral model for the AER and the FR. The third step consists in making an approximation of the error in the model. The method reliability tests were conducted on real projects; they were performed by industrial construction and renovation professionals. The tests show that the quality of the 3D reconstruction remains strongly dependent to the acquisition factors and the scanned surface properties. Also, the approximation of the modeling error can predict in advance the errors on the CAD model

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15

Melaika, Stasys. "3D lazerinių matavimo sistemų ypatumai." Master's thesis, Lithuanian Academic Libraries Network (LABT), 2010. http://vddb.laba.lt/obj/LT-eLABa-0001:E.02~2010~D_20100616_092028-47846.

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Анотація:

Magistrantūros baigiamojo darbo tikslas yra išanalizuoti 3D lazerines matavimo sistemas, jų panaudojimą geodeziniams darbams ir palyginti su elektroniniu tacheometru. Atliekant tyrimą buvo panaudoti teoriniai bei praktiniai duomenys ir sisteminė analizė. Tyrimo objektas- stacionarus lazerinis skeneris Riegl LMS-Z420i. Pasirinktas prietaisas yra kol kas vienintelis toks Lietuvoje. Modernios technologijos su naujausiais techniniais sprendimais dėl savo produktyvumo gauna vis didesnę reikšmę geodezijoje. Todėl būtina žinoti jų veikimo principus ir panaudojimo galimybes. 3D lazerinės matavimų sistemos palyginti su elektroniniais tachometrais yra naujas dalykas. 3D lazerinės matavimų sistemos - tai įrenginiai, 3D skeneriai, kurie analizuoja realaus pasaulio objektą ir jo aplinką, siekiant surinkti duomenis apie jo formą ir jo išvaizdą (t.y. spalvą). Surinkti duomenys gali būti naudojami kurti skaitmeninius trimačius modeliu- tai informacija naudinga įvairioms programoms. Šie prietaisai yra plačiai naudojami topografiniuose darbuose, kalnakasyboje, fasadų matavimams, pastatų inventorizacijai, miestų modeliavimui. Taip pat ši technologija apima pramoninio dizaino, protezavimo, prototipų kūrimo, kokybės kontrolės tikrinimo funkcijas. Darbe išanalizuoti lazerinis skeneris Riegl LMS-Z420i, jo parametrai bei funkcijos, matavimo technologija ir palyginta matavimo sparta, tikslumas ir duomenų apdorojimas su elektroniniu tacheometru Sokkia set 5x. Atlikus palyginimą lazerinis skeneris... [toliau žr. visą tekstą]
Magister thesis is to analyze the 3D laser measurement systems, the use of geodetic work and compared with an electronic tachometer having. The study was theoretical and practical use of data and systematic analysis. The object of the stationary-laser scanner Riegl LMS-Z420i. The selected device is so far the only one in Lithuania. Modern technology with the latest technical solutions for its performance are receiving an increasing larger role in geodesy. Therefore, it is necessary to know the principles of operation and usability. 3D laser measurement system in relation to electronic tachometer is a new thing. 3D laser measurement system - a device, 3D scanners, which examines real-world object and its environment in order to collect data about its shape and its appearance (ie color). The data collected can be used to create digital three-dimensional model, this information is useful for various applications. These devices are widely used for topographical works, mining, facade measurements, building inventory, urban simulation. Also, this technology include industrial design, prosthetics, prototype development, quality control inspection functions. The paper analyzed a laser scanner Riegl LMS-Z420i, its parameters and functions, measurement techniques and compared the measurement speed, accuracy and data processing with an electronic tacheometer having Sokkia Set 5x. After a comparison of laser scanner Riegl LMS-Z420i has superior electronic tachometers Sokkia Set 5x.

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16

Bennis, Abdelhamid. "Contribution à la reconstruction 3D de bâtiments à partir de nuage de points de scanner laser terrestre." Electronic Thesis or Diss., Université de Lorraine, 2015. http://www.theses.fr/2015LORR0139.

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Анотація:

La rénovation et la réhabilitation énergétique du parc de bâtiment est un des grands défis identifiés pour les décennies à venir. Devant cet impératif d'une rénovation d'ampleur du parc construit, les solutions techniques utilisant des ossatures rapportées sont employées de plus en plus fréquemment car elles permettent de combiner performance thermique, renouvellement esthétique et ajouts fonctionnels. Une des difficultés dans l'amélioration et l'automatisation des projets de rénovation est liée à la connaissance de la géométrie du bâti existant. Des plans de l'état existant ne sont pas toujours disponibles, et dans le cas échéant, ne sont pas forcément exacts en raison de modifications apportées au bâti et non documentées ou d'écarts initiaux entre les plans et la réalisation. Après une étude bibliographique des méthodes existantes détaillées dans le chapitre 1. Les travaux menés dans le cadre d'une collaboration entre le CRITT Bois et le CRAN ont permis de développer une méthode automatique de reconstruction 3D du modèle de bâtiments à partir de nuages de points obtenus par scanner LASER terrestre. La méthode proposée se décompose en trois phases principales. La première phase détaillée dans le deuxième chapitre, consiste à segmenter le nuage de points en plusieurs plans représentants les façades du bâtiment. L'exploitation de la colorimétrie durant la phase de segmentation du nuage de points permet une réduction importante de la complexité de l'algorithme de segmentation géométrique. L'approche consiste à effectuer dans un premier temps une classification préalable du nuage de points en se basant sur les informations colorimétriques de chaque point. Puis, dans un second temps, il s'agit d'effectuer une segmentation géométrique du nuage de points en utilisant un algorithme de segmentation robuste (RANSAC). Le chapitre 3 présente la deuxième phase qui consiste à modéliser le pas d'échantillonnage de la surface à partir duquel on définit le seuil d'extraction des points de contours. Le but étant d'améliorer la fiabilité d'extraction des points de contours, ainsi que l'approximation de l'erreur sur le modèle. Le chapitre 4 détaille les principales étapes de la reconstruction d'un modèle filaire. Dans un premier temps les régions définies par les points de contours sont classées en Régions d'Irrégularités (RI), Régions d'Eléments Architecturaux (REA) comme les fenêtres et Régions de Façade (RF) représentées par les contours extérieurs de la façade. La deuxième étape consiste à modéliser les différentes régions, par un maillage de Delaunay pour les RI, et des polyèdres pour les RF et REA. La dernière étape calcule une approximation de l'erreur sur le modèle. Les tests de fiabilité de la méthode ont été réalisés sur des chantiers réels conduits par des industriels de la construction et de la rénovation. Il en ressort que la qualité de la reconstruction 3D reste fortement dépendante des facteurs d'acquisition ainsi que de la surface numérisée. L'approximation de l'erreur de modélisation permet ainsi de prévoir à l'avance les erreurs sur le modèle CAO
The renovation and the improvement of the energy efficiency of existing housing stock is one of big challenges identified for coming decades. In front of this imperative, timber based elements for building renovation are more and more used due to their substantial improvement of the building insulation, aesthetic renewal and functional additions. However, this technology faces some difficulties, one of them is the improvement of the renovation projects automation, which is bound to the knowledge of the existing built geometry. The plans representing the existing state of the building are not always available, and if so, they may be not exact, because the modifications made on the building are usually undocumented. After a literature review of existing methods which are detailed the first chapter. The work within the framework of cooperation between the CRITTBois and CRAN have allowed to develop an automatic method for 3D building CAD model reconstruction from point clouds acquired by a terrestrial LASER scanner. The proposed method is composed of three main phases. The first one detailed in the second chapter, consists in segmenting the point cloud into planar patches representing the building facades. To decrease the segmentation algorithm complexity, the colorimetric information is also considered. The approach consists in making a colorimetric classification of the point cloud in a first step, then a geometrical segmentation of the point cloud using a robust segmentation algorithm (RANSAC). The third chapter presents the second phase of our approach consists in surface sampling steps modeling and boundary point extraction. Here, we consider a local threshold defined according to the approximated surface sampling steps. The aim of considering local threshold is to improve the reliability of the boundary point extraction algorithm and approximating the CAD model error. The last chapter presents the main three steps of the boundary model reconstruction method. The first step consists in classifying the regions defined by their boundary points into three types of regions: Irregularity Region (IR), Architectural Element Region (AER) as windows, and Facades Regions (FR) which represent the building facades defined by their outer boundaries. The second step consists in modeling these regions considering a Delaunay triangulation for the IR and a polyhedral model for the AER and the FR. The third step consists in making an approximation of the error in the model. The method reliability tests were conducted on real projects; they were performed by industrial construction and renovation professionals. The tests show that the quality of the 3D reconstruction remains strongly dependent to the acquisition factors and the scanned surface properties. Also, the approximation of the modeling error can predict in advance the errors on the CAD model

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17

Kočí, Martin. "Laserový proximitní skener - mechanika." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2009. http://www.nusl.cz/ntk/nusl-217752.

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This thesis deals with possibility use ordinary optical distance sensor as a 3D laser proximity scanner. The thesis is aimed at design mechanical part of scanner for shifting laser beam in two axes. In the scanner is applied indirect shifting of the beam by a mirror. Next is described test control circuit, which has a controlling of direction of beam shifting and data acquisition for task. The control circuit is based on microcontroller ATmega48 with controlling program. On the end of thesis are shown results of measuring reached with designed scanner.

