scholarly journals Obstacle-Aware Indoor Pathfinding Using Point Clouds

2019 ◽  
Vol 8 (5) ◽  
pp. 233 ◽  
Author(s):  
Lucía Díaz-Vilariño ◽  
Pawel Boguslawski ◽  
Kourosh Khoshelham ◽  
Henrique Lorenzo
Keyword(s):  
Spatial Data ◽  
Spatial Information ◽  
Three Dimensional ◽  
Point Clouds ◽  
3D Models ◽  
Indoor Environments ◽  
Aged People ◽  
Emergency Assistance ◽  
Indoor Scenes ◽  
Mobility Skills

With the rise of urban population, updated spatial information of indoor environments is needed in a growing number of applications. Navigational assistance for disabled or aged people, guidance for robots, augmented reality for gaming, and tourism or training emergency assistance units are just a few examples of the emerging applications requiring real three-dimensional (3D) spatial data of indoor scenes. This work proposes the use of point clouds for obstacle-aware indoor pathfinding. Point clouds are firstly used for reconstructing semantically rich 3D models of building structural elements in order to extract initial navigational information. Potential obstacles to navigation are classified in the point cloud and directly used to correct the path according to the mobility skills of different users. The methodology is tested in several real case studies for wheelchair and ordinary users. Experiments show that, after several iterations, paths are readapted to avoid obstacles.

scholarly journals CHALLENGES IN FLYING QUADROTOR UNMANNED AERIAL VEHICLE FOR 3D INDOOR RECONSTRUCTION

2017 ◽  
Vol XLII-2/W7 ◽  
pp. 423-430 ◽  
Author(s):  
J. Yan ◽  
N. Grasso ◽  
S. Zlatanova ◽  
R. C. Braggaar ◽  
D. B. Marx
Keyword(s):  
Three Dimensional ◽  
Point Clouds ◽  
3D Models ◽  
Emergency Evacuation ◽  
Vital Role ◽  
Indoor Environments ◽  
3D Tracking ◽  
High Dependency ◽  
Indoor Reconstruction

Three-dimensional modelling plays a vital role in indoor 3D tracking, navigation, guidance and emergency evacuation. Reconstruction of indoor 3D models is still problematic, in part, because indoor spaces provide challenges less-documented than their outdoor counterparts. Challenges include obstacles curtailing image and point cloud capture, restricted accessibility and a wide array of indoor objects, each with unique semantics. Reconstruction of indoor environments can be achieved through a photogrammetric approach, e.g. by using image frames, aligned using recurring corresponding image points (CIP) to build coloured point clouds. Our experiments were conducted by flying a QUAV in three indoor environments and later reconstructing 3D models which were analysed under different conditions. Point clouds and meshes were created using Agisoft PhotoScan Professional. We concentrated on flight paths from two vantage points: 1) safety and security while flying indoors and 2) data collection needed for reconstruction of 3D models. We surmised that the main challenges in providing safe flight paths are related to the physical configuration of indoor environments, privacy issues, the presence of people and light conditions. We observed that the quality of recorded video used for 3D reconstruction has a high dependency on surface materials, wall textures and object types being reconstructed. Our results show that 3D indoor reconstruction predicated on video capture using a QUAV is indeed feasible, but close attention should be paid to flight paths and conditions ultimately influencing the quality of 3D models. Moreover, it should be decided in advance which objects need to be reconstructed, e.g. bare rooms or detailed furniture.

scholarly journals Virtual Archaeology of Death and Burial: A Procedure for Integrating 3D Visualization and Analysis in Archaeothanatology

2021 ◽  
Vol 7 (1) ◽  
pp. 540-555
Author(s):  
Hayley L. Mickleburgh ◽  
Liv Nilsson Stutz ◽  
Harry Fokkens
Keyword(s):  
Spatial Information ◽  
3D Visualization ◽  
Rapid Development ◽  
Three Dimensional ◽  
3D Models ◽  
The Body ◽  
Test Case ◽  
Archaeology Of Death ◽  
Human Burials ◽  
3D Information

