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Nowadays, the research in the fields of conservation and restoration is focusing on recording large amounts of data and information in order to obtain highly accurate surveys that include most details of constructions. Documenting and surveying are fundamental activities in achieving the successful preservation of cultural heritage, but also in implementing efficient strengthening interventions of structures. The applications of methods and techniques that link the disciplines of geometrical surveys and structural analyses are still fragmented, and further research is necessary to fully transfer site information into structural models. In this article, the authors propose a methodology with which to link different restoration fields, with the aim of highlighting the strengths and weaknesses of the interoperability between surveys (carried out through detailed restitution from point clouds), heritage building information modeling (HBIM), and structural analyses to connect three different disciplines. The goal is to find a synthesis model that brings together historical and geometric characteristics, but also physical–mechanical properties, for a structural evaluation through a finite element model (FEM). The case study of the Escuela José Mariano Méndez is analyzed, an extremely damaged historical adobe building in Santa Ana, the second largest city of El Salvador; it is considered fundamental to the national economy, particularly after the “coffee boom” in the late 1800s. The site, located near the historic center, is also known as “Antigua Escuela de Artes y Oficios” and embodies the architectural traditions of the region, being built in adobe and stone. Roma Tre University and the Secretaría de Cultura de la Presidencia (SECULTURA) are partners in this research project to document and restore the historical and cultural value of this site. more...

[EN] This study, which is part of the project for the restoration of the pictorial set that Antonio Palomino painted on the vault of the central nave of the Church of the Santos Juanes in the city of Valencia (Spain), describes the complete geometric study for the digital restitution of these paintings, after their partial destruction in a fire caused during the Spanish Civil War.Two analogic black and white photographs taken before the fire (1920), will be the key to the reha-bilitation of these valuable paintings. 3D modelling with laser scanning systems of the vault provides the geometry with precision and a high level of detail of the surface on which the paintings were carried out, in addition to the structural elements that make up the architecture of the temple.The solution proposed approaches a new methodology for the digital reconstruction of the rectified image and its subsequent georeferencing, as well as the entire environment to determine the correct location of the artistic work. Today, digital or virtual restoration is considered a very useful technique for the restoration of old photographs, but it is also an excellent opportunity to develop possible solutions in restoration of paintings and frescoes.This paper describes the initial process of transferring the paintings of this Spanish artist, from a photographic image of the original frescoes (2D) to the irregular surface and volume (3D) of the current cover of this Valencian Royal Parish, through a restoration of the mural set.(c) 2022 Consiglio Nazionale delle Ricerche (CNR). Published by Elsevier Masson SAS. All rights reserved. more...

Precision viticulture employs various sensors for assessing nondestructively key parameters in vineyards. One of the most promising technologies for this purpose is the laser scanner sensor. Laser scanner uses the LiDAR (Light Detection And Ranging) method for the calculation of the distance from the sensor. However, the number of cultivation operations affects the credibility of sensors such as the laser scanner. The main aim of this study was to assess a laser scanner sensor at different measurement settings for estimating pruning wood parameters on two wine grape cultivars (Sauvignon Blanc and Syrah) that received different numbers of farming interventions. The experiment was conducted in the two vineyards situated in the same farm for two successive years (2014 and 2015). The results indicated that the use of a laser scanner in the Syrah vineyard presented more accurate results (r = 0.966 in 2014 and r = 0.806 in 2015) when compared to the Sauvignon Blanc one (r = 0.839 in 2014 and r = 0.607 in 2015) regarding pruning wood parameters estimation. Different measurement settings and weather conditions had different effects on the accuracy of the sensor. It can be concluded that the laser scanner is a very helpful sensor for estimating pruning wood parameters in vineyards. more...

One of the most significant issues in Cultural Heritage is the management of ancient buildings to monitor their state of conservation or to plan actions in their maintenance; this issue can be now approached thanks to the use of the Scan-to-BIM process. This method allows the creation of parametric models into a BIM environment, which are capable of enhancing the geometrical representation of building elements and integrating different types of data.This paper shows the results of the research activities carried out by the Department of Engineering at University of Palermo (Italy) on applying the Scan-to-BIM approach to the survey and the modelling of an ancient Arab-Norman church in Palermo. This activity was motivated by a renewed interest from the local Administration towards the Arab-Norman Cultural Heritage in the city, since other more famous coeval monuments were included in the UNESCO World Heritage Sites list in 2015. The morpho-typological style of the church has been spotlighted by a high-detailed 3D laser scanner and photogrammetric survey. The aim of the modelling phase was to obtain a parametric model which was suit to render the peculiarity of this building at its best. Extensive knowledge about historical building techniques has been needed in order to model all the architectural elements. The results of this study allowed to obtain a HBIM of an Arab-Norman building and to reveal the weaknesses affecting the whole workflow; these were mainly due to the approach chosen for the modelling of the most particular architectural elements. more...

The ambon by Giovanni Pisano in the church of Sant'Andrea in Pistoia (Italy) consists of a hexagonal platform raised on slender columns standing on bases and sculptures with different heights. In the 17th century, it was disassembled and placed in a different location and, also for this reason, is currently in an endangered condition. As part of a multi-disciplinary programme of investigations and monitoring, a 3D survey was requested. The challenging aspect of the survey is related with the material of the work of art, as it is completely made of different kinds of white and red marbles. These materials are translucent and light diffuses through them, so the laser beam scatters beyond the surface and biases measurements in an unpredictable way. Tests were carried out, comparing two scanners with different characteristics and digital photogrammetry. The results show significant differences between the three technologies, identify the best solution in relation to the desired objectives, and highlight how different acquisition techniques affect the suitability of models for subsequent applications. more...

[EN] In January 2020, Giravolt was officially launched, a program for the dissemination of 3D technologies in the cultural heritage sector in Catalonia. The initiative comes jointly from the Agency and the General Directorate of Cultural Heritage, after an analysis in 2018 of the technologies with a growing impact on the sector and the verification that 3D was in a phase of growing adoption in other sectors. The program aims to improve the use of these technologies in the cultural heritage sector, the understanding of their usefulness in the different phases of the heritage workflow, and their application by managers and institutions autonomously in the coming years. The program is divided into four axes: Creation and maintenance of a digital corpus. Through different calls, Giravolt scans museum objects, archaeological spaces or architectural monuments. With more than 300 models as of September 2022, and more than 100K visits, this collection of 3D models aims to be a selection of heritage in Catalonia, especially highlighting its diversity, both thematically, geographically and chronologically. Link with the professional sector. Different actions aim to connect professionals in the sector to these technologies, different training days have been scheduled throughout the territory, specialized 3D captures have been launched for research projects, for example in Paleolithic engravings, rock art paintings, reconstructions of Iberian monuments or documentation of Roman and Renaissance monuments. A particularly important action has been the publication of a guide to good practices and protocol for the sector. Link with the educational sector. An activity called #despertaelpatrimoni (awaken heritage) has been created that allows schools and institutes to scan their local heritage in 3D themselves with their smartphones and publish it on the Internet. Dissemination to different audiences. This section includes everything from 3D printing actions to create accessibility activities, to multimedia presentations in collaboration with contemporary artists or Virtual Reality pilot projects., [ES] En enero de 2020 se puso en marcha oficialmente Giravolt, un programa de difusión de las tecnologías 3D en el sector del patrimonio cultural en Catalunya. La iniciativa parte conjuntamente de la Agència y la Direcció General del Patrimoni Cultural, tras un análisis en 2018 de las tecnologías con un impacto creciente en el sector y la constatación que las tecnologías 3D se encontraban en una fase de adopción creciente en muchos otros sectores. El programa pretende fomentar la utilización de estas tecnologías en el sector del patrimonio, la comprensión de su utilidad en las diferentes fases de la cadena de trabajo, y su aplicación por los gestores e instituciones de forma autónoma en los próximos años.El programa se divide en cuatro ejes:· Creación y mantenimiento de un corpus digital. A través de diferentes convocatorias, Giravolt escanea objetos de museo, espacios arqueológicos o monumentos arquitectónicos. Con más de 300 modelos a Septiembre de 2022, y más de 100.000 visitas, esta colección de modelos 3D pretende ser una selección del patrimonio cultural en Catalunya, destacando especialmente su diversidad, tanto temática, como geográfica y cronológica.· Vinculación con el sector profesional. Diferentes acciones pretenden conectar a los profesionales del sector a estas tecnologías, se han programado diferentes jornadas de formación por todo el territorio, se han puesto en marcha capturas 3D especializadas para proyectos de investigación, por ejemplo, en grabados paleolíticos, pinturas rupestres, reconstrucciones de monumentos ibéricos o documentación de monumentos romanos y renacentistas. Una acción especialmente importante ha sido la publicación de una guía de buenas prácticas y protocolo para el sector.· Vinculación con el sector educativo. Además de participar en formaciones universitarias, se ha creado una actividad llamada #despertaelpatrimoni (despierta el patrimonio) que permite a escuelas e institutos escanear por sí mismos en 3D con sus teléfonos el patrimonio de su localidad y publicarlo en Internet.· Difusión a los diferentes públicos. A este epígrafe corresponden desde acciones de impresión 3D para crear actividades de accesibilidad, hasta presentaciones multimedia en colaboración con artistas contemporáneos, o la puesta en marcha de proyectos pilotos de realidad virtual. more...

