A new approach to retrieve leaf normal distribution using terrestrial laser scanners

Leaf normal distribution is an important structural characteristic of the forest canopy. Although terrestrial laser scanners（TLS） have potential for estimating canopy structural parameters, distinguishing between leaves and nonphotosynthetic structures to retrieve the leaf normal has been challenging. We used here an approach to accurately retrieve the leaf normals of camphorwood（Cinnamomum camphora） using TLS point cloud data.First, nonphotosynthetic structures were filtered by using the curvature threshold of each point. Then, the point cloud data were segmented by a voxel method and clustered by a Gaussian mixture model in each voxel. Finally, the normal vector of each cluster was computed by principal component analysis to obtain the leaf normal distribution. We collected leaf inclination angles and estimated the distribution, which we compared with the retrieved leaf normal distribution. The correlation coefficient between measurements and obtained results was 0.96, indicating a good coincidence.

Improved method for the feature extraction of laser scanner using genetic clustering

Feature extraction of range images provided by ranging sensor is a key issue of pattern recognition. To automatically extract the environmental feature sensed by a 2D ranging sensor laser scanner, an improved method based on genetic clustering VGA-clustering is presented. By integrating the spatial neighbouring information of range data into fuzzy clustering algorithm, a weighted fuzzy clustering algorithm （WFCA） instead of standard clustering algorithm is introduced to realize feature extraction of laser scanner. Aimed at the unknown clustering number in advance, several validation index functions are used to estimate the validity of different clustering algorithms and one validation index is selected as the fitness function of genetic algorithm so as to determine the accurate clustering number automatically. At the same time, an improved genetic algorithm IVGA on the basis of VGA is proposed to solve the local optimum of clustering algorithm, which is implemented by increasing the population diversity and improving the genetic operators of elitist rule to enhance the local search capacity and to quicken the convergence speed. By the comparison with other algorithms, the effectiveness of the algorithm introduced is demonstrated.

Usingvery long-range terrestriallaser scanner to analyze the temporal consistency of the snowpack distribution in a high mountain environment

This study demonstrated the usefulness of very long-range terrestrial laser scanning(TLS) for analysis of the spatial distribution of a snowpack, to distances up to 3000 m, one of the longest measurement range reported to date. Snow depth data were collected using a terrestrial laser scanner during 11 periods of snow accumulation and melting,over three snow seasons on a Pyrenean hillslopecharacterized by a large elevational gradient, steep slopes, and avalanche occurrence. The maximum and mean absolute snow depth error found was 0.5-0.6 and 0.2-0.3 m respectively, which may result problematic for areas with a shallow snowpack, but it is sufficiently accurate to determine snow distribution patterns in areas characterized by a thick snowpack. The results indicated that in most cases there was temporal consistency in the spatial distribution of thesnowpack, even in different years. The spatial patterns were particularly similar amongst thesurveys conducted during the period dominated by snow accumulation(generally until end of April), or amongst those conducted during the period dominated by melting processes(generally after mid of April or early May). Simple linear correlation analyses for the 11 survey dates, and the application of Random Forests analysis to two days representative of snow accumulation and melting periods indicated the importance of topography to the snow distribution. The results also highlight that elevation and the Topographic Position index(TPI) were the main variables explaining the snow distribution, especially during periods dominated by melting. The intra-and inter-annual spatial consistency of the snowpack distribution suggests that the geomorphological processes linked to presence/absence of snow cover act in a similar way in the long term, and that these spatial patternscan be easily identifiedthrough several years of adequate monitoring.

Applicability of an ultra-long-range terrestrial laser scanner to monitor the mass balance of Muz Taw Glacier,Sawir Mountains,China

Glacier mass balance is a key component of glacier monitoring programs. Information on the mass balance of Sawir Mountains is poor due to a dearth of in-situ measurements. This paper introduces the applicability of an ultra-long-range terrestrial laser scanner(TLS) to monitor the mass balance of Muz Taw Glacier, Sawir Mountains, China. The Riegl VZ?-6000 TLS is exceptionally well-suited for measuring snowy and icy terrain. Here, we use TLS to create repeated high spatiotemporal resolution DEMs, focusing on the annual mass balance(June 2, 2015 to July 25, 2016). According to TLS-derived high spatial resolution point clouds, the front variation(glacier retreat) of Muz Taw Glacier was 9.3 m. The mean geodetic elevation change was 4.55 m at the ablation area. By comparing with glaciological measurements, the glaciological elevation change of individual stakes and the TLS-derived geodetic elevation change of corresponding points matched closely, and the calculated balance was-3.864±0.378 m w.e.. This data indicates that TLS provides accurate results and is therefore suitable to monitor mass balance evolution of Muz Taw Glacier.