Abstract The reconstruction of past mortuary rituals and practices increasingly incorporates analysis of the taphonomic history of the grave and buried body, using the framework provided by archaeothanatology. Archaeothanatological analysis relies on interpretation of the three-dimensional (3D) relationship of bones within the grave and traditionally depends on elaborate written descriptions and two-dimensional (2D) images of the remains during excavation to capture this spatial information. With the rapid development of inexpensive 3D tools, digital replicas (3D models) are now commonly available to preserve 3D information on human burials during excavation. A procedure developed using a test case to enhance archaeothanatological analysis and improve post-excavation analysis of human burials is described. Beyond preservation of static spatial information, 3D visualization techniques can be used in archaeothanatology to reconstruct the spatial displacement of bones over time, from deposition of the body to excavation of the skeletonized remains. The purpose of the procedure is to produce 3D simulations to visualize and test archaeothanatological hypotheses, thereby augmenting traditional archaeothanatological analysis. We illustrate our approach with the reconstruction of mortuary practices and burial taphonomy of a Bell Beaker burial from the site of Oostwoud-Tuithoorn, West-Frisia, the Netherlands. This case study was selected as the test case because of its relatively complete context information. The test case shows the potential for application of the procedure to older 2D field documentation, even when the amount and detail of documentation is less than ideal.

scholarly journals GNSS SATELLITE VISIBILITY ANALYSIS BASED ON 3D SPATIAL INFORMATION IN URBAN AREAS

2020 ◽  
Vol XLIII-B4-2020 ◽  
pp. 123-128
Author(s):  
Y.-H. Lu ◽  
J.-Y. Han
Keyword(s):  
Spatial Data ◽  
Urban Areas ◽  
Spatial Information ◽  
Signal Transmission ◽  
Point Clouds ◽  
Satellite System ◽  
Topographic Effects ◽  
Analysis Technique ◽  
Satellite Visibility ◽  
Global Navigation Satellite

Abstract. Global Navigation Satellite System (GNSS) is a matured modern technique for spatial data acquisition. Its performance has a great correlation with GNSS receiver position. However, high-density building in urban areas causes signal obstructions and thus hinders GNSS’s serviceability. Consequently, GNSS positioning is weakened in urban areas, so deriving proper improvement resolutions is a necessity. Because topographic effects are considered the main factor that directly block signal transmission between satellites and receivers, this study integrated aerial borne LiDAR point clouds and a 2D building boundary map to provide reliable 3D spatial information to analyze topographic effects. Using such vector data not only reflected high-quality GNSS satellite visibility calculations, but also significantly reduced data amount and processing time. A signal obstruction analysis technique and optimized computational algorithm were also introduced. In conclusion, this paper proposes using superimposed column method to analyze GNSS receivers’ surrounding environments and thus improve GNSS satellite visibility predictions in an efficient and reliable manner.

scholarly journals RECONSTRUCTION OF INDOOR MODELS USING POINT CLOUDS GENERATED FROM SINGLE-LENS REFLEX CAMERAS AND DEPTH IMAGES

2015 ◽  
Vol XL-4/W5 ◽  
pp. 99-102
Author(s):  
F. Tsai ◽  
T.-S. Wu ◽  
I.-C. Lee ◽  
H. Chang ◽  
A. Y. S. Su
Keyword(s):  
Data Processing ◽  
Data Acquisition ◽  
Three Dimensional ◽  
Point Clouds ◽  
Data Acquisition System ◽  
Acquisition System ◽  
Indoor Environments ◽  
Single Lens ◽  
Processing Procedure ◽  
Data Processing Procedure

This paper presents a data acquisition system consisting of multiple RGB-D sensors and digital single-lens reflex (DSLR) cameras. A systematic data processing procedure for integrating these two kinds of devices to generate three-dimensional point clouds of indoor environments is also developed and described. In the developed system, DSLR cameras are used to bridge the Kinects and provide a more accurate ray intersection condition, which takes advantage of the higher resolution and image quality of the DSLR cameras. Structure from Motion (SFM) reconstruction is used to link and merge multiple Kinect point clouds and dense point clouds (from DSLR color images) to generate initial integrated point clouds. Then, bundle adjustment is used to resolve the exterior orientation (EO) of all images. Those exterior orientations are used as the initial values to combine these point clouds at each frame into the same coordinate system using Helmert (seven-parameter) transformation. Experimental results demonstrate that the design of the data acquisition system and the data processing procedure can generate dense and fully colored point clouds of indoor environments successfully even in featureless areas. The accuracy of the generated point clouds were evaluated by comparing the widths and heights of identified objects as well as coordinates of pre-set independent check points against in situ measurements. Based on the generated point clouds, complete and accurate three-dimensional models of indoor environments can be constructed effectively.

scholarly journals Weighing trees with lasers: advances, challenges and opportunities

2018 ◽  
Vol 8 (2) ◽  
pp. 20170048 ◽  
Author(s):  
M. I. Disney ◽  
M. Boni Vicari ◽  
A. Burt ◽  
K. Calders ◽  
S. L. Lewis ◽  
...  
Keyword(s):  
Laser Scanning ◽  
Large Scale ◽  
Three Dimensional ◽  
Point Clouds ◽  
3D Models ◽  
Tree Form ◽  
Form And Function ◽  
Challenges And Opportunities ◽  
And Function ◽  
Non Destructive