[ES] Los ocho siglos de dominio de la cultura islámica en la Península Ibérica motivaron la proliferación de un extenso patrimonio cultural, arquitectónico y artístico. En este contexto, nació el arte mudéjar como una fusión de estilos dada la convivencia entre distintas culturas. Siendo las torres alminares-mudéjares aragonesas el fiel reflejo de este tipo de arquitectura, éstas constituyen el objeto de estudio del presente trabajo. En este sentido, el marco geográfico de la tesis abarca el territorio de la antigua Marca Superior de Al-Andalus, que incluye los valles de los ríos Ebro, Jalón, Jiloca y afluentes, como centros neurálgicos de la esencia del mudéjar (con sus torres como máximo exponente). La inquietud por investigar acerca de la evolución histórico-constructiva de dichas torres nace de su peculiar arquitectura, producto de la síntesis entre Oriente y Occidente. Asimismo, la escasa presencia de documentación de la época unida a los estudios que se han venido realizando hasta el momento, genera todavía una serie de carencias en el conocimiento de dichas torres, especialmente en lo referente a su origen. Por tanto, resulta conveniente abordar dichas necesidades aportando un nuevo enfoque al estudio de su evolución histórico-constructiva. Para ello, se establece una metodología de levantamiento digital (específica para elementos con tipología de torre), mediante la aplicación de las técnicas de fotogrametría y escáner láser, como herramientas de apoyo a la lectura de sus fábricas. El gran potencial a nivel gráfico que ofrecen los resultados obtenidos (modelos tridimensionales hiperrealistas texturizados, con alta precisión geométrica y muy buena definición), permite profundizar en el conocimiento de estas torres. Dichos resultados de la investigación, resultan eficaces y cuentan con el rigor científico adecuado para la posterior formulación de una hipótesis sobre el alminar original, del que procede la torre objeto de estudio, y que se podría extrapolar al resto de torres., [CA] Els huit segles de domini de la cultura islàmica en la Península Ibèrica van motivar la proliferació d'un extens patrimoni cultural, arquitectònic i artístic. En aquest context, va nàixer l'art mudèjar com una fusió d'estils donada la convivència entre diferents cultures. Sent les torres minarets-mudèjars aragoneses el fidel reflex d'aquesta mena d'arquitectura, aquestes constitueixen l'objecte d'estudi del present treball. En aquest sentit, el marc geogràfic de la tesi comprén el territori de l'antiga Marca Superior d'Al-Andalus, que inclou les valls dels rius Ebro, Jalón, Jiloca i afluents, com a centres neuràlgics de l'essència del mudèjar (amb les seues torres com a màxim exponent). La inquietud per investigar sobre l'evolució històric-constructiva d'aquestes torres naix de la seua peculiar arquitectura, producte de la síntesi entre Orient i Occident. Així mateix, l'escassa presència de documentació de l'època unida als estudis que s'han realitzat fins al moment, genera encara una sèrie de mancances en el coneixement d'aquestes torres, especialment referent al seu origen. Per tant, resulta convenient abordar aquestes necessitats aportant un nou enfocament a l'estudi de la seua evolució històric-constructiva. Per a això, s'estableix una metodologia d'alçament digital (específica per a elements amb tipologia de torre), mitjançant l'aplicació de les tècniques de fotogrametria i escàner làser, com a eines de suport a la lectura de les seues fàbriques. El gran potencial a nivell gràfic que ofereixen els resultats obtinguts (models tridimensionals hiperrealistes texturizados, amb alta precisió geomètrica i molt bona definició), permet aprofundir en el coneixement d'aquestes torres. Aquests resultats de la investigació, resulten eficaces i compten amb el rigor científic adequat per a la posterior formulació d'una hipòtesi sobre el minaret original, del qual procedeix la torre objecte d'estudi, i que es podria extrapolar a la resta de torres., [EN] The eight centuries of Islamic culture in Iberian Peninsula led to the proliferation of an extensive cultural, architectural and artistic heritage. In this context, Mudejar art was born as a fusion of styles due to the coexistence of different cultures. Aragonese minaret-Mudejar towers are a faithful reflection of this type of architecture, and are the object of study of this work. In this sense, thesis' geographical framework covers the territory of ancient Marca Superior of Al-Andalus, which includes the river valleys of Ebro, Jalón, Jiloca and tributaries, as nerve centres of the essence of Mudejar architecture (with its towers as its maximum exponent). The interest in researching the historical-constructive evolution of these towers stems from their peculiar architecture, a product of the synthesis between East and West. Likewise, the scarce documentation of that period, together with different studies that have been carried out up to now, still generate a series of deficiencies in the knowledge of these towers, especially with regard to their origin. It is therefore advisable to address these needs by providing a new approach to the study of their historical-constructive evolution. For this purpose, a digital survey methodology is established (specifically for tower typology elements), using photogrammetry (SfM) and laser scanner techniques as tools to support the reading of their walls. A great graphic potential offered by the results obtained (reality-based 3D models, with high geometric precision and optimal definition), allows us to deepen our knowledge of these towers. These research results are effective and have an appropriate scientific rigour for the subsequent formulation of a hypothesis about the original minaret, from which the tower under study originates, and which could be extrapolated to the rest of the towers. more...

Rice (Oryza Sativa L.) is the main food source in Malaysia. Thus, to fulfill the needs, continuous rice production is required. Appropriate amount of nitrogen (N) fertilizer is needed to ensure high production of rice. In this research, the effect of N to plant height, SPAD reading, biomass and yield were firstly studied. It was later followed by the estimation of biomass and yield using Terrestrial Laser Scanning (TLS) data. Different amount of N i.e. 0 kg/ha, 85 kg/ha, 170 kg/ha and 250 kg/ha were applied to MR 219 and MR 220 paddy. The 2-way ANOVA results showed that all parameters were significantly different at each N level. The highest reading was achieved at 250 kg/ha of N level; 70.46 cm (plant height), 39.13 (SPAD reading), 927.29 g/m2 (biomass) and 830.99 g/m2 (grain yield) respectively. Therefore, these parameters can be used to indicate the level of input nitrogen at the plant. Later, the plant height calculated using developed Crop Surface Model (CSM) of the Terrestrial Laser Scanning (TLS) data was used to evaluate the biomass and grain yield of paddy. Results has shown that high correlations and regression were accomplished for CSM plant height and biomass (R2 = 0.809). However, the results between CSM plant height and grain were lower (R2 = 0.582). In accordance with the outcome, biomass and yield were best estimated at 94 Day After Sowing (DAS). An estimation model for biomass and grain yield using linear equation was developed. Then a t-test was done to test the estimated and measured biomass and grain yield. The outcome showed that there was no significance difference between measured and estimated values. The values for both parameters were 1 (p≥0.05). Thus, it can be said that CSM plant height can be used to estimate biomass and grain yield. more...

Currently in Transylvania there are over 600 castles, considered monuments belonging to the world or national heritage. Some of them have disappeared, some are in an advanced degradation, the vast majority being in different stages of degradation, but recoverable, through very expensive investments. The first condition for them to start a program of recovery and put them again in the tourist and cultural circuit is to know exactly the state in which they are, to evaluate the costs. The development of geomatics technologies now allows for the high fidelity assessment of this aspect. These included Global Navigation Satellite System (GNSS) - Total Stations + Levels precision, terrestrial and aerial photogrammetry, laser scanners with fixed stations, for each presenting technical data and products analyzed sequentially and corroborated-complementary. The purpose of the entire action was to establish a Workflow as dedicated as possible to the requests of the specialists involved in such projects, architects, builders, restorers, historians, cultural people, etc. The paper can highlight a model of good practices in this field, the researches continuing, by consulting the beneficiaries of products from the range offered through these activities. more...

Diverse origami techniques and various selections of paper open new possibilities to create micromachines. By folding paper, this article proposes an original approach to build laser scanners, which manipulate optical beams precisely and realize valuable applications, including laser marking, cutting, engraving, and displaying. A prototype has been designed, implemented, actuated, and controlled. The experimental results demonstrate that the angular stroke, repeatability, full scale settling time, and resonant frequency are 20°, 0.849 m°, 330 ms, 68 Hz, respectively. Its durability, more than 35 million cycles, shows the potential to carry out serious tasks. more...

In medicine, tridimensional scanning devices produce digital surfaces that replicate the bodies of patients, facilitating anthropometric measurement and limb volume quantification in pathological conditions. Free programs that address this task are not commonly found, with doctors mainly relying on proprietary software. This aspect brings reduced reproducibility of studies and evaluation of alternative measures. A software package made up of three programs has been developed and released together with supporting materials to enhance reproducibility and comparisons between medical centers. In this article, the functions of the programs and steps for volume assessment were introduced together with a pilot study for upper limb volume quantification. This initial experiment aimed to also verify the performance of digital volumes derived from the convex-hull gift-wrapping algorithm and the alternative analysis methods enclosed in the software. Few of these digital volumes are parameter-dependent, requiring a value selection. The experiment was conducted on a small mixed-gender group of young adults without correction for factors like arm dominance or specific physical training. In the sample under investigation, the analysis confirmed the substantial agreement between the clinical and current configurations of digital volumes produced by the package (R2 interval from 0.93 to 0.97, r ranged from 0.965 to 0.984); in addition, as a general consideration, gender appears as a variable that could influence upper limb volume quantification if a single model is built. more...

In this chapter, a collaborative work between stereo and a laser scanning system is presented in order to obtain an enriched matrix of rectangular coordinates of elements in a scene using SAD for stereovision and real-time dynamic triangulation in ROS as processing algorithms. Dense data volume and precise depth estimation are the complementary parameters for enrichment and the main reasons for taking these systems to work together on applications as robot navigation, structural health, and body scanning. This combination improves weak points of each separate system, thanks to the use of output data of each technique for calibration and control of the other technique, making it redundant when data confirmation is required and increasing of data volume. Systems link is done through ROIs and known relative position between cameras and ROS positioner and aperture, achieving a collaborative work even when there is displacement. For future work, sensors comparison and motor control optimization is expected for scanning time reduction. more...