A Laser Line Scanner Based Hole Position Correction Mechanism for Automatic Drilling and Riveting in Aircraft Assembly

The low-stiffness of aircraft skins may results in the differences between aircraft actual parts and their theoretical models,which will consequently affect the accuracy of automatic drilling and riveting in aircraft assembly.In this paper,a novel approach of hole position correction using laser line scanner(LLS)is proposed to assign a single row of holes on the parts’surfaces.First,we adopt a space circle fitting method and the random sample consensus(RANSAC)to obtain the precise coordinates of center of the datum holes’coordinates.Second,LLS is calibrated by the laser tracker,and the relations between the LLS coordinate system and the tool coordinate system(TCS)can be calculated.Third,the kinematics model of the automatic riveting machine is established based on a two-point referencing strategy proposed in this paper.Thus,the positions of the holes to be drilled can be adjusted.Finally,the experimental results show that in TCS the measurement error of LLS is less than 0.1 mm,and the correction error of the hole position is less than 0.5 mm,which demonstrates the reliability of our method.

A voxel-based fine-scale 3D landscape pattern analysis using laser scanner point clouds

The landscape pattern metrics can quantitatively describe the characteristics of landscape pattern and are widely used in various fields of landscape ecology.Due to the lack of vertical information,2D landscape metrics cannot delineate the vertical characteristics of landscape pattern.Based on the point clouds,a high-resolution voxel model and several voxel-based 3D landscape metrics were constructed in this study and 3D metrics calculation results were compared with that of 2D metrics.The results showed that certain quantifying difference exists between 2D and 3D landscape metrics.For landscapes with different components and spatial configurations,significant difference was disclosed between 2D and 3D landscape metrics.3D metrics can better reflect the real spatial structure characteristics of the landscape than 2D metrics.

Wind dynamic environment and wind-sand erosion and deposition processes on different surfaces along the Dunhuang–Golmud railway,China

The Dunhuang–Golmud railway passes through different deserts in arid areas,especially drifting-sand desert and sandy-gravel Gobi.The near-surface wind environment and wind-sand transport process vary due to different external factors,such as topography,vegetation,and regional climate,resulting in evident spatial differences in surface erosion and deposition.Consequently,the measures for preventing wind-sand hazards will differ.However,the mechanism and control theory of sand damage remain poorly understood.In this study,we used meteorological observation,three-dimensional(3D)laser scanning,and grain-size analysis to compare and evaluate the spatial distribution of wind conditions,sand erosion and deposition patterns,and grain composition in the drifting-sand desert and sandy-gravel Gobi along the Dunhuang–Golmud railway in China.Results show that the annual mean wind speed,the frequency of sand-driving wind,and the drift potential of sandy-gravel Gobi are higher than those of drifting-sand desert,indicating a greater wind strength in the sandy-gravel Gobi,which exhibits spatial heterogeneity in wind conditions.The major sediment components in sandy-gravel Gobi are very fine sand,fine sand,and medium sand,and that in drifting-sand desert are very fine sand and fine sand.We found that the sediment in the sandy-gravel Gobi is coarser than that in the drifting-sand desert based on mean grain size and sediment component.The spatial distributions of sand erosion and deposition in the sandy-gravel Gobi and drifting-sand desert are consistent,with sand deposition mainly on the west side of the railway and sand erosion on the east side of the railway.The area of sand deposition in the drifting-sand desert accounts for 75.83%of the total area,with a mean deposition thickness of 0.032 m;while the area of sand deposition in the sandy-gravel Gobi accounts for 65.31%of the total area,with a mean deposition thickness of 0.028 m,indicating greater deposition amounts in the drifting-sand desert due to the presence of more fine sediment components.However,the sand deposition is more concentrated with a greater thickness on the embankment and track in the sandy-gravel Gobi and is dispersed with a uniform thickness in the drifting-sand desert.The sand deposition on the track of the sandy-gravel Gobi mainly comes from the east side of the railway.The results of this study are helpful in developing the preventive measures and determining appropriate selection and layout measures for sand control.