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18

DI, SALVO Fabio. "IL LASER SCANNER TERRESTRE E LA TECNOLOGIA FULL WAVEFORM PER LA MODELLAZIONE TRIDIMENSIONALE IN AMBITO GEOLOGICO." Doctoral thesis, Università degli Studi di Palermo, 2014. http://hdl.handle.net/10447/90910.

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19

OBRADOVIC, Marija. "Interdisciplinary three-dimensional investigation of the Early Prehistoric deposits of Fumane Cave (Verona, Italy)." Doctoral thesis, Università degli studi di Ferrara, 2016. http://hdl.handle.net/11392/2496455.

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La tesi è focalizzata sulla realizzazione delle indagini geofisiche e topografiche tridimensionali, applicabile sui siti preistorici e basate sull’esempio della Grotta di Fumane (Verona, Italia). I metodi applicati includono la tomografia di resistività elettrica (ERT), le onde sismiche di superficie (HVSR), laser scanner e fotogrammetria. Lo studio ha coinvolto l'uso delle due configurazioni elettrodiche, Wenner-Schlumberger (WSC) e PolePole (PP), sia per avere maggiore risoluzione nei primi 2-3 metri del deposito, sia per ottenere informazioni sulla profondità totale del deposito e la posizione del sostrato roccioso. Le onde sismiche superficiali possono mostrare il rapporto di ampiezza fra gli elementi orizzontali e verticali del moto secondo lo spessore e parametri elastici di strati in prossimità della superficie, variazioni di velocità e fornire informazioni sulla geometria della roccia. Modelli d’inversione 2D e 3D hanno prodotto le immagini suggestive di resistività, che hanno fornito informazioni sul sottosuolo, indicando le aree di bassi valori di resistività che potenzialmente possono contenere il materiale archeologico. Inoltre, la profondità massima dei depositi si crede di essere circa 4-5 metri sulla base delle immagini di resistività Polo-Polo, mentre la profondità massima d’indagine era di circa 8 metri, confermata anche dai dati sismici. Confrontando i dati della resistività, sismici e archeologici, è possibile caratterizzare meglio la natura del riempimento e di localizzare diversi processi post-deposizionali coinvolti nella creazione del deposito. Laser scanner e rilievo fotogrammetrico hanno fornito il modello tridimensionale della grotta e delle colonne stratigrafiche ad alta risoluzione, che rappresentano il punto di partenza per la modellazione dei dati geofisici. Inoltre, l'indagine dettagliata delle superfici, come pareti della grotta, colonne stratigrafia e le sezioni di scavo, hanno un aspetto importante per la documentazione archeologica, future ricerche, l'interpretazione e l'archiviazione del sito.
The study is focused on implementation of integrated, three-dimensional geophysical and topographical surveys investigation of Early Prehistoric sites on the example of Fumane Cave (Verona, Italy). The methods applied include electrical resistivity tomography (ERT), seismic surface waves (HVSR), laser scanner and photogrammetry. The study involved the use of two resistivity arrays, Wenner-Schlumberger (WSC) and Pole-Pole (PP), both for the shallow resolution in the first 2-3 meters of the deposit and to get information about the total depth and the position of bedrock. Seismic surface-waves may show amplitude resonances at certain frequencies depending on the thickness and elastic parameters of near-surface layers seismic velocity variations and can provide information about the geometry of the bedrock. Two and three-dimensional inversion models provided suggestive resistivity images, that provided detailed information about deposit’s texture spatial characteristics, indicating areas of low resistivity values where potential archaeological materials may be found. Moreover, the maximum depth of the deposits is believed to be around 4-5 m based on the Pole-Pole resistivity images, while the maximum depth of investigation was around 8 meters confirmed by seismic data. Furthermore, by comparing the resistivity, seismic and archaeological data, it is possible to characterise better the nature of sedimentary infill and to locate different post depositional processes involved into the creation of cave deposit. Laser scanner and photogrammetric survey provided georeferenced, high-resolution, three-dimensional, morphologically accurate model of the cave and stratigraphy profiles, serving as a starting point for the modelling of the geophysical data. Furthermore, the detailed survey of the surfaces, such as cave walls, stratigraphy sections and excavation sections, is an important aspect of archaeological data collection, investigation, interpretation and archiving of the site.

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20

Martell, Angel Alfredo. "Benchmarking structure from motion algorithms with video footage taken from a drone against laser-scanner generated 3D models." Thesis, Luleå tekniska universitet, Rymdteknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-66280.

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Structure from motion is a novel approach to generate 3D models of objects and structures. The dataset simply consists of a series of images of an object taken from different positions. The ease of the data acquisition and the wide array of available algorithms makes the technique easily accessible. The structure from motion method identifies features in all the images from the dataset, like edges with gradients in multiple directions, and tries to match these features between all the images and then computing the relative motion that the camera was subject to between any pair of images. It builds a 3D model with the correlated features. It then creates a 3D point cloud with colour information of the scanned object. There are different implementations of the structure from motion method that use different approaches to solve the feature-correlation problem between the images from the data set, different methods for detecting the features and different alternatives for sparse reconstruction and dense reconstruction as well. These differences influence variations in the final output across distinct algorithms. This thesis benchmarked these different algorithms in accuracy and processing time. For this purpose, a terrestrial 3D laser scanner was used to scan structures and buildings to generate a ground truth reference to which the structure from motion algorithms were compared. Then a video feed from a drone with a built-in camera was captured when flying around the structure or building to generate the input for the structure from motion algorithms. Different structures are considered taking into account how rich or poor in features they are, since this impacts the result of the structure from motion algorithms. The structure from motion algorithms generated 3D point clouds, which then are analysed with a tool like CloudCompare to benchmark how similar it is to the laser scanner generated data, and the runtime was recorded for comparing it across all algorithms. Subjective analysis has also been made, such as how easy to use the algorithm is and how complete the produced model looks in comparison to the others. In the comparison it was found that there is no absolute best algorithm, since every algorithm highlights in different aspects. There are algorithms that are able to generate a model very fast, managing to scale the execution time linearly in function of the size of their input, but at the expense of accuracy. There are also algorithms that take a long time for dense reconstruction, but generate almost complete models even in the presence of featureless surfaces, like COLMAP modified PatchMacht algorithm. The structure from motion methods are able to generate models with an accuracy of up to \unit[3]{cm} when scanning a simple building, where Visual Structure from Motion and Open Multi-View Environment ranked among the most accurate. It is worth highlighting that the error in accuracy grows as the complexity of the scene increases. Finally, it was found that the structure from motion method cannot reconstruct correctly structures with reflective surfaces, as well as repetitive patterns when the images are taken from mid to close range, as the produced errors can be as high as \unit[1]{m} on a large structure.

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21

Zaidan, Jana. "Scοur investigatiοn arοund a bridge pier fοunded in cοhesive sοil". Electronic Thesis or Diss., Normandie, 2023. http://www.theses.fr/2023NORMLH22.

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Анотація:

L’affouillement local autour des piles est considéré comme un des principaux risques de rupture et d’effondrement des ponts. Les expériences en laboratoire sont un élément crucial de l’étude du processus d’affouillement. Pourtant, il n’existe pas d’instrument robuste et standard pour suivre l’évolution de ce phénomène physique dans les études de laboratoire. Les études expérimentales en canal sur l’affouillement autour d’une pile circulaire dans un sol non cohésif sont nombreuses. Cependant, le lit des canaux alluviaux naturels contient souvent des sédiments cohésifs. Comparativement, il existe peu de recherches sur l’affouillement local autour des piles circulaires fondés dans des lits cohésifs. Dans le cadre de cette recherche doctorale, un scanner laser 3D est utilisé pour suivre l’affouillement local autour d’une pile circulaire. Les résultats obtenus avec cette technique, en accord avec les recherches précédentes, notamment celles effectuées sur un lit de sable, démontrent son efficacité. Elle offre des avantages tels qu’une résolution spatio-temporelle continue, mais aussi de nombreuses limitations. Dans une seconde étape, l’étude a porté sur l’effet du type et de la proportion des fines sur la profondeur et la forme de la fosse d’affouillement et sur la propagation temporelle du processus d’affouillement autour du pile circulaire. Les résultats montrent que l’augmentation de l’argile dans la fraction fine réduit significativement l’affouillement. Le mélange avec une gamme d’environ 7.5-10 % de teneur en argile fournit la composition seuil pour un comportement cohérent du sol dans le processus d’affouillement. En outre, la prédiction de la profondeur d’affouillement dans les sols cohésifs dans la conception des fondations de ponts n’est pas encore complètement développée. Dans la pratique, les méthodes d’estimation de la profondeur d’affouillement actuellement utilisées sont celles proposées pour des sols non cohérents. De nombreux chercheurs ont mis au point des méthodes pour optimiser la conception des piles de pont dans le cas d’un sol cohésif. Parmi elles, celle basée sur l’utilisation de l’érodimètre EFA (Erosion Function Apparatus) et appelée SRICOS (Scour Rate In COhesive Soil) a été examinée dans le cadre de ce travail afin de prédire la profondeur d’affouillement maximal dans un lit cohésif
Local scour is considered to be one of the main causes of bridge failure and collapse. Laboratory experiments are a crucial and important approach for the scour process investigation. Yet, there is no robust and standard instrumentation for tracking the evolution of this physical phenomenon in laboratory studies. There are several flume-based studies of scour around a circular bridge pier on cohesionless soil. However, the bed of natural alluvial channels often contains cohesive sediments. Comparatively, there is a limited research on local scour around circular pier founded in cohesive beds that has been documented. In this PhD research, a 3D Laser Scanner is used to monitor scour around a circular pier. The results obtained with this technique, in line with previous research, in particular that carried out on a sandy bed, demonstrate its effectiveness. The technique offers advantages such as continuous spatiotemporal monitoring, but also many limitations. In a next step, the study focused on the effect of the type and proportion of fines in the sediment mixture on the depth and the shape of the scour hole and the temporal propagation of scour process around a circular pier. Results show that increasing the clay in the fine fraction reduce significantly the scour. The mixture with a range around 7.5-10 % of clay fines content provides the threshold composition for coherent soil behavior in scouring process. In addition, scour depth prediction for bridge piers in cohesive soil is not yet fully developed. In engineering practice, scour depth estimation methods currently used are those proposed for sand bed. Many researches aimed to adress a method to optimize the design of bridge piers in the case of cohesive soil. Among the different methods, the one based on the use of the EFA (Erosion Function Apparatus) erodimeter and called SRICOS (Scour Rate In COhesive Soil) was examined as part of this work in order to predict the deepest scour in cohesive bed