Il video mapping, noto anche come mappatura di proiezione, è una tecnica visiva che utilizza qualsiasi tipo di superficie (dagli oggetti alle facciate di edifici) per proiettare contenuti visivi basati su animazioni e filmati, creando illusioni ottiche. I suoi fondamenti storici hanno radici profonde, anche se il suo utilizzo, nell’attuale forma, avviene solo a partire dal XXI secolo. Le fasi del processo tecnico del video mapping sono molto chiare e la tecnica fonda il suo successo sulla possibilità di acquisire preliminarmente la geometria dello spazio oggetto della proiezione, grazie a metodi di rilevamento laser scanner ad alta precisione. Attraverso l’uso di sofisticate tecnologie nel campo dei software di animazione e di mappatura, così come in quello dei dispositivi per la proiezione, e grazie al controllo sapiente della luce, è possibile dare origine a effetti di grande impatto visivo, soprattutto quando l’oggetto della proiezione è l’architettura. Il paper intende concentrarsi proprio sull’adozione del video mapping in architettura, sottolineando come la riproduzione fedele della realtà, e quindi il rilevamento corretto dell’edificio, siano necessari per ottenere un’alterazione percettiva d’effetto. more...

Si le relevé manuel reste l’outil le plus souvent pertinent dans le cadre de l’étude de la sculpture, les archéologues ont recours, depuis peu, à de nouvelles technologies comme la photogrammétrie, la lasergrammétrie ou la RTI (Reflectance Transformation Imaging). Les nuages de points générés constituent de véritables empreintes numériques dont on peut extraire des coupes, des profils ou des orthophotographies. Il est possible de restituer des parties disparues des sculptures et de réaliser des assemblages, souvent impossibles à mettre en œuvre autrement. Le modèle virtuel permet également de tester les hypothèses. Nous étudierons donc, à travers différents exemples issus, pour la plupart, de nos propres travaux, les avantages et les inconvénients de ces nouveaux relevés numériques. Although manual surveying is still the most relevant tool for the study of sculpture, archaeologists have recently started using new technologies such as photogrammetry, lasergrammetry and reflectance transformation imaging (RTI). The scatter charts generated constitute digital prints from which cross-sections, profiles and orthophotographs may be extracted. It is possible to restore missing parts of the sculptures and to create assemblages that are often impossible to implement otherwise. The virtual model also makes it possible to test hypotheses. We will thus study the advantages and disadvantages of these new digital surveys using various examples, most of which come from our own work. more...

Geomorphological survey and mapping of the emerged and submerged coastal areas, particularly addressed to evaluate sea cliff instability within the assessment of coastal hazard and risk mitigation measures, require high resolution and georeferenced spatial data. Remote sensing techniques fully satisfy these needs and allow to obtain all information in a single short-lived survey campaign. An integrated survey by means of laser scanner and multibeam techniques coupled with aerial photos interpretation has been experienced along the rocky coast of the Gallinara Island (Western Liguria, Italy). The small extent of Gallinara, together with its particular meteo-marine climate conditions, makes the island a noteworthy case study. Multibeam and laser scanner technologies allowed to reconstruct the submerged and emerged rocky coast at high resolution. The accuracy of the 3D surface reconstructed by means of laser scanner used in profiler mode was tested and validated, by comparing with the static laser scanner survey method. The resulting data allowed to obtain significant geological and geomorphological information leading to the definition of rocky cliff stability conditions. more...

In connection to the vast archaeological area of Sofiana, which is still periodically subjected to excavation campaigns, the investigated thermal complex represents the first emersion that occurred in the 1950s and testifies to all the limits of a premature methodological acquisition of both the documentation for cognition as well as the interventions of detection and restoration. This zone, considered by archaeologists as a concluded episode, was used by us as a test bench for a method of investigation from which to start again in order to supply missing information. We set aside all the information acquired over time with other traditional and innovative tools and visions and used a more accurate dimensional geometric survey with a laser scanner, a typological analysis confronted with similar experiences, and a constructive technical study enriched with diagnostic investigations, to provide new data to be collected and processed. Thus, a geographic information system (GIS) platform was chosen as an information technology (IT) tool to contain direct information and data processing. The outcomes of ArcheoGIS were used to derive the initial answers to the questions we asked ourselves, namely, how can the constantly evolving knowledge of this archaeological find be spread and what path can be taken to propose philological restorations of the portions of Sofiana to which a correct virtual disassembly is feasible? more...

The S. Nicolo l’Arena Exedra in Catania was built up in 1722 in front of the homonymous Monastery. The facade is composed by natural and artificial stones: Syracuse stone for portals and windows frames, lava stone for the basement and a reddish plaster for plane surfaces, typical materials of the Catania historic buildings. Its color is due to the introduction of the so-called “ghiara” in the finishing mixture. A multi-technique study is here presented: after the obtainment of a detailed surveying of the building surface through the integration of 3D laser scanner and digital photogrammetry techniques, FTIR-ATR, Raman and XRD analysis were carried out to characterize structures, materials and their alteration products. more...

Magnetoencephalography (MEG) can non-invasively measure the electromagnetic activity of the brain. A new type of MEG, on-scalp MEG, has attracted the attention of researchers recently. Compared to the conventional SQUID-MEG, on-scalp MEG constructed with optically pumped magnetometers is wearable and has a high signal-to-noise ratio. While the co-registration between MEG and magnetic resonance imaging (MRI) significantly influences the source localization accuracy, co-registration error requires assessment, and quantification. Recent studies have evaluated the co-registration error of on-scalp MEG mainly based on the surface fit error or the repeatability error of different measurements, which do not reflect the true co-registration error. In this study, a three-dimensional-printed reference phantom was constructed to provide the ground truth of MEG sensor locations and orientations relative to MRI. The co-registration performances of commonly used three devices—electromagnetic digitization system, structured-light scanner, and laser scanner—were compared and quantified by the indices of final co-registration errors in the reference phantom and human experiments. Furthermore, the influence of the co-registration error on the performance of source localization was analyzed via simulations. The laser scanner had the best co-registration accuracy (rotation error of 0.23° and translation error of 0.76 mm based on the phantom experiment), whereas the structured-light scanner had the best cost performance. The results of this study provide recommendations and precautions for researchers regarding selecting and using an appropriate device for the co-registration of on-scalp MEG and MRI. more...

Point cloud registration is necessary to join multiple laser scanned data, but researchers have not treated point cloud registration in aircraft assembly in much detail. When applying laser scan metrology into industries, the effects of registration uncertainty on high precision assembly accuracy are not negligible. Based on the use of laser scanner and commercial software PolyWorks, this study investigates the registration uncertainty between part-level and assembly-level point cloud data in aircraft wing assembly. A spar-and-skin assembly with sphere artefacts is used as a case study. Registration uncertainty in gap measurement is also investigated. Results show that: (1) the use of sphere artefacts cannot improve registration accuracy in PolyWorks, but can improve efficiency. (2) Registration process could bring errors and these errors would be affected by the parameters settings during data processing. (3) Systematic errors would be associated with both part-level and assembly-level measurements, and calibration should be applied to eliminate their effects on the measurement of the desired dimensions, i.e. the gap size in this case. It is concluded that laser scanner and computational software can be used for high precision assembly, and evaluating registration uncertainty is a crucial step to improve assembly accuracy. more...

In this study, glass fiber reinforced composite layers which are with and without additives of 0.1 wt.% multi walled carbon nanotubes (MWCNTs) of epoxy were manufactured by vacuum infusion method. Unlike the conventional methods, punching was used in processing and drilling of these materials. The 62 - 64 HRC hard punches made of 1.3343 material with specially designed 90 degrees, 30 degrees, 15 degrees, V, C profiles were used for punching of composites. Additionally, made of 1.2379 material with 62 - 64 HRC hardness, the mold with 0.05, 0.01 and 0.16 mm clearance values was used. Fujifilm prescale and chatillon load cell were used for force measurement that showed the pressure applied by punches with different cutting profiles. Hole diameter, delamination and burring were analyzed by 3d laser scanner. In test values with mold's 0.05 mm clearance, no burr was observed. The cutting surface of MWCNTs doped composite materials was found to be cleaner and material strength was higher. more...