3D Surface Digitization in Scientific Research and Product Development

This comprehensive review participates in the use of three different non-invasive surface scanning techniques directed in scientific research of medical, anthropology, archaeology forensic science, and product designing. 3D surface examining tools speak to a promising technique to provide reproducible data such as map the facial soft or hard tissues of a subject document skeletal remains, and trauma, generating 3D imitations of the components for documented and illustrative purposes while simultaneously holding exactness and unwavering quality. Three-dimensional imaging is rapidly turning into a vital tool for reconstruction and examination in scientific research. The final 3D mesh can be 3D printed or the digital version can be shared online with scientific researchers. This review manuscript highlights several studies utilizing non-invasive scanning techniques, depicts the pro and cons of the 3D scanning techniques, and different features of the scanners irrespective of the cost which would be helpful for future research work. A resourceful review was conducted using 7 databases;PubMed, CENTRAL, Science Direct, Scopus, Google Scholar, Research Gate, and IEEE Xplore from 2002 to 2020. Search terms were;“3D Laser scanning”, “Photogrammetry”, “Skeleton preservation”, “Documentation”, “Surface Scanning”, etc. Papers with quality work and related to the field of forensic science, anthropometry, 3D facial scanning, and product development were selected. From all the studies, 71 studies met the eligibility criteria, and other articles were excluded which were non-relevant, had duplicate records, and did not meet search criteria. This review provides in-depth understanding and discussions into methods, restrictions, and inferences from respective research publications.

Accuracy evaluation of a new three-dimensional reproduction method of edentulous dental casts, and wax occlusion rims with jaw relation

The article introduces a new method for three-dimensional reproduction of edentulous dental casts,and wax occlusion rims with jaw relation by using a commercial high-speed line laser scanner and reverse engineering software and evaluates the method’s accuracy in vitro.The method comprises three main steps：（i）acquisition of the three-dimensional stereolithography data of maxillary and mandibular edentulous dental casts and wax occlusion rims;（ii）acquisition of the three-dimensional stereolithography data of jaw relations;and（iii）registration of these data with the reverse engineering software and completing reconstruction.To evaluate the accuracy of this method,dental casts and wax occlusion rims of 10 edentulous patients were used.The lengths of eight lines between common anatomic landmarks were measured directly on the casts and occlusion rims by using a vernier caliper and on the three-dimensional computerized images by using the software measurement tool.The direct data were considered as the true values.The paired-samples t-test was used for statistical analysis.The mean differences between the direct and the computerized measurements were mostly less than 0.04 mm and were not significant（P.0.05）.Statistical significance among 10 patients was assessed using one-way analysis of variance（P,0.05）.The result showed that the 10 patients were considered statistically no significant.Therefore,accurate three-dimensional reproduction of the edentulous dental casts,wax occlusion rims,and jaw relations was achieved.The proposed method enables the visualization of occlusion from different views and would help to meet the demand for the computer-aided design of removable complete dentures.

Identify Plant Drought Stress by 3D-Based Image

Plants respond to drought stress with different physical manners, such as morphology and color of leaves. Thus, plants can be considered as a sort of living-sensors for monitoring dynamic of soil water content or the stored water in plant body. Because of difficulty to identify the early wilting symptom of plants from the results in 2D （two-dimension） space, this paper presented a preliminary study with 3D （three-dimension）-based image, in which a laser scanner was used for achieving the morphological information of zucchini （Cucurbita pepo） leaves. Moreover, a leaf wilting index （DLWIF） was defined by fractal dimension. The experiment consisted of phase-1 for observing the temporal variation of DLWIF and phase-2 for the validation of this index. During the experiment, air temperature, luminous intensity, and volumetric soil water contents （VSWC） were simultaneously recorded over time. The results of both phases fitted the bisector （line： 1：1） with R2=0.903 and REMS=0.155. More significantly, the influence of VSWC with three levels （0.22, 0.30, and 0.36 cm3 cm-3） on the response of plant samples to drought stress was observed from separated traces of DLWIF. In brief, two conclusions have been made： （i） the laser scanner is an effective tool for the non-contact detection of morphological wilting of plants, and （ii） defined DLWIF can be a promising indicator for a category of plants like zucchini.