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Synave, Rémi. "Reconstruction de solides à partir d'acquisitions surfaciques." Thesis, Bordeaux 1, 2009. http://www.theses.fr/2009BOR13909/document.

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Le scanner laser est un périphérique permettant d'analyser un objet réel et d'extraire des informations de sa surface. Grâce à cet outil, il est possible d'obtenir la représentation numérique de tout ou partie de la surface frontière d'un objet réel. Les scanners laser sont livrés avec un logiciel permettant de faire l'acquisition des données brutes, le recalage des différentes parties acquises et la reconstruction de la surface. Cette suite d'opérations permet de construire le modèle numérique et est communément appelée pipeline 3D d'acquisition. Dans cette thèse, nous développons notre pipeline, que nous nommons A2RI, et y ajoutons une étape d'impression. Ce pipeline permet la reproduction d'un objet à partir de son acquisition au scanner laser. Nous veillons particulièrement à quantifier et maîtriser l'erreur commise dans chaque maillon de la chaîne grâce à des mesures euclidiennes et géodésiques sur l'objet réel et le modèle numérique
Abstract

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Favaretto, Sara. "Metodologie di rilevamento ad alta risoluzione per beni archeologici a scala architettonica." Doctoral thesis, Università degli studi di Padova, 2011. http://hdl.handle.net/11577/3427522.

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This research was focused on the exploration of 3D survey techniques at high resolution and their integration with other geophysical methods, aiming at the characterization of the archeological goods. The work was done in a multidisciplinary team, involving also the Department of Archeology of the University of Padova (prof. Jacopo Bonetto), that has been working in the archeological site of Nora (Sardegna) since many years. In particular the thesis was focused on three important ruins of the Nora site: the roman theater, the temple of Esculapio and the roman temple. With the Survey and Geomatic Laboratory, state of the art survey methodologies were applied, such as 3D laser scanner and photogrammetry. The large amount of information collected were then elaborated and processed to obtained more simple, informative and readable products of these archeological ruins. Furthermore, to investigate the material composition and the degree of conservation of the archeological manufactures, geophysical investigations were performed in collaboration with the department of Geophysics of the University of Napoli (prof. Rosa di Maio). Finally, the results from the different technologies utilized were compared and integrated to evaluate the whole status of conversion (both visible and materical) of this inestimable archeological heritage.
La ricerca è focalizzata sull’individuazione delle potenzialità’ del rilievo integrato ad alta risoluzione per la caratterizzazione del sito e del manufatto archeologico, con un'impostazione interdisciplinare e multimetodologica, per fornire una documentazione misurabile ma facilmente interpretabile, in base alle diverse esigenze di conoscenza, tutela, conservazione e valorizzazione. Grazie alla collaborazione con il prof. Jacopo Bonetto, del Dipartimento di Archeologia dell’Università di Padova, l’indagine ha riguardato tre edifici allo stato di rudere nel sito archeologico di Nora, in Sardegna: il teatro romano, il Tempio di Esculapio e il Tempio romano. In collaborazione con il Laboratorio di Rilevamento e Geomatica sono state applicate nuove metodologie ad alta risoluzione del rilevamento tridimensionale, tra cui topografia classica, fotogrammetria architettonica e laser scanner terrestre, ottenendo un'enorme quantità di dati e dimostrando la necessità di un pesante intervento dell’operatore nella loro gestione a causa della geometria spesso complessa degli oggetti rilevati. Per ampliare lo studio sull’integrazione di diverse metodologie di investigazione ad alta risoluzione per la conoscenza delle costruzioni archeologiche, la caratterizzazione materica e la valutazione del loro stato conservativo, si sono applicate tecnologie di prospezione geofisica e termografiche in collaborazione con la prof. Rosa Di Maio, e con l'ing Carosena Merola. dell'Università degli Studi di Napoli Federico II.

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Hofmann, Alexandra. "An Approach to 3D Building Model Reconstruction from Airborne Laser Scanner Data Using Parameter Space Analysis and Fusion of Primitives." Doctoral thesis, Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2005. http://nbn-resolving.de/urn:nbn:de:swb:14-1121943034550-40151.

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Within this work an approach was developed, which utilises airborne laser scanner data in order to generate 3D building models. These 3D building models may be used for technical and environmental planning. The approach has to follow certain requirements such as working automatically and robust and being flexible in use but still practicable. The approach starts with small point clouds containing one building at the time extracted from laser scanner data set by applying a pre-segmentation scheme. The laser scanner point cloud of each building is analysed separately. A 2.5D-Delaunay triangle mesh structure (TIN) is calculated into the laser scanner point cloud. For each triangle the orientation parameters in space (orientation, slope and perpendicular distance to the barycentre of the laser scanner point cloud) are determined and mapped into a parameter space. As buildings are composed of planar features, primitives, triangles representing these features should group in parameter space. A cluster analysis technique is utilised to find and outline these groups/clusters. The clusters found in parameter space represent plane objects in object space. Grouping adjacent triangles in object space - which represent points in parameter space - enables the interpolation of planes in the ALS points that form the triangles. In each cluster point group a plane in object space is interpolated. All planes derived from the data set are intersected with their appropriate neighbours. From this, a roof topology is established, which describes the shape of the roof. This ensures that each plane has knowledge on its direct adjacent neighbours. Walls are added to the intersected roof planes and the virtual 3D building model is presented in a file written in VRML (Virtual Reality Macro Language). Besides developing the 3D building model reconstruction scheme, this research focuses on the geometric reconstruction and the derivation of attributes of 3D building models. The developed method was tested on different data sets obtained from different laser scanner systems. This study will also show, which potential and limits the developed method has when applied to these different data sets
In der vorliegenden Arbeit wird eine neue Methode zur automatischen Rekonstruktion von 3D Gebäudemodellen aus Flugzeuglaserscannerdaten vorgestellt. Diese 3D Gebäudemodelle können in technischer und landschaftsplanerischer Hinsicht genutzt werden. Bezüglich der zu entwickelnden Methode wurden Regelungen und Bedingungen erstellt, die eine voll automatische und robuste Arbeitsweise sowie eine flexible und praktikable Nutzung gewährleisten sollten. Die entwickelte Methode verwendet Punktwolken, welche mittels einer Vorsegmentierung aus dem gesamten Laserscannerdatensatz extrahiert wurden und jeweils nur ein Gebäude beinhalten. Diese Laserscannerdatenpunktwolken werden separat analysiert. Eine 2,5D-Delaunay-Dreiecksvermaschung (TIN) wird in jede Punktwolke gerechnet. Für jedes Dreieck dieser Vermaschung werden die Lageparameter im Raum (Ausrichtung, Neigungsgrad und senkrechter Abstand der Ebene des Dreiecks zum Schwerpunkt der Punktwolke) bestimmt und in einen Parameterraum aufgetragen. Im Parameterraum bilden diejenigen Dreiecke Gruppen, welche sich im Objektraum auf ebenen Flächen befinden. Mit der Annahme, dass sich ein Gebäude aus ebenen Flächen zusammensetzt, dient die Identifizierung von Clustern im Parameterraum der Detektierung dieser Flächen. Um diese Gruppen/Cluster aufzufinden wurde eine Clusteranalysetechnik genutzt. Über die detektierten Cluster können jene Laserscannerpunkte im Objektraum bestimmt werden, die eine Dachfläche formen. In die Laserscannerpunkte der somit gefundenen Dachflächen werden Ebenen interpoliert. Alle abgeleiteten Ebenen gehen in den entwickelten Rekonstruktionsalgorithmus ein, der eine Topologie zwischen den einzelnen Ebenen aufbaut. Anhand dieser Topologie erhalten die Ebenen ?Kenntnis? über ihre jeweiligen Nachbarn und können miteinander verschnitten werden. Der fertigen Dachgestalt werden Wände zugefügt und das komplette 3D Gebäudemodell wird mittels VRML (Virtual Reality Macro Language) visualisiert. Diese Studie bezieht sich neben der Entwicklung eines Schemas zu automatischen Gebäuderekonstruktion auch auf die Ableitung von Attributen der 3D Gebäudemodellen. Die entwickelte Methode wurde an verschiedenen Flugzeuglaserscannerdatensätzen getestet. Es wird gezeigt, welche Potentiale und Grenzen die entwickelte Methode bei der Bearbeitung dieser verschiedenen Laserscannerdatensätze hat

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Chromý, Adam. "3D skenování pomocí proximitního planárního skeneru." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2013. http://www.nusl.cz/ntk/nusl-220134.