In recent decades, the rapid development of intelligent vehicle and 3D scanning tecnologies has led to a growing interest in applications based on 3D point data processing, with many applications such as augmented reality or robot manipulation and obstacle avoidance, scene understanding, robot navigation, tracking and assistive technology among others, requiring an accurate solution for the 3D pose of the recognized objects. Thus object recognition is becoming an important topic in computer vision, where machine vision and robotics techniques are becoming key players. In this thesis work, the main objective is to develop a semantic mapping method by integrating a 3D object recognition pipeline with a feature-based SLAM system, in order to assist autonomous underwater interventions in the near future. To this end, the work proposed in this paper targets three axes. First, it aims to compare the performance of 3D global descriptors within the state of the art, focusing on those based on point clouds and targeted at real-time object recognition applications. For this purpose, we selected a set of test objects representative of Inspection, Maintenance and Repair (IMR) applications and whose shape is usually known a priori. Their CAD models were used to: 1) create a data base of synthetic object views used as a priori knowledge, and 2) simulate the point clouds that would be gathered during the scanning under realistic conditions, with added noise and varying resolution. Extensive experiments were performed with both virtual scans and real data collected with an AUV equipped with a fast laser scanner developed at our research centre. The second goal of our work was to use a real-time laser scanner mounted on an AUV to detect, identify, and locate objects in the robot’s environment, with the aim of allowing an intervention Autonomous Underwater Vehicle (I-AUV) to know what manipulation actions could be performed on each object. This goal was tackled by the design and development of a 3D object recognition method for uncolored point clouds (laser scans) using point features. The algorithm uses a database of partial views of the objects stored as point clouds. The recognition pipeline includes 5 stages: 1) Plane segmentation, 2) Pipe detection, 3) Semantic Object-segmentation, 4) Feature-based Object Recognition and 5) Bayesian estimation. To apply Bayesian estimation, it is necessary to track objects across scans. For this purpose, the Inter-distance Joint Compatibility Branch and Bound (IJCBB) data association algorithm was proposed based on the distances between objects. The performance of the method was tested using a dataset of the inspection of a pipe infrastructure made of PVC objects connected by pipes. The structure is representative of those commonly used by the offshore industry. Experimental results show that Bayesian estimation improves the recognition performance with respect to the case where only the descriptor is used. The inclusion of semantic information about object pipe connectivity further improves recognition performance. The final goal of the thesis, consists of integrating the 3D object recognition system with a feature-based SLAM system to implement a semantic map providing the robot with information about the location and the type of objects in its surroundings. The SLAM improved both the accuracy and reliability of pose estimates of the robot and the objects. This is especially important in challenging scenarios where significant changes in viewpoint and appearance arise A les darreres dècades, el ràpid desenvolupament de vehicles intel·ligents i de les tecnologies d’escaneig 3D han contribuït a augmentar l’interès en les aplicacions basades en processament de núvols de punts 3D, amb aplicacions com la realitat augmentada, la manipulació robòtica, l’evasió d’obstacles, la comprensió d’escenes, la navegació robòtica, el seguiment d’objectes i la tecnologia d’assistència, etc., que requereixen una soluci´o precisa de la posició 3D i l’orientació d’un objecte. Per tant, el reconeixement d’objectes s’està convertint en un tema, on la visió per computador i les tècniques robòtiques esdevenen protagonistes clau. En aquest treball de tesi, l’objectiu principal és desenvolupar un mètode per a la construcció de mapes semàntic mitjançant la integració d’una cadena de processament per al reconeixement d’objectes 3D, amb un sistema de SLAM basat en característiques, amb l’objectiu d’ajudar a les futures intervencions submarines. Per això, el treball proposat en aquesta tesi es divideix en tres eixos principals. El primer té com a objectiu comparar el rendiment de descriptors globals d’última generació, centrant-se en els basats en núvols de punts 3D i destinats a aplicacions de reconeixement d’objectes en temps real. Per a aquest objectiu, s’ha seleccionat un conjunt d’objectes de prova representatius d’aplicacions d’inspecció, manteniment i reparació (IMR), la forma dels quals es coneix a priori. Els seus models CAD s’han utilitzat per a: 1) crear una base de dades amb les vistes sintètiques dels objectes, i 2) simular els núvols de punts que adquiriria, en condicions realistes, un escàner làser incloent soroll sintètic i simulant diferents resolucions. S’han dut a terme experiments tant a partir d’escaneigs virtuals com de dades reals recopilades amb un AUV equipat amb un escàner làser de temps real desenvolupat al nostre centre de recerca. El segon objectiu del nostre treball va consistir en utilitzar aquest escàner làser, muntat a un AUV per detectar, reconèixer i localitzar objectes a l’entorn del robot, per tal de permetre, a un Vehicle Submarí Autònoms d’Intervenció (IAUV), saber quines accions de manipulació podria fer amb cada objecte. Aquest objectiu es va abordar amb el disseny i el desenvolupament d’un mètode de reconeixement d’objectes 3D en núvols de punts incolors (escanejos làser) utilitzant descriptors dels punts 3D. L’algorisme utilitza una base de dades de vistes parcials dels objectes emmagatzemats en forma de núvols de punts. El procés de reconeixement consta de 5 passos: 1) Segmentació de plànols, 2) Detecció de canonades, 3) Segmentació semàntica d’objectes, 4) Reconeixement d’objectes a partir dels descriptors de punts 3D i 5) Estimació bayesiana. Per aplicar l’estimació bayesiana, cal ser capaços de fer un seguiment dels objectes en escanejos successius. Per fer-ho, s’ha proposat l’algorisme Inter-distance Joint-Compatibility Branch and Bound (IJCBB) d’associació de dades basada en les distancies entre objectes dins del núvol de punts. El rendiment del mètode es va avaluar fent servir dades experimentals relatives a la inspecció d’una infraestructura composta de canonades interconnectades per objectes de PVC. L’estructura ´es representativa de les comunament utilitzades per la indústria offshore. Els resultats experimentals mostren que l’estimació bayesiana millora el rendiment del reconeixement en comparació de l’ús ´únic del descriptor. La inclusió d’informació semàntica sobre la connectivitat d’objectes a canonades millora encara més el rendiment del reconeixement. L’objectiu final de la tesi va abordar la integració del sistema de reconeixement d’objectes 3D basat en descriptors amb un sistema de SLAM basat en característiques, per implementar un mapa semàntic que proporciona al robot informació sobre la ubicació i el tipus d’objectes a l’entorn. La utilització de tècniques de SLAM ha millorat la precisió i la fiabilitat de les estimacions de la postura del robot i els objectes. Això és especialment important en escenaris difícils on es produeixen canvis significatius de perspectiva i aparença more...

RESUMEN: El presente Trabajo Fin de Máster busca analizar si es viable aplicar la información radiométrica obtenida a partir de la captura mediante un láser escáner de diferentes muestras de roca ornamental, para llevar una caracterización de las mismas. Se debe de tener en cuenta que el parámetro empleado para la caracterización será la reflectancia no corregida o intensidad, valor que registra el dispositivo al llevar a cabo la captura. Se define la reflectancia como la cantidad de intensidad devuelta en relación a la intensidad de haz del láser emitido, tras producirse la incidencia sobre la superficie objeto del estudio. Para llevar a cabo el contraste objeto de análisis del presente trabajo, se han diseñado una serie de experimentos destinados a contrastar si un empleo automático resulta viable, en base a la variación de parámetros tales como la distancia de captura o la incidencia del ángulo de rayo láser sobre la superficie. El experimento se ha llevado a cabo en relación a dos etapas fundamentales e independientes, la primera de ellas busca justificar si es posible mediante herramientas estadísticas (U de Mann Whitney) la identificación univoca de las muestras coincidentes captadas con diferentes ángulos y distancias. La segunda fase ha consistido en el análisis de la posible ausencia suficiente de solapamientos entre los intervalos que comprenden las huellas de las diferentes muestras que se han considerado, con objeto de poder proponer valores para una segmentación automática de las nubes de puntos (diagramas de Box and Whiskers). Una vez se ha diseñado el experimento, y seleccionado las herramientas para contrastar la hipótesis fundamental del presente estudio, la viabilidad de aplicar la reflectancia no corregida para la caracterización automática de muestras de piedra natural, se han llevado a cabo los análisis, basados en la comparación por pares mediante la U de Mann Whitney (método idóneo dada la no normalidad de las distribuciones de las diferentes muestras, conforme a lo determinado mediante la prueba previamente realizada de Kolmogorov-Smirnov), y la representación simultánea de los diagramas de Box and Whiskers de las diferentes muestras, agrupadas conforme a los criterios requeridos para llevar a cabo los contrastes. Al margen de las pruebas desarrolladas, se ha llevado a cabo una introducción sobre aspectos relativos a la luz y su caracterización, la óptica, así como sus acontecimientos históricos más reseñables. Este análisis ha prestado especial interés al láser y sus diversas tipologías, haciendo una descripción detallada del láser escáner, dispositivo empleado para la captura, y aludiendo a sus elementos fundamentales: distanciómetro y unidad deflectora. Se han descrito igualmente algunas de las múltiples aplicaciones que tiene este tipo de equipos. Dada la aplicación que se busca contrastar en el presente trabajo, se ha llevado a cabo un breve análisis del sector de la roca ornamental en España, atendiendo a las principales zonas de producción. Se ha aludido igualmente a algunas de las principales características en base a las que evaluar la idoneidad de una determinada roca para poder ser considerada como ornamental. El experimento se ha llevado a cabo tomando las siguientes cinco muestras de piedra: Crema Pejanda, Piedra Arenisca de Aguilar, Rosalina, Marrón Belmonte y Percaro. A partir de estas cinco muestras, se capturaron lo datos mediante el laser escáner el cual se ha estacionado en dos bases, siendo a 5 y 10 metros respectivamente. En cada uno de los estacionamientos mencionados, se capturaron 35 escaneos válidos. Con objeto de poder contar con datos para el contraste a una distancia intermedia entre las anteriores, se optó por realizar un tercer escaneo a 7,5 metros, si bien dichas nubes no fueron requeridas. Una vez se han obtenido los datos, estos fueron tratados con el software de uso libre PSPP, como herramienta para analizar los estadísticos de Kolmogorov-Smirnov (enfocada al análisis de la normalidad de las muestras, con objeto de determinar qué prueba resultaría más idónea para la primera etapa del estudio), la U de Mann-Whitney y el diagrama de Box and Whiskers. Tras la evaluación de las dos metodologías, ambas desprendieron resultados negativos. La primera de ellas se basó en un contraste a través de la U de Mann-Whitney, destinado a evaluar la posibilidad de proponer una huella radiométrica basada en la reflectancia no corregida, que permita determinar la coincidencia de las muestras con independencia de ángulo y distancia. A pesar de la identificación de muestras no coincidentes en base a la reflectancia, el método no es capaz de identificar muestras idénticas ante variaciones de ángulos y distancias. En cuanto al segundo análisis, en base a diagramas de Box and Whiskers, tampoco ha resultado valido dados los notables solapamientos entre muestras no coincidentes para ángulos y distancias iguales, y la variabilidad de los valores extremos de los bigotes y de los cuartiles significativos. Todo ello lleva a desestimar la posible aplicación de la intensidad o reflectancia no corregida para la identificación automática de piedra natural en las condiciones expuestas. Puede considerarse que los principales aportes del presente trabajo son la propuesta metodológica, y los resultados del propio análisis, que justifican la no aptitud del parámetro no corregido. ABSTRACT: This Master's Thesis aims to analyze whether it is feasible to apply the radiometric information obtained from the capture by a laser scanner of different samples of ornamental rock, to carry out a characterization of them. It must be taken into account that the parameter used for the characterization will be the uncorrected reflectance or intensity, value recorded by the device when the capture is carried out. Reflectance is defined as the amount of intensity returned in relation to the intensity of the emitted laser beam, after the incidence on the surface under study. In order to carry out the contrast object of analysis of the present work, a series of experiments have been designed to contrast if an automatic use is feasible, based on the variation of parameters such as the capture distance or the incidence of the laser beam angle on the surface. The experiment has been carried out in relation to two fundamental and independent stages, the first one aims to justify if it is possible by means of statistical tools (Mann Whitney U) the univocal identification of the coincident samples captured at different angles and distances. The second phase consisted in the analysis of the possible absence of sufficient overlaps between the intervals comprising the traces of the different samples considered, in order to be able to propose values for an automatic segmentation of the point clouds (Box and Whiskers diagrams). Once the experiment has been designed, and the tools have been selected to test the fundamental hypothesis of this study, the feasibility of applying uncorrected reflectance for the automatic characterization of natural stone samples, the analyses have been carried out, based on the pairwise comparison by means of the Mann Whitney U test (suitable method given the non-normality of the distributions of the different samples, as determined by the previously performed Kolmogorov-Smirnov test), and the simultaneous representation of the Box and Whiskers diagrams of the different samples, grouped according to the criteria required to carry out the contrasts. In addition to the tests developed, an introduction has been made on aspects related to light and its characterization, optics, as well as its most important historical events. This analysis has paid special attention to the laser and its various types, with a detailed description of the laser scanner, the device used for capture, and alluding to its fundamental elements: distance meter and deflector unit. Some of the multiple applications of this type of equipment have also been described. Given the application to be contrasted in this work, a brief analysis of the ornamental rock sector in Spain has been carried out, attending to the main production areas. Some of the main characteristics on the basis of which to evaluate the suitability of a particular rock to be considered as ornamental have also been mentioned. The experiment was carried out by taking the following five stone samples: Crema Pejanda, Piedra Arenisca de Aguilar, Rosalina, Marrón Belmonte and Percaro. From these five samples, the data was captured by means of the laser scanner which has been stationed at two bases, at 5 and 10 meters respectively. In each of the parking lots mentioned above, 35 valid scans were captured. In order to be able to have data for contrast at an intermediate distance between the previous ones, a third scan at 7.5 meters was chosen, although these clouds were not required. Once the data were obtained, they were processed with the free software PSPP, as a tool for analyzing the Kolmogorov-Smirnov statistics (focused on the analysis of the normality of the samples, in order to determine which test would be more suitable for the first stage of the study), the Mann-Whitney U and the Box and Whiskers diagram. After evaluation of the two methodologies, both yielded negative results. The first one was based on a Mann-Whitney U test, aimed at evaluating the possibility of proposing a radiometric fingerprint based on uncorrected reflectance, which allows determining the coincidence of the samples independently of angle and distance. Despite the identification of mismatched samples based on reflectance, the method is not able to identify identical samples in the presence of angle and distance variations. As for the second analysis, based on Box and Whiskers plots, it has not been valid either, given the significant overlaps between mismatched samples for equal angles and distances, and the variability of the extreme values of the whiskers and of the significant quartiles. All this leads to dismiss the possible application of the intensity or uncorrected reflectance for the automatic identification of natural stone under the exposed conditions. It can be considered that the main contributions of the present work are the methodological proposal and the results of the analysis itself, which justify the unsuitability of the uncorrected parameter. Máster en Ingeniería de Minas more...