The importance of proleptic branch traits in biomass production of poplar in high-density plantations

Branch phenotypic traits determine tree crown architecture,which in turn governs leaf display,light interception,and biomass production.Sylleptic and proleptic branches are the obviously different branch phenotypes in the poplar crown.Many studies have focused on the influence of sylleptic branch numbers(SBN)on biomass production,but the research on the influence of proleptic branch phenotypes was only a few.To explore the relationship between proleptic branch traits and biomass generation production in a high-density poplar plantation,we investigated the branch phenotypic traits of three poplar genotypes,all of which have high survival rates in forests(>95%)and significantly different crown architecture and biomass performance in the high-density plantations(1667 stems ha−1).The plantation site was established in 2007.A terrestrial laser scanner was used to measure branch characteristics such as length,angle of origin and termination,and azi-muth angle.A hierarchical cluster analysis performed on branch characteristics showed that SBN,crown depth,and proleptic branch curvature(PBC)were clustered with bio-mass production and leaf area index(LAI).Among all of the monitored traits,PBC played the second most important role in biomass production after SBN and was significantly correlated with SBN,LAI,and biomass production.The positive correlation between PBC and SBN indicated that a larger PBC was associated with more sylleptic branches within the monitored genotypes planted in the high-density plantation,providing greater leaf area and biomass produc-tion.The results of this study will improve the identification of high-production poplar varieties for cultivation in high-density plantations for biofuel production.

Novel Real-Time Seam Tracking Algorithm Based on Vector Angle and Least Square Method

Real-time seam tracking can improve welding quality and enhance welding efficiency during the welding process in automobile manufacturing.However,the teaching-playing welding process,an off-line seam tracking method,is still dominant in automobile industry,which is less flexible when welding objects or situation change.A novel real-time algorithm consisting of seam detection and generation is proposed to track seam.Using captured 3D points,space vectors were created between two adjacent points along each laser line and then a vector angle based algorithm was developed to detect target points on the seam.Least square method was used to fit target points to a welding trajectory for seam tracking.Furthermore,the real-time seam tracking process was simulated in MATLAB/Simulink.The trend of joint angles vs.time was logged and a comparison between the off-line and the proposed seam tracking algorithm was conducted.Results show that the proposed real-time seam tracking algorithm can work in a real-time scenario and have high accuracy in welding point positioning.

Morphologic changes of simple star dunes during the growth process in Dunhuang,China

Star dune is one typical kind of aeolian geomorphology in global sand seas.It has attracted scholars in various research fields for years because of its unique morphologic features like Egyptian pyramid.The landform pattern of star dune is mainly dominated by factors such as regional wind regime,sand availability,and local topography.Star dunes grow vertically as they accumulate sand brought in from different directions;however,little is known regarding morphologic changes during this process.The stability of star dunes based on quantitative data is another unsolved question due to the limitation in measuring equipment or other factors.And whether the star dune can grow into star sand hills is another scientific problem which needs to be discussed.In this paper,the heightening development process and morphological changes of star dunes were monitored in Mingsha Mountain of Dunhuang with the 3D laser scanner.Results show that the star dunes in Mingsha Mountain were formed by a group of relatively steady winds,which were northwest,northeast and south winds.With the increase of the height of the star dunes,the morphological parameters of the dune,such as the volume and bottom area,did not show regular changes.The surface erosion of both Dune 1 and Dune 2 during the observation period was closely related to the regional wind conditions.During the growth of the star dunes,the overall trend of the dunes was relatively steady and the dune shape maintained its stability although the aspect and slope of the sand dunes changed,indicating that the stability of star dune was not complete and was dynamic.Moreover,the variation range of the dune slope was proportional to the volume change of the dune.