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Tato práce popisuje konstrukci skenovacího systému pro tvorbu trojrozměrných modelů. Kombinace laserového scanneru a robotického manipulátoru tvoří velice flexibilní zařízení schopné snímat jak velké, tak malé a detailní objekty. Zařízení nachází uplatnění v mnoha aplikacích, zejména v lékařství, kde přináší řadu nesporných výhod proti stávajícím systémům. Práce popisuje mechanickou konstrukci zařízení, funkční principy a jeho kalibrační proceduru. Součástí práce je i software pro vizualizaci naměřených dat a jejich zpracování do podoby modelů se stínovaným povrchem. Výsledkem práce je funkční zařízení a rozsáhlý obslužný software.

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Silva, Victor de Albuquerque. "Proposta metodol?gica para o imageamento digital e modelagem virtual 3d de um bloco de rochas travertinas." Universidade Federal do Rio Grande do Norte, 2013. http://repositorio.ufrn.br:8080/jspui/handle/123456789/18836.

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Анотація:

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In this paper we present the methodological procedures involved in the digital imaging in mesoscale of a block of travertines rock of quaternary age, originating from the city of Acquasanta, located in the Apennines, Italy. This rocky block, called T-Block, was stored in the courtyard of the Laborat?rio Experimental Petr?leo "Kelsen Valente" (LabPetro), of Universidade Estadual de Campinas (UNICAMP), so that from it were performed Scientific studies, mainly for research groups universities and research centers working in brazilian areas of reservoir characterization and 3D digital imaging. The purpose of this work is the development of a Model Solid Digital, from the use of non-invasive techniques of digital 3D imaging of internal and external surfaces of the T-Block. For the imaging of the external surfaces technology has been used LIDAR (Light Detection and Range) and the imaging surface Interior was done using Ground Penetrating Radar (GPR), moreover, profiles were obtained with a Gamma Ray Gamae-spect?metro laptop. The goal of 3D digital imaging involved the identification and parameterization of surface geological and sedimentary facies that could represent heterogeneities depositional mesoscale, based on study of a block rocky with dimensions of approximately 1.60 m x 1.60 m x 2.70 m. The data acquired by means of terrestrial laser scanner made available georeferenced spatial information of the surface of the block (X, Y, Z), and varying the intensity values of the return laser beam and high resolution RGB data (3 mm x 3 mm), total points acquired 28,505,106. This information was used as an aid in the interpretation of radargrams and are ready to be displayed in rooms virtual reality. With the GPR was obtained 15 profiles of 2.3 m and 2 3D grids, each with 24 sections horizontal of 1.3 and 14 m vertical sections of 2.3 m, both the Antenna 900 MHz to about 2600 MHz antenna. Finally, the use of GPR associated with Laser Scanner enabled the identification and 3D mapping of 3 different radarf?cies which were correlated with three sedimentary facies as had been defined at the outset. The 6 profiles showed gamma a low amplitude variation in the values of radioactivity. This is likely due to the fact of the sedimentary layers profiled have the same mineralogical composition, being composed by carbonate sediments, with no clay in siliciclastic pellitic layers or other mineral carrier elements radioactive
Nesse trabalho s?o apresentados os procedimentos metodol?gicos envolvidos no imageamento digital em mesoescala de um bloco de rochas travertinas de idade quatern?ria, oriundas da cidade de Acquasanta, situada na cordilheira dos Apeninos, na It?lia. Esse bloco rochoso, denominado de T-Block, foi armazenado no p?tio do Laborat?rio Experimental de Petr?leo "Kelsen Valente" (LabPetro), da Universidade Estadual de Campinas (UNICAMP) para que a partir dele fossem realizados estudos cient?ficos, principalmente para grupos de pesquisa das universidades e centros de pesquisa brasileiros que atuam nas ?reas de caracteriza??o de reservat?rio e imageamento digital 3D. A proposta deste trabalho consiste na elabora??o de um Modelo de S?lido Digital, a partir da utiliza??o de t?cnicas n?o-invasivas de imageamento digital 3D das superf?cies interna e externa do T-Block. Para o imageamento das superf?cies externas foi utilizada a tecnologia LIDAR (Light Detection and Range) e para o imageamento das superf?cies internas foi feita a utiliza??o do Ground Penetrating Radar (GPR), al?m disso, foram adquiridos perfis de Gamma Ray com um Gamaespect?metro port?til. O objetivo do imageamento digital 3D consistiu na identifica??o e parametriza??o de superf?cies geol?gicas e de f?cies sedimentares que pudessem representar heterogeneidades deposicionais em mesoescala, tomando como base de estudo um bloco rochoso com dimens?es de aproximadamente 1,60m x 1,60m x 2,70 m. Os dados adquiridos por meio do Laser Scanner terrestre disponibilizaram informa??es espaciais georreferenciadas da superf?cie do bloco (X, Y, Z), al?m de valores de varia??o de intensidade de retorno do raio laser e dados RGB com alta resolu??o (3 mm x 3 mm), totalizando 28.505.106 pontos adquiridos. Essas informa??es foram utilizadas como auxilio durante a interpreta??o dos radargramas e est?o prontas para ser exibidas em salas de realidade virtual. Com o GPR, foram adquiridos 15 perfis de 2,3 m e 2 grids 3D, cada um com 24 se??es horizontais de 1,3 m e 14 se??es verticais de 2,3 m, tanto com a antena de 900 MHz quanto com a antena de 2600 MHz. Por fim, o uso do GPR associado ao Laser Scanner possibilitou a identifica??o e mapeamento 3D de 3 radarf?cies distintas as quais foram correlacionadas a 3 f?cies sedimentares j? que j? haviam sido definidas no inicio do trabalho. Os 6 perfis de raios gama mostraram uma baixa varia??o na amplitude dos valores de radioatividade. Provavelmente, isso ocorreu devido ao fato das camadas sedimentares perfiladas possu?rem a mesma composi??o mineral?gica, sendo compostas por sedimentos carbon?ticos, com aus?ncia de argila silicicl?stica nas camadas mais pel?ticas ou de outro mineral portador de elementos radioativos

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Prasciolu, Mauro. "3D laser scanner based on surface silicon micromachining techniques for shape and size reconstruction of the human ear canal." Doctoral thesis, Università degli studi di Trieste, 2007. http://hdl.handle.net/10077/3219.

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2005/2006
As technology advances, hearing aids can be packaged into increasingly smaller housings. Devices that fit entirely within the deeper portion of the external auditory canal have been developed, called completely-in-the-canal (CIC). These aids are custom moulded and have high cosmetic appeal because they are virtually undetectable. They also have several acoustic advantages: reduced occlusion effect, reduced gain requirements, and preservation of the natural acoustic properties of the pinna and external ear. However, CIC hearing aids require proper fitting of the hearing aid shell to the subject ear canal to achieve satisfactory wearing comfort, reduction in acoustic feedback, and unwanted changes in the electro-acoustic characteristics of the aid. To date, the hearing aid shell manufacturing process is fully manual: the shell is fabricated as a replica of the impression of the subject ear canal. Conventional impression acquisition method is very invasive and imprecise, moreover the typical post-impression processes made on the ear impression leaves room for error and may not accurately represent the structural anatomy of patient’s ear canal. There are some laser approaches able to perform a 3D laser scanning of the original ear impression but, the entire shell-making process is completely dependent on the ear impression and often is the sole cause of poor fitting shell. Therefore, direct ear canal scanning is the only way to perform accurate and repeatable measurements without the use of physical ear impression. The conventional optical elements are not able to enter in the inner part of the ear and perform a scanning of the cavity. This work is devoted to the direct scanning of human external auditory canal by using electromagnetically actuated torsion micromirror fabricated by micromachining technique as scanner. This is the first ever demonstration of actual scanning of human external auditory canal by a single integral Micro-Electro-Mechanical System (MEMS). A novel prototype 3D scanning system is developed together with surface reconstruction algorithm to obtain an explicit 3D reconstruction of actual human auditory canal. The system is based on acquisition of optical range data by conoscopic holographic laser interferometer using electromagnetically actuated scanning MEMS micromirror. An innovative fabrication process based on poly(methylmethacrylate) (PMMA) sacrificial layer for fabrication of free standing micromirror is used. Micromirror actuation is achieved by using magnetic field generated with an electromagnetic coil stick. Micromirror and electromagnet coil assembly composes the opto-mechanical scanning probe used for entering in ear auditory canal. Based on actual scan map, a 3D reconstructed digital model of the ear canal was built using a surface point distribution approach. The proposed system allows noninvasive 3D imaging of ear canal with spatial resolution in the 10 μm range. Fabrication of actual shell from in-vivo ear canal scanning is also accomplished. The actual human ear canal measurement techniques presented provide a characterization of the ear canal shape, which help in the design and refining of hearing aids fabrication approaches to patient personalized based.
XIX Ciclo
1975

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Moreira, Sandro Silva [UNESP]. "Projeto e construção de um scanner tridimensional baseado no método de triangulação a laser utilizando softwares livres." Universidade Estadual Paulista (UNESP), 2016. http://hdl.handle.net/11449/148571.