Terrestrial laser scanning (TLS) is providing exciting new ways to quantify tree and forest structure, particularly above-ground biomass (AGB). We show how TLS can address some of the key uncertainties and limitations of current approaches to estimating AGB based on empirical allometric scaling equations (ASEs) that underpin all large-scale estimates of AGB. TLS provides extremely detailed non-destructive measurements of tree form independent of tree size and shape. We show examples of three-dimensional (3D) TLS measurements from various tropical and temperate forests and describe how the resulting TLS point clouds can be used to produce quantitative 3D models of branch and trunk size, shape and distribution. These models can drastically improve estimates of AGB, provide new, improved large-scale ASEs, and deliver insights into a range of fundamental tree properties related to structure. Large quantities of detailed measurements of individual 3D tree structure also have the potential to open new and exciting avenues of research in areas where difficulties of measurement have until now prevented statistical approaches to detecting and understanding underlying patterns of scaling, form and function. We discuss these opportunities and some of the challenges that remain to be overcome to enable wider adoption of TLS methods.

scholarly journals Integration, Processing and Dissemination of LiDAR Data in a 3D Web-GIS

2019 ◽  
Vol 8 (3) ◽  
pp. 144 ◽  
Author(s):  
Marek Kulawiak ◽  
Marcin Kulawiak ◽  
Zbigniew Lubniewski
Keyword(s):  
Survey Data ◽  
Three Dimensional ◽  
Point Clouds ◽  
3D Models ◽  
Web Gis ◽  
Data Organization ◽  
3D Model Reconstruction ◽  
Open Standards ◽  
3D Lidar ◽  
The City

The rapid increase in applications of Light Detection and Ranging (LiDAR) scanners, followed by the development of various methods that are dedicated for survey data processing, visualization, and dissemination constituted the need of new open standards for storage and online distribution of collected three-dimensional data. However, over a decade of research in the area has resulted in a number of incompatible solutions that offer their own ways of disseminating results of LiDAR surveys (be it point clouds or reconstructed three-dimensional (3D) models) over the web. The article presents a unified system for remote processing, storage, visualization, and dissemination of 3D LiDAR survey data, including 3D model reconstruction. It is built with the use of open source technologies and employs open standards, such as 3D Tiles, LASer (LAS), and Object (OBJ) for data distribution. The system has been deployed for automatic organization, processing, and dissemination of LiDAR surveys that were performed in the city of Gdansk. The performance of the system has been measured using a selection of LiDAR datasets of various sizes. The system has shown to considerably simplify the process of data organization and integration, while also delivering tools for easy discovery, inspection, and acquisition of desired datasets.

3D Visualization for Hydrocarbon Project Design

2008 ◽  
Author(s):  
Scott Neurauter ◽  
Sabrina Szeto ◽  
Matt Tindall ◽  
Yan Wong ◽  
Chris Wright
Keyword(s):  
Spatial Data ◽  
3D Visualization ◽  
Dimensional Space ◽  
Three Dimensional ◽  
3D Models ◽  
3D Analysis ◽  
Cost Efficient ◽  
Ground Truthing ◽  
Elevation Model ◽  
Visualization Techniques

3D visualization is the process of displaying spatial data to simulate and model a real three dimensional space. Using 3D visualization, Geomatic professionals are enabling pipeline engineers to make better decisions by providing an increased understanding of potential costs earlier in the design process. This paper will focus on the value of visualizing Digital Elevation Model (DEM) data through the use of hillshades and imagery-draped 3D models. From free online DEM data to high resolution Light Detection and Ranging (LiDAR) derived DEM data, the increased availability allows for a broader use of 3D visualization techniques beyond 3D analysis. Of the numerous sources available, two DEM sources will be discussed in this paper, the free low resolution DEM (CDED Level 1) and the more costly but higher resolution LiDAR based DEM. Traditional methods of evaluating potential locations for route and facilities involved a significant cost for ground truthing. Through the use of 3D visualization products, multiple potential locations can be examined for suitability without the expense of field visits for every candidate site. By focusing on the selected candidate locations using a visual desktop study, the time and expense of ground truthing all of the potential sites can be reduced significantly. Exploiting the visual value of DEM permits a productive and cost efficient methodology for initial route and facility placement on hydrocarbon projects.

scholarly journals Towards an Underground Utilities 3D Data Model for Land Administration