Angle measurement technology based on magnetization vector for narrow space applications

With the wide application of laser in the field of skin plastic surgery, micro laser galvanometer scanner has made great progress in this field with its portability. However, the measurement method used to measure the deflection angle of laser galvanometer in the narrow space of scanner with high precision remains to be studied. In this paper, an angle measurement method based on magnetic field is proposed, and the effect of the shapes of permanent magnets(PMs) on the measurement is studied by theoretical and experimental study under the condition that the maximum available space for the PMs is a 10 mm side cube. An angle measuring experimental device is set up, and the contrast experiment is carried out with different PMs which are the same as simulation. The experimental results show that cylindrical PM is more suitable than other PMs, which is consistent with the simulation results, and the maximum nonlinearity error is 0.562%. This method has the advantages of small volume,non-contact measurement, small moment of inertia, good dynamic response and no external excitation for the PMs, so it has a broad application prospect in micro laser galvanometer scanner.

Towards Autonomous Vehicles with Advanced Sensor Solutions

Professional truck drivers are an essential part of transportation in keeping the global economy alive and commercial products moving. In order to increase productivity and improve safety, an increasing amount of automation is implemented in modern trucks. Transition to automated heavy good vehicles is intended to make trucks accident-free and, on the other hand, more comfortable to drive. This motivates the automotive industry to bring more embedded ICT into their vehicles in the future. An avenue towards autonomous vehicles requires robust environmental perception and driver monitoring technologies to be introduced. This is the main motivation behind the DESERVE project. This is the study of sensor technology trials in order to minimize blind spots around the truck and, on the other hand, keep the driver’s vigilance at a sufficiently high level. The outcomes are two innovative truck demonstrations: one R & D study for bringing equipment to production in the future and one implementation to the driver training vehicle. The earlier experiments include both driver monitoring technology which works at a 60% - 80% accuracy level and environment perception (stereo and thermal cameras) whose performance rates are 70% - 100%. The results are not sufficient for autonomous vehicles, but are a step forward, since they are in-line even if moved from the lab to real automotive implementations.

The Experiment and Design of Confocal Laser Scanner for Biochip

In this article ,we chiefly discuss optical part and photoelectrical part, and analyze the result data to make out the relationship between pinhole and special resolution and the influence of PMT on the result data.

Concept Study of a Self-localization System for Snow-covered Roads Using a Four-layer Laser Scanner

Many advanced driver assistance systems have entered the market,and automated driving technologies have been developed.Many of them may not work in adverse weather conditions.A forward-looking camera,for example,is the most popular system used for lane detection but does not work for a snow-covered road.The present paper proposes a self-localization system for snowy roads when the roadsides are covered with snow.The system employs a four-layer laser scanner and onboard sensors and uses only pre-existing roadside snow poles provided for drivers in a snowy region without any other road infrastructure.Because the landscape greatly changes in a short time during a snowstorm and snow removal works,it is necessary to restrict the landmarks used for self-localization to tall objects,like snow poles.A system incorporating this technology will support a driver’s efforts to keep to a lane even in a heavy snowstorm.

The first scientific plan of the MosqueCathedral of Cordoba:Graphic and dimensional analysis of an oil painting from 1741

This research analyzes the earliest located floor plan of the Mosque-Cathedral of Cordoba,an anonymous oil painting in 1741,which has not been studied so far.The objective is to know the dimensional accuracy of the most relevant architectural forms drawn,considering the elements referenced in their legend and the graphic symbols used,to assess their documentary interest.It has also been compared with two important plans of the MosqueCathedral drawn in 1767 and 1868.The first task was a photogrammetric survey of the oil painting has been carried out.Subsequently,some data has been measured in the monument using a 3D scanner.The orthophoto of the oil painting has been overlapped to the digital model to verify its metric accuracy in a selection of points.For the first time,the legend and labels included in the oil painting have been transcribed.This precise graphic document contains reliable abundant data for future research about the transformations and restorations of a monument that is part of the UNESCO World Heritage List.The oil painting dating from 1741 can be considered as the first scientific plan of the Mosque-Cathedral of Cordoba,and as an outstanding architectural survey of eighteenth-century Europe.