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A modelagem tridimensional muito já contribuiu com a indústria do entretenimento e agora tem sido amplamente utilizada na manufatura e criação de novos produtos. A possibilidade de se ter um modelo de um produto a um preço menor e com uma maior rapidez tem feito essa técnica ser cada vez mais aceita em todas as áreas da engenharia. Quando já se tem um modelo real e deseja-se realizar alguma modificação, simulação ou mesmo replicar o produto, a engenharia reversa muito pode contribuir, pois permite a obtenção do modelo tridimensional a partir do objeto real. Os equipamentos de digitalização tridimensional têm um alto custo de investimento, mesmo os de baixa precisão. A comunidade de entusiastas de software e hardware livre busca também distribuir e popularizar o conhecimento compartilhando suas descobertas e contribuindo abertamente com outras iniciativas. Buscamos nesse projeto construir um scanner 3D utilizando software e hardware livre utilizando componentes de baixo custo e fácil aquisição, estabelecendo seus limites técnicos, estimulando assim a adoção de técnicas de engenharia reversa. O processo de calibragem, captura e pós tratamento da nuvem de pontos obtidas foi detalhado na construção de modelos para comparação de dimensões e levantamento de características da superfície do material.
The three-dimensional modeling has contributed much to the entertainment industry and has now been widely used in manufacturing and creating new products. The possibility of having a model of a product at a lower price and a higher speed have made this technique is increasingly accepted in all fields of engineering. When there is already a real model and you want to make any changes, simulation or even replicate the product, reverse engineering can greatly contribute, as it allows to obtain three-dimensional model from the real object. The three-dimensional scanning equipment have a high investment cost, even low accuracy. The community of enthusiasts of open source and open hardware also distribute and popularize knowledge sharing his findings and openly contribute to other initiatives. We seek in this study, build a scanner 3D using free software and hardware components using low-cost and easy acquisition, establishing its technical limits, stimulating the adoption of reverse engineering techniques. The calibration, capture and post-treatment process of the cloud of points obtained was detailed in the construction of models for comparison of dimensions and survey of surface characteristics of the material.

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Moreira, Sandro Silva. "Projeto e construção de um scanner tridimensional baseado no método de triangulação a laser utilizando softwares livres /." Ilha Solteira, 2016. http://hdl.handle.net/11449/148571.

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Orientador: Ruis Camargo Tokimatsu
Resumo: A modelagem tridimensional muito já contribuiu com a indústria do entretenimento e agora tem sido amplamente utilizada na manufatura e criação de novos produtos. A possibilidade de se ter um modelo de um produto a um preço menor e com uma maior rapidez tem feito essa técnica ser cada vez mais aceita em todas as áreas da engenharia. Quando já se tem um modelo real e deseja-se realizar alguma modificação, simulação ou mesmo replicar o produto, a engenharia reversa muito pode contribuir, pois permite a obtenção do modelo tridimensional a partir do objeto real. Os equipamentos de digitalização tridimensional têm um alto custo de investimento, mesmo os de baixa precisão. A comunidade de entusiastas de software e hardware livre busca também distribuir e popularizar o conhecimento compartilhando suas descobertas e contribuindo abertamente com outras iniciativas. Buscamos nesse projeto construir um scanner 3D utilizando software e hardware livre utilizando componentes de baixo custo e fácil aquisição, estabelecendo seus limites técnicos, estimulando assim a adoção de técnicas de engenharia reversa. O processo de calibragem, captura e pós tratamento da nuvem de pontos obtidas foi detalhado na construção de modelos para comparação de dimensões e levantamento de características da superfície do material.
Mestre

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Gaudio, D. A. "NUOVE TECNOLOGIE NELL¿AMBITO DELL¿ANTROPOLOGIA FISICA E FORENSE:IMAGING E MODELLAZIONE 3D." Doctoral thesis, Università degli Studi di Milano, 2014. http://hdl.handle.net/2434/232968.

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Aim of this study is the investigation of the potentialities and limits of the new 3D technologies to be used for documentation, archiving and imaging in the context of Physical and Forensic Anthropology. The widest possible variety of anthropological material was digitally acquired: from skeletal remains into an archaeological site, skeletal elements acquired in the laboratory, to living subjects. The most effective "techniques" for the acquisition of different types of materials were studied and the limits of the scan based on the intrinsic characteristics of the material acquired and the type of instrument used were checked. The Laser Scanner technology has proved to be the most suitable and fast for the acquisition of Skull and Mandible on which to conduct studies about biological profile and identification. The 3D models acquired using Laser Scanner have been used to test a technique of craniofacial Superimposition. The results show that the use of the 3D model of the skull facilitates the process of superimposition; the persistence of a high percentage of false positives indicates that this technique should not be used to identify, it could rather be utilized to exclude. The models of the skull and mandible acquired with 3D laser scanners have been tested as a base to conduct facial reconstructions in the virtual environment. The facial reconstructions performed by two inter-operators were compared using a colorimetric map that has detected good homogeneity in morphometric terms in specific regions of the face but also discrepancies partly due to the different locations of some landmarks made by the two operators, partly due to the shortage of landmarks. New CT technologies generation were also tested: the possibility of age determination from dental volumes was studied with the cone-beam CT technology. Through the use of free software it has been possible to obtain the necessary volumes to calculate the relationship between the volume of the pulp and the volume of its corresponding tooth and carry out the study of the regression. The coefficient of correlation and determination found are comparable to those conducted by other authors using the most expensive equipment; the equation obtained still shows, however, lack of precision of the estimation age. A study that shows that the use of CBCT technology can improve the investigation of morphological stab wounds on cancellous bones was conducted. Conversely metric analysis of the lesions seems not to be very reliable. The acquisition of stab wound with pQCT technology was conducted in a real case: a 3D model was created, in order to allow the operator to define the volume of the lack of tissues related to the lesion. The application of pQCT scan proved to be a potentially useful tool for assessment of bone trauma. As regards the antemortem injury, the CBCT technology was used in the evaluation of the internal structure of the callus. The results could lay the foundation for new perspectives on bone callus evaluation and aging with cone-beam CT technique. In conclusion this study has showed and tested the various applications of 3D technologies in Physical and Forensic Anthropology, defining their limits and in awareness of the importance of the irreplaceable critical judgment of the operator.

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Koukal, Pavel. "Zaměření specifických prvků v areálu Admas." Master's thesis, Vysoké učení technické v Brně. Fakulta stavební, 2017. http://www.nusl.cz/ntk/nusl-390211.

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Анотація:

The diploma thesis consists of two fundamental parts. The first part is focused on scanning a section of the Admas area by a terrestrial laser scanner. This section describes the introduction to laser scanning, necessary utilities and software, fieldwork, the process from the registration of a point cloud, through point cloud processing to its connection into the S-JTSK. The second part of the thesis is mostly focused on execution of the digital model of the relief from the acquired data. It also deals with the two methods of creating a cross-sectional drawing of the area - one is based on the digital model of the relief and the other on data obtained by the polar method. The outcome of the thesis is to assess the accuracy of the topographical model, based on the comparison with the polar method.

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D'Agostino, Graziana. "Il ruolo della Rappresentazione e del Rilievo in Archeologia: dalle origini al Laser Scanner 3D - L'esperienza sulla Tricora di San Lorenzo Vecchio (SR)." Doctoral thesis, Università di Catania, 2013. http://hdl.handle.net/10761/1363.