2019 ◽  
Vol 11 (17) ◽  
pp. 1957 ◽  
Author(s):  
Jingya Yan ◽  
Siow Jaw ◽  
Kean Soon ◽  
Andreas Wieser ◽  
Gerhard Schrotter
Keyword(s):  
Spatial Data ◽  
Data Model ◽  
Urban Areas ◽  
Spatial Information ◽  
Three Dimensional ◽  
Data Governance ◽  
Land Administration ◽  
3D Data ◽  
Underground Utilities ◽  
2D Data

With the pressure of the increasing density of urban areas, some public infrastructures are moving to the underground to free up space above, such as utility lines, rail lines and roads. In the big data era, the three-dimensional (3D) data can be beneficial to understand the complex urban area. Comparing to spatial data and information of the above ground, we lack the precise and detailed information about underground infrastructures, such as the spatial information of underground infrastructure, the ownership of underground objects and the interdependence of infrastructures in the above and below ground. How can we map reliable 3D underground utility networks and use them in the land administration? First, to explain the importance of this work and find a possible solution, this paper observes the current issues of the existing underground utility database in Singapore. A framework for utility data governance is proposed to manage the work process from the underground utility data capture to data usage. This is the backbone to support the coordination of different roles in the utility data governance and usage. Then, an initial design of the 3D underground utility data model is introduced to describe the 3D geometric and spatial information about underground utility data and connect it to the cadastral parcel for land administration. In the case study, the newly collected data from mobile Ground Penetrating Radar is integrated with the existing utility data for 3D modelling. It is expected to explore the integration of new collected 3D data, the existing 2D data and cadastral information for land administration of underground utilities.

scholarly journals Three-Dimensional Reconstruction of Structural Surface Model of Heritage Bridges Using UAV-Based Photogrammetric Point Clouds

2019 ◽  
Vol 11 (10) ◽  
pp. 1204 ◽  
Author(s):  
Yue Pan ◽  
Yiqing Dong ◽  
Dalei Wang ◽  
Airong Chen ◽  
Zhen Ye
Keyword(s):  
Classification Tree ◽  
Three Dimensional ◽  
Point Clouds ◽  
3D Models ◽  
Surface Model ◽  
Reconstruction Method ◽  
3D Point Clouds ◽  
Surface Models ◽  
Structural Surface ◽  
Better Than

Three-dimensional (3D) digital technology is essential to the maintenance and monitoring of cultural heritage sites. In the field of bridge engineering, 3D models generated from point clouds of existing bridges is drawing increasing attention. Currently, the widespread use of the unmanned aerial vehicle (UAV) provides a practical solution for generating 3D point clouds as well as models, which can drastically reduce the manual effort and cost involved. In this study, we present a semi-automated framework for generating structural surface models of heritage bridges. To be specific, we propose to tackle this challenge via a novel top-down method for segmenting main bridge components, combined with rule-based classification, to produce labeled 3D models from UAV photogrammetric point clouds. The point clouds of the heritage bridge are generated from the captured UAV images through the structure-from-motion workflow. A segmentation method is developed based on the supervoxel structure and global graph optimization, which can effectively separate bridge components based on geometric features. Then, recognition by the use of a classification tree and bridge geometry is utilized to recognize different structural elements from the obtained segments. Finally, surface modeling is conducted to generate surface models of the recognized elements. Experiments using two bridges in China demonstrate the potential of the presented structural model reconstruction method using UAV photogrammetry and point cloud processing in 3D digital documentation of heritage bridges. By using given markers, the reconstruction error of point clouds can be as small as 0.4%. Moreover, the precision and recall of segmentation results using testing date are better than 0.8, and a recognition accuracy better than 0.8 is achieved.

Research on Construction of Visual Platform of Beijing Power Grid Based on Multi-Technology Fusion

2014 ◽  
Vol 608-609 ◽  
pp. 928-932
Author(s):  
Dong Ya Jin
Keyword(s):  
Data Storage ◽  
Spatial Data ◽  
Power Distribution ◽  
Spatial Information ◽  
Power Transmission ◽  
Power Grid ◽  
Three Dimensional ◽  
Visual Display ◽  
Decision Makers ◽  
Control Measures

The platform uses three-dimensional data modeling, visual simulation and spatial data storage to make the business of regulation center, operation and maintenance center and marketing and management center of Beijing Power grid implement visualized operation, and load the spatial information data, equipment data and operation data of Beijing power grid into the system platform, and the data is displayed with the form of graphic or image, which not only realizes managing space resource data in real three-dimensional scene, but also make the system operator to know the operation state of the system directly, and makes the control measures more effective. And the paper uses virtual reality technology to establish visual scene of ground to realize integrated visual display of power transformation, power transmission and power distribution, which not only makes the producers, managers and decision makers directly master the situation of production line in power station, but also realizes that producers and managers affiliate decision makers to formulate production plan.

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