This dissertation focuses on the Eems-Dollard estuary in the north of the Netherlands and contributes to the MVED (’Meerjarige Veldmetingen Eems-Dollard’) field measurement project in the area. The Eems-Dollard estuary is part of the Wadden Sea, a shallow shelf sea with barrier islands, deep tidal channels, shallow tidal flats and wetlands. The Eems-Dollard estuary is even more complex than theWadden Sea, because of the deep channels, which run close to the dikes, and the very shallow flats, as well as the funnel shape, which can lead to very high water levels during storms. A particular aspect for this area is that the dike design conditions consist of an offshore-directed wind and very obliquely incident waves, up to 80° relative to the dike normal. Almost no studies have been performed on the estuary and almost no measurements were available inside the estuary.This dissertation considers two main knowledge gaps, related to the modelling of wave propagation effects and measuring of (very) oblique wave run-up and overtopping, in a complex estuary. First, the performance of the SWAN wave model in predicting the wave conditions in a highly complex area, such as the Eems-Dollard estuary, has not been assessed before. Second, knowledge on and (field) measurements of the extra parameters (such as front velocities) necessary for the cumulative overload method are still scarce. This method considers the overtopping and erosion of the dike cover explicitly. Added to this, the few available (lab) investigations on wave run-up and overtopping during (very) oblique wave attack have not yet led to clear conclusions or guidelines. Therefore, the aim of this dissertation is to gain more insight into the uncertainties related to wave propagation processes and (very) oblique wave run-up and overtopping, which are important for the extreme wave loads on the dikes around the Eems-Dollard estuary. more...

El presente proyecto de fin de grado se encuentra orientado al levantamiento arquitectónico y al análisis gráfico de la Plaza de Toros de la localidad de Espartinas, municipio de la provincia de Sevilla. En agosto de 2002 fue visado por el Colegio de Arquitectos de Sevilla el Proyecto Básico y de Ejecución de lo que debía haber sido el Auditorio-Plaza de Toros de Espartinas. En octubre de ese mismo año se decide un cambio de ubicación de la plaza por la disponibilidad de nuevos y más adecuados terrenos referidos en el plan parcial (CU-5) por lo que se decide realizar un reformado al proyecto básico existente. En marzo de 2003 se iniciaron las obras de construcción y 2 años más tardes se inaugura el 19 de marzo de 2005 con una corrida de toros lidiada por los famosos toreros Espartaco, Rivera Ordoñez y Morante de la Puebla. Años más tarde, la plaza de toros que tanta incertidumbre y tiempo demoró queda abandonada en 2014.Hoy en día resulta un ruedo inacabado ya que solo se realizó lo que se pretendió llamar en un primer momento como “primera fase”. Me dispongo a realizar un levantamiento arquitectónico de la plaza de toros y sus elementos singulares con tecnología BIM/CAD, mediante un escaneado previo del edificio, como toma de datos in situ, así como la utilización de varios softwares gráficos de registro y manipulación de nubes de puntos. Para este levantamiento se han tenido en cuenta parcialmente los planos del primer proyecto proporcionados por el Ayuntamiento de Espartinas. En este trabajo, se han utilizado metodologías de última generación como es el escáner BLK 360 de la casa Leica, el cual me ha facilitado el Departamento de Expresión Gráfica e Ingeniería en la Edificación. A través de esta nueva tecnología se ha obtenido la nube de puntos, la cual nos ha permitido realizar la planimetría completa del edifico. Siendo un punto de gran interés la portada de la fachada principal. Finalmente, se ha elaborado una documentación gráfica y volumétrica, que podría ser usada para futuras líneas de investigación y que puede ser facilitada al Ayuntamiento de Espartinas como información para posteriores intervenciones de gestión en dicho recinto. This Final Degree Project is oriented to an architectural survey and analysis of the Espartinas Bullring, a municipality in the city of Seville.In August 2002, the Basic Project, of which later would be the Auditorium Bullring of Espartinas, was approved by the Architects College of Seville. In October of the same year, the Council decided to change the location of the bullring due to the availability of a new and more suitable land referred to in the partial plan (CU-5). This decision carried out a reform of the existing BasicProject.In March 2003, the works began, and the bullring was inaugurated on March 19, 2005, by the famous bullfighters Espartaco, Rivera Ordoñez and Morante de la Puebla. Years later, the bullring, which took so much time and uncertainty to build, was abandoned in 2014. Nowadays, it remains as an unfinished building as the project only reached the “primera fase”. I proceed to make an architectural survey of the bullring with BIM/CAD technology, by means of a previous scan of the building such as an on-sitedata collection. Additionally, various graphic software and point cloud manipulation have been used. For this survey, the documents of the first project provided by the Espartinas´s Council have been partially considered.In this project, new and innovative methodologies have been adapted, such as the BLK 360 scanner from Leica, provided by the Department of Graphic Expression and Engineering in Building. Through this new technology, the point cloud has been obtained, which has allowed us to carry out the completed planimetry. Being “La Portada” an interesting point. Finally, graphic and volumetric documentation has been elaborated, which can be used for future lines of research, and which may be provided to the City Council of Espartinas as information for subsequent interventions in mentioned enclosure. Universidad de Sevilla. Grado en Edificación more...