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Анотація:

Oggetto della presente ricerca è lo studio del rapporto intercorrente tra le figure operanti nel campo dei Beni Culturali Archeologici, l archeologo di formazione umanistica da un lato e l architetto/ingegnere di formazione tecnica dall altro ed il tentativo di avvicinare, da una parte, la comunità archeologica alle tematiche riguardanti le potenzialità offerte dall uso degli attuali strumenti di rilievo e, di contro, avvicinare i tecnologi del rilievo alle necessità degli archeologi; è anche quello di sviluppare e restituire modelli tridimensionali per la rappresentazione dei manufatti archeologici, attraverso l uso della tecnologia Laser Scanner e l ausilio della Fotogrammetria, le quali incrementano e non sostituiscono i tradizionali sistemi di acquisizione e restituzione. Si è riscontrato come l uso della terza dimensione e della modellazione digitale in archeologia, nell ultimo ventennio, sia stato discontinuo nel tempo e realmente utilizzato solo in progetti pilota, divenendo ai giorni nostri un attuale argomento di discussione e sperimentazione. L uso sempre più intensivo di questa nuova generazione di tecnologie necessita dell individuazione di best practices per la definizione di standard durante le fasi di acquisizione e, soprattutto, di post-processamento dei dati digitali 3D, in linea anche con i principi della Carta di Siviglia. In un primo momento, sulla nascita e sulle evoluzioni, trattate in maniera separata, del disegno e del rilievo di archeologia. In una seconda fase, si è deciso di selezionare e approfondire quattro casi studio presenti in letteratura, che hanno contribuito all avanzamento dell uso delle nuove tecnologie nel rilievo dei beni archeologici e al miglioramento delle fasi applicative, metodologiche, gestionali e restitutive che ne derivano (Il Parco archeologico della via Appia Antica, Il caso di Pompei, I Mercati di Traiano, le Catacombe di Domitilla). La terza fase ha riguardato l applicazione delle nuove strumentazioni e metodologie disponibili (Laser Scanner e modellazione tridimensionale, Fotogrammetria) all interno dell esperienza di rilievo della Tricora di San Lorenzo Vecchio , sita a Pachino in provincia di Siracusa. Il caso studio affrontato, scelto per la significativa stratificazione cronologica di architetture presenti all interno del sito, illustra le tappe significative del percorso di conoscenza attuato avvalendosi delle suddette tecnologie tridimensionali di rilievo, mediante Laser Scanner: l organizzazione del lavoro, la definizione delle singole fasi, le problematiche riscontrate nel confrontarsi col sito archeologico e le soluzioni trovate; un cammino che assume chiarezza mano a mano che il lavoro procede, senza requisiti definiti a priori , ma in continua evoluzione e collaborazione di due campi fino ad oggi tenuti parzialmente separati.

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Rahayem, Mohamed. "Planar segmentation for Geometric Reverse Engineering using data from a laser profile scanner mounted on an industrial robot." Licentiate thesis, Örebro University, Department of Technology, 2008. http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-2318.

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Анотація:

Laser scanners in combination with devices for accurate orientation like Coordinate Measuring Machines (CMM) are often used in Geometric Reverse Engineering (GRE) to measure point data. The industrial robot as a device for orientation has relatively low accuracy but the advantage of being numerically controlled, fast, flexible, rather cheap and compatible with industrial environments. It is therefore of interest to investigate if it can be used in this application.

This thesis will describe a measuring system consisting of a laser profile scanner mounted on an industrial robot with a turntable. It will also give an introduction to Geometric Reverse Engineering (GRE) and describe an automatic GRE process using this measuring system. The thesis also presents a detailed accuracy analysis supported by experiments that show how 2D profile data can be used to achieve a higher accuracy than the basic accuracy of the robot. The core topic of the thesis is the investigation of a new technique for planar segmentation. The new method is implemented in the GRE system and compared with an implementation of a more traditional method.

Results from practical experiments show that the new method is much faster while equally accurate or better.

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Kroupa, Ondřej. "Digitální model reliéfu v areálu Admas." Master's thesis, Vysoké učení technické v Brně. Fakulta stavební, 2017. http://www.nusl.cz/ntk/nusl-390213.

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The goal of this thesis is to scan part of the complex research center AdMaS using terrestrial laser scanner, from obtained data draw up a 3D terrain model and compare the height accuracy with conventional terrestrial measurement. The thesis is focused to software, which allow processing of point clouds and prepare the 3D model. The output of this work is the 3D terrain model and two transverse profiles for vertical comparison of two measurement methods.

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Serra, Christian. "Realizzazione di uno Scanner 3D Controllato da un Rapberry Pi con un Plugin di OctoPrint." Bachelor's thesis, Alma Mater Studiorum - Università di Bologna, 2018.

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L'obiettivo che si pone questa tesi di progetto è la realizzazione di uno Scanner 3D e lo sviluppo del plugin "FreeLSS for OctoPrint" per controllarlo attraverso un Raspberry Pi. Il primo punto focale è il low-cost: la struttura dello scanner 3D sarà stampata in 3D tramite la stampante Anet A8 utilizzando i design open-source di Atlas3D, un progetto di crowd-funding per costruire uno Scanner 3D. L'elettronica sarà in parte riciclata ed in parte acquistata. Il secondo focus sarà l'aspetto Open-Source: il plugin verrà distribuito su Github con licenza AGPL v3.0 ed estenderà OctoPrint, un software per Raspberry Pi che permette di controllare stampanti 3D da remoto. Il plugin permetterà di interfacciarsi, direttamente da OctoPrint, con FreeLSS, un altro programma open-source per Raspberry Pi che controlla lo Scanner estraendo modelli 3D utilizzando un piano girevole, una camera e dei laser linea. La motivazione per questo progetto nasce dalla necessità di riprodurre e sostituire parti rotte e/o consumate in ambito domestico.

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Vitula, Marek. "Dokumentace části hradu Rokštejn pomocí laserového skenování." Master's thesis, Vysoké učení technické v Brně. Fakulta stavební, 2016. http://www.nusl.cz/ntk/nusl-390174.

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The goal of this thesis is to scan part of castle Rokštejn using terrestrial laser scanner and from obtained data draw up a 3D model. Model is made with a method using meshing. In this work I also deal with the software, which supports meshing, and evaluating pros and cons of each program. The output of this work is 3D model which will serve to better representation of the current state of the castle and its better documentation.

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Cesari, Eleonora. "Utilizzo di tecniche di ingegneria inversa nello sviluppo del prodotto industriale." Bachelor's thesis, Alma Mater Studiorum - Università di Bologna, 2017.

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Questo elaborato di tesi ha come oggetto di studio l’implementazione di processi di reverse engineering nel settore dell’ingegneria industriale, utilizzando come caso di studio una motocicletta da competizione del Vyrus Racing Team. L’obiettivo del caso di studio è, attraverso l’ingegneria inversa dell’intero veicolo, poterne effettuare un’analisi CFD (Computational Fluid Dynamics) e una del telaio per ottenere un modello CAD (Computer-Aided Design) da utilizzare per analisi dimensionali e successive elaborazioni delle geometrie delle carene. Il lavoro si è articolato nelle seguenti fasi: documentazione e ricerca di casi di studio, elaborazione delle nuvole di punti fornite dal team e modellazione CAD delle parti richieste.

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Schwarz, Jakub. "Dokumentace části hradu Rokštejn pomocí laserového skenování." Master's thesis, Vysoké učení technické v Brně. Fakulta stavební, 2016. http://www.nusl.cz/ntk/nusl-390167.

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Анотація:

The aim of this thesis is the measure of the Rokštejn castle by laser scanning. The measured data are processed in the SCENE software and accuracy of registration and transformation of scans is intended. The next step is to test the software for working with point cloud. In the end, is in the selected 3D software created 3D model of the castle by using processed point cloud.

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Tassinari, Enrico. "Rilievo 3D con laser a scansione a supporto della modellazione acustica di teatri all'italiana." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2017.

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Nell’ambito della tesi di laurea viene descritto l’uso del laser a scansione terrestre per il rilievo della geometria interna di ambienti al fine della modellazione acustica. Attualmente infatti i modelli 3D utilizzati per la modellazione acustica di ambienti chiusi quali teatri o sale per la musica derivano solitamente dalle planimetrie esistenti, talvolta integrate da scarse misure dirette, e costituiscono in ogni caso basi geometriche incomplete e/o inaccurate. Il laser a scansione o la fotogrammetria digitale permettono invece di acquisire dense nuvole di punti tridimensionali, che, opportunamente elaborate, consentono di ricostruire la geometria dell’oggetto rilevato con elevata precisione, permettendo anche la restituzione di particolari difficilmente acquisibili, quali ad esempio in un teatro le quinte o i palchi, ma estremamente importanti nello studio delle prestazioni acustiche dell’ambiente. Nel caso di studio presentato, relativo ad un importante teatro all'italiana, si evidenzia come il laser a scansione terrestre, attraverso uno studio dei volumi e delle superfici, sia in grado di fornire precisi dati geometrici necessari per calcolare i parametri acustici e per fornire un quadro esaustivo sull’acustica della sala.

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Kučeravý, Peter. "Vytvoření účelové mapy nádvoří hradu metodou laserového skenování." Master's thesis, Vysoké učení technické v Brně. Fakulta stavební, 2021. http://www.nusl.cz/ntk/nusl-444253.

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Анотація:

This diploma thesis is dealing with creation of thematical map of castle courtyard of the Veveří castle using the method of laser scanning. The thesis describes the construction of a survey net which is important for measuring control points and then scanning of the area using the scanner FARO Focus 3D. The thesis contains a description of the method of laser scanning and point cloud processing in Trimble RealWorks software. Furthermore, this thesis deals with the accuracy of the point cloud and compares the laser scanning method with the typical tachymetric method according to time duration.