This paper proposes a 3D object recognition method for non-coloured point clouds using point features. The method is intended for application scenarios such as Inspection, Maintenance and Repair (IMR) of industrial sub-sea structures composed of pipes and connecting objects (such as valves, elbows and R-Tee connectors). The recognition algorithm uses a database of partial views of the objects, stored as point clouds, which is available a priori. The recognition pipeline has 5 stages: (1) Plane segmentation, (2) Pipe detection, (3) Semantic Object-segmentation and detection, (4) Feature based Object Recognition and (5) Bayesian estimation. To apply the Bayesian estimation, an object tracking method based on a new Interdistance Joint Compatibility Branch and Bound (IJCBB) algorithm is proposed. The paper studies the recognition performance depending on: (1) the point feature descriptor used, (2) the use (or not) of Bayesian estimation and (3) the inclusion of semantic information about the objects connections. The methods are tested using an experimental dataset containing laser scans and Autonomous Underwater Vehicle (AUV) navigation data. The best results are obtained using the Clustered Viewpoint Feature Histogram (CVFH) descriptor, achieving recognition rates of 51.2%, 68.6% and 90%, respectively, clearly showing the advantages of using the Bayesian estimation (18% increase) and the inclusion of semantic information (21% further increase). more...

El uso del sistema BIM nos permite realizar un modelo virtual de la reconstrucción y levantamiento del patrimonio arquitectónico, proporcionando un conocimiento científico del sistema constructivo, características físicas de sus elementos, evolución histórica, y patologías detectadas, garantizando la operatividad de tal información por las múltiples disciplinas involucradas en la tarea de Rehabilitación y Conservación del Patrimonio. Por lo que consideramos HBIM (Historical Building Information Modeling) un recurso satisfactorio y prometedor para la preservación de edificio históricos. No obstante, su aplicación continúa siendo escasa y modestamente aplicada por aquellos responsables dela conservación, fundamentalmente por las dificultades que requiere el modelado tridimensional y la ausencia de patrones y referencias en lo a la compartición y relación de datos respecta. El empleo de tecnologías de levantamiento tridimensional como la fotogrametría y la técnica de escaneado láser, captura con nivel de detalle las características geométricas dela superficie del patrimonio existente, para producir un levantamiento texturizado 3D de gran calidad que nos facilitará un análisis más efectivo del patrimonio arquitectónico. En este proyecto aplicaremos la metodología HBIM en el caso de la Iglesia Santa Ana de Carmona, edificio con estilo mudéjar originario que se encuentra en estado de restauración, constituyendo un proyecto de intervención apoyado en un modelo información del edificio patrimonial. The use of the BIM system allows us to make a virtual model of the reconstruction and survey of the architectural heritage, providing scientific knowledge of the construction system, physical characteristics of its elements, historical evolution, and pathologies detected, thus guaranteeing the operability of such information by the multiple disciplines involved in the task of Heritage Rehabilitation and Conservation. We therefore consider HBIM (Historical Building Information Modelling) a satisfactory and promising resource for the preservation of historic buildings. However, its application continues to be scarce and modestly applied by those responsible for conservation, mainly due to the difficulties required by three-dimensional modelling and the absence of patterns and references interms of data sharing and relationship. The use of three-dimensional survey technologies such as photogrammetry and laser scanning technique, captures in detail the geometric characteristics of the existing heritage surface, to produce a high quality 3D textured survey that will facilitate a more effective analysis of the architectural heritage. In this project we will apply the HBIM methodology in the case of the Santa Ana Church in Carmona, a building in the original Mudejar style that is undergoing restoration, constituting an intervention project supported by an information model of the heritage. Universidad de Sevilla. Grado en Edificación more...

[EN] Every study related to Heritage, whatever its nature, finds an essential bases for its development on the documentation. This field, with different methods and techniques depending on the goal (research, administration, preservation, didactics, diffusion…), must be exhaustive and also absolutely thorough with preservation criteria. Rock Art is an exceptional and singular type of heritage attending to different aspects. The difficulty on its documentation points out a lack an accepted global and homogeneous regulation. In this paper we focus on a proposal of a integral documentation system applied to a large number of cases of study, both Palaeolithic and post-Palaeolithic, that we have carried out from research projects but attending to different purposes taking into account, as a key guideline, the preservation and protection of the sites., [ES] Todo estudio relacionado con el Patrimonio, sea cual sea la naturaleza de éste, encuentra en la documentación una de las bases esenciales para su correcto desarrollo. Esa documentación, que puede encontrar diferentes métodos y técnicas en función del objetivo (investigación, administración, conservación, didáctica, difusión…), ha de ser lo más exhaustiva posible pero siempre atendiendo a parámetros y criterios de conservación. El arte rupestre es un bien patrimonial excepcional y singular por múltiples aspectos y presenta dificultades en su documentación que determinan una falta de normativa homogénea y globalmente aceptada. En este trabajo abordamos la propuesta de un sistema de documentación integral e integrador aplicado en numerosos ejemplos, tanto paleolíticos como postpaleolíticos, que hemos llevado a cabo desde la investigación pero siempre atendiendo a diversos propósitos teniendo en cuenta, como un elemento básico, la conservación y protección de los conjuntos rupestres., El presente trabajo se enmarca en la línea de estudio y documentación integral de arte rupestre del Proyecto MINECO HAR2017-85023-P y del Grupo de Investigación Primeros Pobladores y Patrimonio Arqueológico (H14-17R) (Gobierno de Aragón y Fondo Social Europeo). more...

[EN] In the last 20 years the field of cultural heritage has experienced a revolution in terms of documentation methods. The latest technological advances in laser scanners and photogrammetry have opened the possibility of documenting in three dimensions all types of monuments and sites regardless of their size or complexity. In this revolution fortified spaces have not been an exception. Hundreds of research teams around the world have developed 3D digitization projects of castles and fortresses. However, the overall impact of these projects has been very limited, partly due to the lack of collaboration and partly due to the inability of citizens to freely access the data. Currently, the research team of the US non-profit entity Global Digital Heritage is working on the massive digitization of fortifications in Spain, regardless of their chronology or size. In this context, work has been done on digitizing the prehistoric fortified site of Motilla del Azuer in Daimiel, the Iberian oppidum of Cerro de las Cabezas in Valdepeñas, the fortified Islamic city of Calatrava La Vieja in Carrión de Calatrava, the medieval Christian castle of Calatrava La Nueva in Aldea del Rey, the medieval-Renaissance castle of Los Vélez in Mula, the watchtower of Cope in Águilas or the machine-gun bunker of the Spanish Civil War in Alhama de Murcia, to name just a few examples. more...

Laser scanners are widely used in mobile robotics localization systems but, despite the enormous potential of its use, their high price tag is a major drawback, mainly for hobbyist and educational robotics practitioners that usually have a reduced budget. The Neato XV-11 Laser Scanner is a very low cost alternative, when compared with the current available laser scanners, being this fact the main motivation for its use. The modeling of a hacked Neato XV-11 Laser Scanner allows to provide valuable information that can promote the development of better designs of robot localization systems based on this sensor. This paper presents, as an example, the performance enhancement of a Neato XV-11 Laser Scanner applied to mobile robot self-localization, being used as case study the Perfect Match Algorithm applied to the Robot@Factory competition. This work has been supported by FCT - Fundação para a Ciência e Tecnologia with in the Project Scope: UIDB/05757/2020 info:eu-repo/semantics/publishedVersion more...

The manouver ability from one place to another in order to accomplish some tasks safely is a basic requirement of mobile robotics. Current robotic’s navigation systems require a ’real world’ map data, acquired by on-board sensors, to carry out simultaneous localisation and navigation (SLAM) algorithm. There are several SLAM algorithms. In this article we used SLAM gmapping using robot operating system (ROS) and laser scanner. The gmapping slam algorithm used particle filter method to localize robot pose within the environment and generate 2D occupancy grid map. The map is in gray-scale informed the free space, wall, and unexplored space. The implementation of gmapping slam conducted with turtlebot 3 from Robotics as well as 3D simulation using gazebo. more...

This paper addresses reading failures of a barcode scanner interfered by light emitting diode (LED) lamps. It quantifies the reading performance in terms of timing signal-to-interference ratio (TSIR), in particular, as a function of modulation depth and frequency of the interference from modulated LED lighting. At the decision variable, the interference typically generated in the LED driver by a switched mode power supply (SMPS) is neither additive nor Gaussian. It has frequencies up to several MHz that can seriously affect the barcode reading performance. To calculate the signal and interference power for TSIR, the laser scanner physical channels are analyzed, including the laser beam path and the LED interference path. Since barcode scanners usually use peak or edge detection, the reading reliability is subject to the first and second derivatives of the LED inference, respectively. We validate the proposed TSIR for predicting scanner reading performance by experiments. For instance, we found that typical scanners reach a specified sensitivity at a TSIR value of around 50. We further investigate the reading performance under multi-frequency interference, e.g., interference from the harmonics of the SMPS control signal. In general, this paper presents a simple, yet realistic model to quantify the reading performance in terms of TSIR for barcode scanner subject to single-frequency LED interference, and it proposes an empirically verified flicker interference metric (FIM) for multi-frequency interference. more...

The “Sacra Tharrhica Project” was started by the University of Bologna in cooperation with the University of Cagliari in 2017. The aim is to obtain a 3D virtual reconstruction of all temple structures of the Punic settlement of Tharros on the central west coast of Sardinia, starting from a systematic architectural and archaeological study of the Punic and Roman phases of the buildings. The project has firstly focused on the “Monumental Temple” or “Doric half-columns Temple”. This Punic sacred area was probably monumentalized between the late 4th and 3rd centuries B.C. After the Roman conquest, it was rebuilt between the 1st century B.C. and the 1st century A.D. more...

The barrel vault is a widespread typology in the cultural heritage buildings; consequently, the study of its structural response is a crucial goal as necessary for the design of interventions on such structures which have a high social interest. However, these vaults are characterized by a complex structural behavior due to several uncertainties which could significantly influence their response. To overcome these problems, the experimental campaign is the most reliable procedure which may characterize both the static and the dynamic behavior of such structures. Thus, as the knowledge of the behavior of the vault is a fundamental aspect to guarantee its preservation and the stability of the whole building, here experimental and numerical analyses are performed on a barrel vault with the aim of showing possible routine. In detail, as the main applications will be on cultural heritage buildings, only non-destructive or moderately destructive experimental tests have been considered, both under static and dynamic actions, and have been carried out on a barrel vault realized in accordance with the “rules of art”. The adopted techniques are discussed with reference to their advantages and limits. Moreover, the acquired data have been utilized to check and validate a numerical model. more...

Intensive development of the Starobinsk deposit is related with formation of salt tailings piles which are annually increasing and they have already reached the height of 120–150 m, their volume constitutes 1.5 billion tons and their area is equal up to »3000 ha. Such situation leads to activation of geodynamic processes, salting of soil and underground water. For this reason study of salt tailings piles with the help of up-to-date geodetic technologies is considered as the most efficient methods for environmental protection. Geodetic innovation technologies for study of salt tailings relief include the following: creation of plan and height control along relief perimeter and route of equipment motion within salt tailings pile with the help GPS-system; experimental study of salt tailings relief while using an electronic tacheometer with reflectorless regime; import of total station coordinates in software package LISCAD Plus where simulation of salt tailings is formed; study of digital salt tailings simulation and its interpretation. More accurate study of salt tailings is carried out by laser scanning while using scanner Leica ScanStation C10. Operations from several stations are executed with the purpose to obtain data on salt tailings and these operations provide their complete survey. Results of the survey are loaded into a computer; the data is compiled together and so a digital simulation of salt tailings is obtained. An advantage of laser scanning is complete automation and due to this accuracy is increased significantly and time required for the survey is reduced. Such approach makes it possible to increase efficiency in various measures directed on improvement of environmental conditions. more...

Digital survey techniques are well established in the cultural and archaeological heritage fields and they have been used by us to document, study and promote knowledge on ancient ships and wooden boats. In this paper, we want to show four case studies with different peculiarity on which digital techniques have been applied: (1) ‘Comacchio sewn boat’, discovered in a land excavation site. (2) ‘Ercolano boat’, restored and exposed in a museum. (3) ‘Trabaccolo Nuovo Trionfo’, historical carriage boat of High-Adriatic sea. (4) Wooden scaled model of ‘brick Cygne’. These represent a peculiar application, complicated by the specific nature of the material of the boats, due to the structural stability and the shape of the wood that could be compromised in an aerobic environment. The archaeologists have the responsibility to employ a fast documentation, but with the correct precision and accuracy for the nominal scale of the survey; the use of digital imaging and survey techniques supports the researchers, such as video and photograph recording, multi-image photogrammetry and laser scanning, and the subsequent elaboration of a virtual 3D model of the real surveyed artefact. This allows scrupulous study of ancient naval construction from both a scientific and disseminative point of view to take place, permitting to increase the knowledge and perception by the general public of this important archaeological and historical heritage. more...

The new geomatics techniques have the aim of responding to the needs of damage documentation, risk assessment and providing support for managing and sharing data in emergency and danger conditions. The paper describes the experience of a group of researchers in geomatics and construction techniques at the Iuav University of Venice following the Emilia earthquake, when on 20th and 29th of May 2012, two powerful earthquakes struck northern Italy. The epicentres were recorded respectively in Finale Emilia (magnitude 5.9 Ml) and Medolla (magnitude 5.8 Ml) in the province of Modena, though the earthquake was formed by a series of seismic shakes located in the district of the Emilian Po Valley, mainly in the provinces of Modena, Ferrara, Mantova, Reggio Emilia, Bologna and Rovigo. An immediate documentation was necessary to shoring up and protect the damaged structures before any restoration and reconstruction intervention. Many monuments in the city of Mantova were hit by the earthquake and, among these, Palazzo Ducale with the well-known Castello di San Giorgio which host the noteworthy “Camera degli Sposi”. This building, the most famous of the city, was so damaged that it was closed for more than 1 year after the earthquake. Immediately after the earthquake, the Soprintendenza per i Beni Architettonici e Paesaggistici of Brescia, Cremona and Mantova establish an agreement with the University Iuav of Venice, requiring an analysis and assessment of the damage in order to proceed with the development of an intervention project. This activity turned out to be very important not only from the point of view of the recovery of the architectural and artistic heritage but also because the city’s economy is based primarily on tourism. The closure of one of the most important monuments of Mantova has led to a significant and alarming decline in the government income. more...

Point clouds are a very detailed and accurate vector data model of 3D geographic information. In contrast to other data models, no standard has been defined for visualization and management of point clouds based on levels of detail (LOD). This paper proposes the application of the concept of LODs to point clouds and defines the LOD0 for point cloud classification (the lowest possible level of detail) as urban and non-urban. A methodology based on the use of machine learning techniques is developed to perform LOD0 classification to airborne LiDAR data. Point clouds acquired with airborne laser scanner (ALS) are structured in grid maps and geometric features related with Z distribution and roughness are extracted from each cell. Six machine learning classifiers have been trained with datasets including urban (cities) and non-urban samples (farmlands and forests). The influence of grid size, point density, number of features and classifier type are analysed in detail. The classifiers have been tested in three case studies. The best results correspond to a grid size of 100 m and the use of 12 geometric features. The accuracy is around 90% in all tests and Cohen’s Kappa index reaches 81% in the best of cases. Ministerio de Economia, Industria y Competitividad -Gobierno de España 10.13039/501100010198 | Ref. RTC-2016-5257-7 Ministerio de Economia, Industria y Competitividad -Gobierno de España 10.13039/501100010198 | Ref. TIN2016-77158-C4-2-R Dirección General de Tráfico (Spanish Ministry of Interior) | Ref. SPIP2017-02122 Universidade de Vigo 10.13039/501100006761 | Ref. 00VI 131H 641.02 Xunta de Galicia 10.13039/501100010801 | Ref. ED431C 2016-038 Xunta de Galicia 10.13039/501100010801 | Ref. ED481B 2016/079-0 more...

The work described in the paper emphasizes the importance of integrating imagery and laser scanner techniques (TLS) to optimize the geometry and visual quality of Heritage BIM. The fusion-based workflow was approached during the recording of Zee Ain Historical Village in Saudi Arabia. The village is a unique example of traditional human settlements, and represents a complex natural and cultural heritage site. The proposed workflow divides data integration into two levels. At the basic level, UAV photogrammetry with enhanced mobility and visibility is used to map the ragged terrain and supplement TLS point data in upper and unaccusable building zones where shadow data originated. The merging of point clouds ensures that the building’s overall geometry is correctly rebuilt and that data interpretation is improved during HBIM digitization. In addition to the correct geometry, texture mapping is particularly important in the area of cultural heritage. Constructing a realistic texture remains a challenge in HBIM; because the standard texture and materials provided in BIM libraries do not allow for reliable representation of heritage structures, mapping and sharing information are not always truthful. Thereby, at the second level, the workflow proposed true orthophoto texturing method for HBIM models by combining close-range imagery and laser data. True orthophotos have uniform scale that depicts all objects in their respective planimetric positions, providing reliable and realistic mapping. The process begins with the development of a Digital Surface Model (DSM) by sampling TLS 3D points in a regular grid, with each cell uniquely associated with a model point. Then each DSM cell is projected in the corresponding perspective imagery in order to map the relevant spectral information. The methods allow for flexible data fusion and image capture using either a TLS-installed camera or a separate camera at the optimal time and viewpoint for radiometric data. The developed workflows demonstrated adequate results in terms of complete and realistic textured HBIM, allowing for a better understanding of the complex heritage structures. more...

This study compares the dimension measurements results obtained for two parts that had convex and concave parabolic profiles. Three different measurement systems were employed for measurements: coordinate measuring machine (CMM), 3D laser and 3D photometric scanners. It was found using Student’s t – test that results obtained by CMM measuring system are statistically significantly (p < 0.001) more accurate than results obtained by means of 3D laser and 3D photometric scanners. It was also established that results obtained by means of 3D laser scanning system are statistically significantly more accurate (p < 0.05) than those obtained by means of 3D photometric scanning system. Santrauka Straipsnyje lyginami dviejų detalių matmenų matavimų rezultatai, gauti skirtingomis matavimo sistemomis: koordinatine matavimo mašina (KMM), 3D lazeriniu skeneriu ir 3D fotometriniu skeneriu. Buvo matuojamos iškilaus ir įgaubto paraboloidinio profilio detalės. Išanalizavus matavimo rezultatus gauta, kad KMM matavimo sistema gauti rezultatai pagal Stjudento t kriterijų (t-test) statistiškai reikšmingai (p < 0,001) tikslesni už rezultatus, gautus 3D lazeriniu ir fotometriniu skeneriais. Taip pat nustatyta, kad rezultatai, gauti 3D lazerine skenavimo sistema, yra statistiškai reikšmingai tikslesni (p < 0,05) už gautuosius 3D fotometrinio skenavimo sistema. Reikšminiai žodžiai:KMM, fotometrinis skeneris, lazerinis skeneris, 3D modelis. more...