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EBOLESE, Donatella. "TECNOLOGIE DI RILIEVO 3D PER LA DOCUMENTAZIONE, L’INTERPRETAZIONE E LA VALORIZZAZIONE DEL PATRIMONIO ARCHEOLOGICO: IL CASO STUDIO DEL PARCO ARCHEOLOGICO DI LILIBEO-MARSALA." Doctoral thesis, Università degli Studi di Palermo, 2020. http://hdl.handle.net/10447/444681.

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In recent decades, the application of geomatics technologies and methodologies to archaeological studies has led to a substantial change in onsite survey techniques and allowed an interdisciplinary approach between archaeology and digital technologies. The employment of these techniques aims to reduce the time of research and documentation, to acquire large amounts of data and to manage, in a more efficiently and quickly way, different datasets. Moreover, these new approaches provide non-invasive, flexible, low-cost methodologies to improve archaeological documentation from a quantitative and qualitative point of view. Nowadays, archaeologists can take advantage of various recording techniques to produce highly accurate 3D models and ortho-images of archaeological sites. Far from replacing the more traditional techniques, the development of new geomatics ones tries to efficiently and effectively catch needs of the archaeological research. The main geomatic technologies used in the archaeological field for three-dimensional (3D) surveys are related both to range-based techniques (accounting for the use of active sensors, such as terrestrial laser scanner) and to those using image-based approaches (using passive sensors - mainly photographic cameras - and photographic images). The use of a terrestrial laser scanner for archaeological aims is becoming a common strategy to directly capture the 3D geometric information of an object. This method is based on costly sensors, but it provides a highly detailed and accurate description of complex surfaces. Image-based approaches, including photogrammetry, exploit 2D image measurements to recover 3D object information. Photogrammetric data produces highly detailed photographic textures to generate photorealistic 3D models. Moreover, in recent years, the development of Unmanned Aerial Vehicles (UAVs) has become more popular in archaeological excavations. UAV systems become a useful, versatile and cost-effective approach to record, measure and fully document large archaeological areas. They represent the fastest way to produce high-resolution 3D models of entire sites and allow archaeologists to collect accurate spatial data. The integrated use of range- and image-based techniques ensures the possibility to entirely record articulated structures by improving archaeological analysis and to support the generation of spatial and visual records of archaeological sites for conservative purposes. The work is part of the international research project “The Archaeological Map of Lilybaeum”, conducted by the Archaeological Institutes of the Universities of Palermo and Hamburg, the Soprintendenza of Trapani and the Archaeological Park of Lilibeo-Marsala. The area of Capo Boeo, which represents the focal point of the Archaeological Park, extends for about 28 hectares inside the modern city of Marsala. This wide area, spared by building expansion, preserves a considerable portion of Lilybaeum, the city founded in the IV century B. C. by the Punic. The city occupied the westernmost promontory of Sicily, in a strategic position that was its strong point since its foundation. On all four sides, the city was surrounded by imposing walls; it was also protected by the sea on two sides and by a moat towards the inland. The study presents the outcomes of several 3D surveys of the archaeological remains of Lilybaeum. Since 2017, UAV, laser scanner and terrestrial photogrammetric acquisitions have been planned and carried out to complete the previous traditional documentation of the Capo Boeo area. The research activity had a twofold aim: the application and evaluation of geomatic techniques for archaeological documentation, with particular focus to the integration of close-range aerial photogrammetric surveys using SAPR and laser scanner surveys, and the construction of a 2D and 3D georeferenced database to derive new information (such as updated plans) for developing the Archaeological Map of Lilybaeum.

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Sabo, Stanislav. "Tvorba 3D modelu budovy s využitím laserového skenování." Master's thesis, Vysoké učení technické v Brně. Fakulta stavební, 2016. http://www.nusl.cz/ntk/nusl-390227.

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The aim of this thesis is to scan the part of the interior and exterior of the Faculty of Electrical Engineering and Communication building using the FARO Focus3D X 130 scanner, and the creation of a 3D model in the WGS 84 system. Subsequently, methods, status and utilization research of this technology and point cloud processing software is provided. The collected data are processed in the SCENE. Three-dimensional model is designed using the Pointfuse and Microstation V8i programs. In the end, the registration accuracy of the scans and the resulting 3D model accuracy are evaluated.

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Schenkel, Arnaud. "Corrections géométriques et colorimétriques automatisées de modèles 3D de grande taille." Doctoral thesis, Universite Libre de Bruxelles, 2017. http://hdl.handle.net/2013/ULB-DIPOT:oai:dipot.ulb.ac.be:2013/243331.

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Анотація:

L’utilisation de scanners 3D permet d’obtenir, en fin de chaîne de traitement, des modèles tridimensionnels de haute résolution d’objets ou de sites. Ces modèles combinent une représentation formée d’un très grand nombre de points, couplée avec des textures photographiques pour simuler au mieux la réalité. Ils peuvent servir de base à de futures recherches, au calcul de diverses informations, à des propositions de restitutions, comme illustration, ou encore à l’archivage.Pour pouvoir être manipulées et exploitées, il est nécessaire de corriger ces données. Différents traitements doivent ainsi être appliqués :la suppression des défauts dus au processus de digitalisation ou à l’environnement de numérisation, la mise en correspondance de balayages partiels, l’élimination des objets parasites ou encore l’homogénéisation de l’aspect des surfaces. Les méthodes actuelles ne permettent pas d’effectuer aisément ces traitements de manière rapide et performante. Elles requièrent de nombreuses interventions manuelles, souvent lourdes et fastidieuses.Cette thèse vise à définir une méthodologie et à fournir les algorithmes et les outils nécessaires au post-traitement de ces acquisitions tridimensionnelles de grande taille, de manière automatisée tout en tenant compte des volumes de données à manipuler. Une structure de données adaptée au problème est proposée ainsi qu’une base d’outils destinée au traitement de volumes importants de points, en considérant la mémoire nécessaire et le temps de calcul requis. Nous proposons sur cette base une chaîne de traitement pour gérer les erreurs géométriques, liées au processus de numérisation, ainsi que les problèmes de colorisation, liés à l’acquisition de photographies dans des conditions variables (éclairage non contrôlé). Nous pouvons identifier quatre types d’erreurs géométriques qui vont ainsi être traitées :le bruit de mesure, la présence de valeurs aberrantes, les trainées de points et les inconsistances dans le modèle. La colorisation se base sur l’utilisation de l’ensemble des photographies effectuées sur le terrain en tenant compte de la variabilité des conditions d’acquisition (éclairage naturel, présence d’ombres, risque de surexposition, ). La solution proposée est compatible avec un calcul en temps réel comparativement à la durée d’acquisition sur le terrain, permettant d’obtenir des informations pertinentes pour guider le travail de terrain.
Doctorat en Sciences de l'ingénieur et technologie
info:eu-repo/semantics/nonPublished

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Castigliego, Valerio. "Il Teatro Marittimo di Villa Adriana con il vestibolo di accesso: dall'integrazione della campagna di rilievo al modello 3D." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2019. http://amslaurea.unibo.it/17908/.

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Анотація:

La tesi affronta lo studio di Villa Adriana con particolare riferimento al Teatro Marittimo; lo studio si propone di descrivere in modo dettagliato l’esperienza del rilievo attraverso le moderne tecnologie di acquisizione digitale, specificando le procedure che hanno permesso la fedele ricostruzione tridimensionale del Teatro Marittimo . Gli strumenti di rilievo Laser scanner - LS Leica modello C-5 - hanno consentito di condurre una campagna di rilievo finalizzata alla ricostruzione accurata e fedele dello stato dei luoghi post restauro del 2016, condotta durante la settimana del Workshop internazionale di rilievo archeologico e modellazione 3D svolto dal 26 Agosto al 2 Settembre 2017. I dati acquisiti sono stati integrati tra loro e successivamente elaborati mediante il software Cyclone, della medesima casa produttrice, al fine di ottenere il modello 3D oggetto della tesi. Lo studio svolto, tuttavia, non si limita alla documentazione digitale del Teatro Marittimo ma affronta e approfondisce forme ed edifici accessori posti in adiacenza a questo, documentando questo complesso con elaborati 3D e 2D (piante, sezioni, assonometrie) in grado di mettere in luce le connessioni con la Biblioteca e La Sala Dei Filosofi.

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Banari, Maria. "La generazione di modelli tridimensionali densi in ambito architettonico mediante la fotogrammetria digitale." Bachelor's thesis, Alma Mater Studiorum - Università di Bologna, 2016. http://amslaurea.unibo.it/10857/.