The purpose of this work is to record the geometry of the medieval building of The Corral del Carbon, of Granada and then proceed to metrological and parameterization analysis of its dimensions. The survey was carried out using a 3D laser scanner complemented with photogrammetric models. The metrological premise is adapted so that any measure is composed with sides and diagonals of anthropometric square, which allows for reconstruction of traces of the building. In this case it is an almost regular grid design with the 182 cm Nazarí-2 metric Module as a repetitive square pattern, and which also adopts dynamic compositions in different representative elements. The curvature of the galleries is surprising, and also detected, were parts that had been added with different metrics. The results encourage the implementation of the anthropometric heritage studies, as a historical research phase, immediately after the recording of its geometry, and prior to eBIM modeling. Se registra la geometría del edificio medieval del Corral del Carbón de Granada para posteriormente proceder al análisis metrológico y parametrización de sus dimensiones. El levantamiento se ha realizado mediante escáner láser 3D complementado con modelos fotogramétricos. Se adopta la premisa metrológica de que toda medida se compone con lados y diagonales de cuadrado antropométrico, lo que permite reconstruir las aparentes trazas del edificio. Se trata de una cuadrícula casi regular con el módulo de métrica Nazarí 2 de 182 cm como patrón cuadrado repetitivo, pero que adopta composiciones dinámicas en distintos elementos. Sorprende la curvatura de las galerías, y se detectan partes añadidas con distinta métrica. Los resultados animan a implantar los estudios antropométricos del patrimonio como fase de investigación histórica inmediatamente posterior al registro de su geometría, y previa a la modelización eBIM. more...

В статье изложено ведение маркшейдерского мониторинга,с использованием современных лазерных сканеров, при ведении горно-добывающими предприятиями горных работ за границами отработки полезных ископаемых месторождения в трудных горно-технических условиях, являющейся основной проблемой, как создание безопасных условий труда работников., In this article is given the problems of the difficult mining-technical environments and their disadvantages of digging at the mining factories. Therefore there is given an information about ensuring of labor security in development of reserves beyond stocks a mountainous areas, to protect wealth witch is given by nature with using modern laser scanner in mine surveyor monitoring. more...

En el sismo de Lorca del 11 de mayo del 2011 se realizaron mediciones instrumentadas en determinados inmuebles del patrimonio cultural, consistentes tanto en el control tridimensional de los principales elementos arquitectónicos como en la instalación de fisurómetros y sensores para lectura de temperatura, humedad y punto de rocío. El análisis de los datos permitió conocer tendencias del movimiento, facilitando la toma de decisiones relativas a la estabilización estructural. Del análisis de las casuísticas generadas se pueden establecer líneas de trabajo futuras de optimización en la gestión de protección del patrimonio cultural, tanto en fase de emergencia como en la posterior restauración, mediante el escaneado láser de los diferentes elementos estructurales de los inmuebles afectados para la identificación y obtención de datos con rapidez y precisión. In the Lorca earthquake of May 11, 2011, instrumented measurements were made in certain properties of the cultural heritage, consisting of both the three-dimensional control of the main architectural elements and the installation of cracks and sensors to read temperature, humidity and point of Dew. The analysis of the data allowed us to know trends in the movement, facilitating decision-making regarding structural stabilization. From the analysis of the generated casuistry, future lines of work for optimization in the management of cultural heritage protection can be established, both in the emergency phase and in the subsequent restoration, through laser scanning of the different structural elements of the affected buildings for the identification and data collection with speed and precision. more...

This study presents a method of monitoring historic concrete and associated repairs. A case study of Boathouse 4, Portsmouth Historic Dockyard, UK is presented. Boathouse 4 is an iconic building within Portsmouth Historic Dockyard which was constructed during the 1930’s rearmament period. It was used during World War ll to construct the three-man midget X-Craft submarine. The building was restored and converted into a Boatbuilding Skills Training Centre in 2015. A field investigation was conducted to analyse the concrete damage and to monitor microscale changes to the surface of the original concrete and repairs over a period of three years. Three patches of concrete lying in the undercroft of the building, located in an intertidal zone were chosen to be monitored for material changes as part of an ongoing PhD research study. These areas were scanned three times at intervals of up to 9 months within three years using a NextEngine portable laser scanner to obtain high-resolution 3D images of the concrete surface so that gradual changes to the microtopography, appearance and texture of the concrete surface and associated repairs could be detected. The data was analysed and the results indicated slight topographic changes in the concrete surface as well as the colour of the cementitious repair materials. more...

Acquisition of 3D point cloud data (PCD) using a laser scanner and aligning it with a video frame is a new approach that is efficient for retrofitting comprehensive objects in heavy pipeline industrial facilities. This work contributes a generic framework for interactive retrofitting in a virtual environment and an unmanned aerial vehicle (UAV)-based sensory setup design to acquire PCD. The framework adopts a 4-in-1 alignment using a point cloud registration algorithm for a pre-processed PCD alignment with the partial PCD, and frame-by-frame registration method for video alignment. This work also proposes a virtual interactive retrofitting framework that uses pre-defined 3D computer-aided design models (CAD) with a customized graphical user interface (GUI) and visualization of a 4-in-1 aligned video scene from a UAV camera in a desktop environment. Trials were carried out using the proposed framework in a real environment at a water treatment facility. A qualitative and quantitative study was conducted to evaluate the performance of the proposed generic framework from participants by adopting the appropriate questionnaire and retrofitting task-oriented experiment. Overall, it was found that the proposed framework could be a solution for interactive 3D CAD model retrofitting on a combination of UAV sensory setup-acquired PCD and real-time video from the camera in heavy industrial facilities. more...

Laser scanning is widely used on 3D coordinates measuring systems, this paper focuses on some of the principal sources of uncertainties that exist on the implementation of a Laser Scanner based on dynamic triangulation and mainly on its passive element. By analyzing the processed signal on different environmental conditions and the issues by the instability of driving of a brushed DC motor, it is proposed the closed-loop control scheme to reduce these performance issues and further experimentation to demonstrate the results obtained with the proposed method. more...

Crop biomass is an important attribute to consider in relation to site-specific nitrogen (N) management as critical N levels in plants vary depending on crop biomass. Whilst LiDAR technology has been used extensively in small plot-based phenomics studies, large-scale crop scanning has not yet been reported for cereal crops. A LiDAR sensing system was implemented to map a commercial 64-ha wheat paddock to assess the spatial variability of crop biomass. A proximal active reflectance sensor providing spectral indices and estimates of crop height was used as a comparison for the LiDAR system. Plant samples were collected at targeted locations across the field for the assessment of relationships between sensed and measured crop parameters. The correlation between crop biomass and LiDAR-derived crop height was 0.79, which is similar to results reported for plot scanning studies and greatly superior to results obtained for the spectral sensor tested. The LiDAR mapping showed significant crop biomass variability across the field, with estimated values ranging between 460 and 1900 kg ha−1. The results are encouraging for the use of LiDAR technology for large-scale operations to support site-specific management. To promote such an approach, we encourage the development of an automated, on-the-go data processing capability and dedicated commercial LiDAR systems for field operation. more...

Forests are significant resources from an ecological, economic and social point of view. Their protection and management could greatly benefit from a complete knowledge of the shape and distribution of trees in forest stands. To this purpose, aerial surveys, especially through Airborne Laser Scanning (ALS), were carried out in the last years to acquire point clouds to be used in 3D models aimed at achieving an accurate description of tree crowns and terrain. However, airborne data acquisition is expensive and may provide poor results in case of dense foliage. Further, point cloud resolution is not very high, as models with a grid of 2-3 m are usually obtained. In order to implement more accurate 3D forest models, a feasible solution is the integration of point clouds obtained by aerial acquisition (ALS or photogrammetry) for the treetops and the terrain description, with information from terrestrial surveys. In this paper, we investigated the possible integration of point clouds obtained by Terrestrial Laser Scanner (TLS) with those collected by photogrammetric 3D models based on images captured by Unmanned Aerial Vehicle (UAV) in a test site located in northern Italy, with the aim of creating an accurate dataset of the forest site with high resolution and precision. The limits of ALS and TLS were bridged by aerial photogrammetry at low altitude (and vice versa). A 3D model of the study area was obtained with a resolution of 5 cm and a precision of 3 cm. Such model may be used in a wide range of applications in forestry studies, e.g., the reconstruction of 3D shapes of trees or the analysis of tree growth throught time. The implications of the use of such integrate approach as a support tool for decision-making in forest management are discussed. more...

Introduction: The assessment of dental displacement achieved by orthodontic procedures is important as it allows operators to verify their clinical treatment and provide adequate adjustments. Modern 3D image acquisition and elaboration systems may represent a valid method for the three-dimensional assessment of dental movement. A novel protocol for the 3D assessment of success of orthodontic therapy is proposed, based on registration of surfaces. Methdology: Pairs of casts of the upper dental arch, taken at two different time periods during the therapy, were chosen for three patients who underwent an orthodontic treatment. Dental casts were scanned by a 3D laser scanner: for each patient, the two 3D models were then registered according to the least distance at the area including palatal rugae. The chromatic map of changes within the dental arch and the RMS (Root Mean Square) point-to-point distance between the dental profiles from the two models were obtained, and compared with the same data from a control group including five adult individuals who did not undergo orthodontic therapy. Inter- and intra-observer errors were evaluated as well. Results: The novel procedure proved to be repeatable and gave a detailed description of those dental areas most affected by orthodontic therapy: RMS values seem to be related with the weight of dental modifications and are far higher than the same parameters computed in the control group. Conclusion: Further studies are needed in order to explore the possible correlation of RMS value with clinical parameters linked to the improvement of dental function and aesthetics due to orthodontic therapy. more...

The Magistrate building and the dungeons in it represent a significant part of the cultural heritage of the city of Pančevo. Dungeons walls are deteriorating due to moisture and engraved messages of the prisoners are disappearing. 3D scanners were applied to the record current situation. In addition to the high precision of laser scanning, this scanner also enables the creation of high-quality textures on 3D models. In this way, we provided a safe presentation of dungeons for the visitors of the museum. more...