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Анотація:

The Italian territory offers a wide range of treasures in the field of Cultural Assets. This is a highly relevant property, which needs an accurate management and preservation performed by appropriate tools, also giving attention to the maintenance and safeguard from risk factors. Nowadays the increasing development of new digital technologies, added by remarkable steps forward got by the subject of Geomatic makes possible an efficient integration among different techniques, helped also by spread of solutions to improve the data import-export and transmission between different devices. The main objective of this thesis is to experience the photogrammetric restitution implemented in a commercial software of digital photogrammetry, in order to generate a dense 3D model of the facade of the Basilica Sant'Apollinare Nuovo in Ravenna. The 1st Chapter, after a general introduction regarding the 3D survey of Cultural Heritage and some considerations linked to the use of digital photogrammetry in this field, is focused to analyze the case of stereoscopic and the monoscopic approach. In particular, it develops the theme of close-range photogrammetry. The 2nd Chapter, exposes the theme of digital images, from color theory until their appearing on the monitor. The 3rd Chapter, develops the case study of the Basilica di Sant'Apollinare Nuovo, the historical, architectural and religious of the same. Also, it is examined the issue of photogrammetry and laser scanning of the case study. The final part of the same chapter, treats the processing of data processing the software Agisoft PhotoScan, in order to generate, by means of Structure from Motion technique, a digital geometric 3D model of the Basilica Facade. The digital model has been scaled on the basis of measurements made on the field. With the software it was possible to accomplish the three phases of the photogrammetric data processing: internal orientation, exterior orientation and restitution.

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NETTI, ROSSANA. "Rappresentare e comunicare l’Antico. Dalle riflessioni storico-critiche al progetto di conoscenza e di comunicazione." Doctoral thesis, Politecnico di Torino, 2014. http://hdl.handle.net/11583/2543738.

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Анотація:

La consapevolezza e la conoscenza diffusa di un monumento/bene culturale rappresentano un valore aggiunto, quasi configurandosi esse stesse come bene culturale. Per tale conoscenza, da una prassi consolidata che vede l’utilizzo di documentazione cartacea e di pubblicistica tradizionale, si è giunti ai mezzi multimediali più innovativi: digitali, virtuali, interattivi. Rivolgendo l’attenzione ai siti archeologici, la conservazione e/o il restauro (completato dalla conoscenza e dalla comprensione) rappresentano uno dei passaggi fondamentali nel loro processo di valorizzazione, trasformandoli da “mute” rovine in testimonianze vive, parlanti e comprensibili del passato, ancorate al territorio storico-culturale di origine. L’obiettivo della ricerca è quello di coniugare ed integrare il progetto di conoscenza di un bene culturale, (che dovrebbe tendere a una corretta “scientificità”), con un progetto di comunicazione, realizzabile anche attraverso l’utilizzo dei mezzi multimediali più innovativi. Partendo da alcune riflessioni storico-critiche, scaturite dall’analisi dei differenti orientamenti culturali presenti in Europa e nei paesi del Mediterraneo in merito all’anastilosi e più in generale al restauro archeologico, si giunge - attraverso una sperimentazione multidisciplinare - ad un vero e proprio progetto di comunicazione dell’“Antico”. L’elaborazione dei dati documentari relativi all’area archeologica della Rocca di Entella, scelta come oggetto dell’indagine, è accompagnata dall’impiego di tecnologie digitali per il rilievo, la modellazione tridimensionale e la rappresentazione, al fine di definire un processo di divulgazione e/o valorizzazione del bene culturale basato sulla visione colta e consapevole, sul controllo dei processi di comunicazione e sulla multimedialità. Il mezzo (in questo senso la rappresentazione e la comunicazione) costituiscono uno strumento e un dominio indispensabile per rendere visibile e far emergere con maggior forza l’insita dimensione culturale e artistica del bene. Ciò attraverso il possibile innesto di un processo di “educazione permanente” e di diffusione verso un pubblico ampio e non sempre avvertito, senza escludere un più consapevole controllo degli esiti scientifici per un target specializzato.

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47

Assali, Pierre. "Modélisation géostructurale 3D de parois rocheuses en milieu ferroviaire : application aux ouvrages en terre." Thesis, Strasbourg, 2014. http://www.theses.fr/2014STRAD009.

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Анотація:

Ce travail de thèse vise une optimisation des méthodologies de modélisation géostructurale, permettant d'aboutir à une meilleure gestion des aléas rocheux affectant le système ferroviaire. La caractérisation géométrique des massifs rocheux est entreprise grâce à une classification des modèles en sous-ensembles correspondant aux principales familles de discontinuités. En parallèle de cette caractérisation automatisée, une seconde approche dite manuelle a été examinée. Cette approche combine données tridimensionnelles (nuages de points denses) et support photographique (images 2D). Les données sur les discontinuités planaires, traditionnellement acquises manuellement en certains points nécessairement accessibles du massif, résultent désormais de l'analyse des modèles couvrant l'ensemble de l'ouvrage. Ce projet a permis le développement d'un outil de modélisation améliorant la connaissance du patrimoine rocheux sans engager la sécurité du personnel, ni la capacité de la ligne ferroviaire
This project aims at an optimization of geostructural modeling methodolgies, leading to a better knowledge and a better management of the rock risk impacting the railway system. Acquired 3D models are exploited in order ton convert 3D point clouds into geostructural analysis. Hence, we have developed a semi-automatic process that allows 3D models to be combined with the results of field surveys in order to provide more precise analyses of rock faces, for example, by classifying rock discontinuities into subsets according to their orientation. A second approach is proposed, combining both 3D point clouds (from LiDAR or image matching) and 2D digital images. Combining these high-quality data with the proposed automatic and manual processing method greatly improves the geometrical analysis of rock faces, increases the reliability of structural interpretations, and enables reinforcement procedures to be optimized

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48

Yoo, Hyun-Jae. "Analyse et conception de scanners laser mobiles dédiés à la cartographie 3D d'environnements urbains." Phd thesis, Paris, ENMP, 2011. https://pastel.hal.science/pastel-00579965/fr/.

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Cette thèse a été effectuée en collaboration entre le Centre de Robotique CAOR de MINES ParisTech et MENSI-Trimble sous convention CIFRE (Convention Industrielle de Formation par la Recherche), afin de concevoir un nouveau système de scanner laser innovant dédié aux systèmes mobiles de cartographie. Pour cela, nous avons développé une méthode d'analyse qualitative des relevés laser et une démarche de conception par simulation d'un système mobile de cartographie. Nous avons ensuite élaboré plusieurs concepts de scanners laser mobiles. A l'aide du simulateur, nous avons virtuellement réalisé ces concepts et avons fait des acquisitions simulées afin d'analyser les données. Après avoir obtenu les résultats de l'analyse, nous avons choisi un concept, réalisé son prototypage et effectué son évaluation en situation réelle
This thesis is a collaboration between the Robotics Centre CAOR of MINES ParisTech and MENSI-Trimble under the CIFRE (Convention Industrielle de Formation par la Recherche) convention, to desgin an innovative laser scanning system dedicated to mobile mapping systems. We developed a method for the qualitative analysis of point-cloud data and the conception of a mobile mapping system using simulation. We elaborated several concepts for mobile laser scanners, which we realized virtually using the simulator. We performed data acquisitions in order to analyze the simulated data. We chose the most suitable concept, based on our analysis results, constructed a prototype and assessed its performance in a real environment

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49

Yoo, Hyun-Jae. "Analyse et conception de scanners laser mobiles dédiés à la cartographie 3D d'environnements urbains." Phd thesis, École Nationale Supérieure des Mines de Paris, 2011. http://pastel.archives-ouvertes.fr/pastel-00579965.

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Анотація:

Cette thèse a été effectuée en collaboration entre le Centre de Robotique CAOR de MINES ParisTech et MENSI-Trimble sous convention CIFRE (Convention Industrielle de Formation par la Recherche), afin de concevoir un nouveau système de scanner laser innovant dédié aux systèmes mobiles de cartographie. Pour cela, nous avons développé une méthode d'analyse qualitative des relevés laser et une démarche de conception par simulation d'un système mobile de cartographie. Nous avons ensuite élaboré plusieurs concepts de scanners laser mobiles. A l'aide du simulateur, nous avons virtuellement réalisé ces concepts et avons fait des acquisitions simulées afin d'analyser les données. Après avoir obtenu les résultats de l'analyse, nous avons choisi un concept, réalisé son prototypage et effectué son évaluation en situation réelle.

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50

Schubert, Stefan. "Optimierter Einsatz eines 3D-Laserscanners zur Point-Cloud-basierten Kartierung und Lokalisierung im In- und Outdoorbereich." Master's thesis, Universitätsbibliothek Chemnitz, 2015. http://nbn-resolving.de/urn:nbn:de:bsz:ch1-qucosa-161415.

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Анотація:

Die Kartierung und Lokalisierung eines mobilen Roboters in seiner Umgebung ist eine wichtige Voraussetzung für dessen Autonomie. In dieser Arbeit wird der Einsatz eines 3D-Laserscanners zur Erfüllung dieser Aufgaben untersucht. Durch die optimierte Anordnung eines rotierenden 2D-Laserscanners werden hochauflösende Bereiche vorgegeben. Zudem wird mit Hilfe von ICP die Kartierung und Lokalisierung im Stillstand durchgeführt. Bei der Betrachtung zur Verbesserung der Bewegungsschätzung wird auch eine Möglichkeit zur Lokalisierung während der Bewegung mit 3D-Scans vorgestellt. Die vorgestellten Algorithmen werden durch Experimente mit realer Hardware evaluiert.

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