Multi-Robot Collaborative Mapping with Integrated Point-Line Features for Visual SLAM.

Simultaneous Localization and Mapping (SLAM) enables mobile robots to autonomously perform localization and mapping tasks in unknown environments. Despite significant progress achieved by visual SLAM systems in ideal conditions, relying solely on a single robot and point features for mapping in large-scale indoor environments with weak-texture structures can affect mapping efficiency and accuracy. Therefore, this paper proposes a multi-robot collaborative mapping method based on point-line fusion to address this issue.

A Linear Regression Approach for Best Scanline Determination in the Object to Image Space Transformation Using Pushbroom Images.

The use of linear array pushbroom images presents a new challenge in photogrammetric applications when it comes to transforming object coordinates to image coordinates. To address this issue, the Best Scanline Search/Determination (BSS/BSD) field focuses on obtaining the Exterior Orientation Parameters (EOPs) of each individual scanline. Current solutions are often impractical for real-time tasks due to their high time requirements and complexities.

3D indoor area recognition for personnel security using integrated UWB and barometer approach.

Real-time location tracking is essential for personal security in industrial scenes, e.g. monitoring worker safety in power substations.

An in-vivo study on the effect of head orientation in the measurement of anthropometric points in stereophotogrammetry.

Background: It is well known that in bidimensional photography the orientation of the head is fundamental to obtain a correct reproduction of the subject. Even minimal errors in yaw, roll and pitch of the head can be cause of unreliability of the photography itself. This is not the case in three-dimensional photography in which head positioning may have no influence on the reliability of the results since on the computer the 3D reconstruction of the face can be oriented as desired, allowing any small errors to be corrected.

Characterizing Low-cost Registration for Photographic Images to Computed Tomography.

Mapping information from photographic images to volumetric medical imaging scans is essential for linking spaces with physical environments, such as in image-guided surgery. Current methods of accurate photographic image to computed tomography (CT) image mapping can be computationally intensive and/or require specialized hardware. For general purpose 3-D mapping of bulk specimens in histological processing, a cost-effective solution is necessary.

Investigations into the Geometric Calibration and Systematic Effects of a Micro-CT System.

Micro-Computed Tomography (µCT) systems are used for examining the internal structures of various objects, such as material samples, manufactured parts, and natural objects. Resolving fine details or performing accurate geometric measurements in the voxel data critically depends on the precise calibration of the µCT systems geometry. This paper presents a calibration method for µCT systems using projections of a calibration phantom, where the coordinates of the phantom are initially unknown.

Spatio-temporal Relationship between Three-Dimensional Deformations of a Collapsible Tube and the Downstream Flowfield.

The interactions between fluid flow and structural components of collapsible tubes are representative of those in several physiological systems. Although extensively studied, there exists a lack of characterization of the three-dimensionality in the structural deformations of the tube and its influence on the flow field. This experimental study investigates the spatio-temporal relationship between 3D tube geometry and the downstream flow field under conditions of fully open, closed, and slamming-type oscillating regimes.

Accuracy of geometric morphometrics for age estimation using frontal face photographs of children and adolescents: A promising method for forensic practice.

Age estimation is crucial in legal and humanitarian contexts. Forensic professionals may use various procedures to estimate age, including dental analysis, bone density tests, evaluation of physical characteristics including facial bone structure and development, and image-based methods. Although images are often the only material available, visual observation of photographic material is an imprecise method in age estimation, which can compromise judicial decision-making.

Applying 3D Models of Giant Salamanders to Explore Form-Function Relationships in Early Digit-Bearing Tetrapods.

Extant salamanders are used as modern analogs of early digit-bearing tetrapods due to general similarities in morphology and ecology, but the study species have been primarily terrestrial and relatively smaller when the earliest digit-bearing tetrapods were aquatic and an order of magnitude larger. Thus, we created a 3D computational model of underwater walking in extant Japanese giant salamanders (Andrias japonicus) using 3D photogrammetry and open-access graphics software (Blender) to broaden the range of testable hypotheses about the incipient stages of terrestrial locomotion. Our 3D model and software protocol represent the initial stages of an open-access pipeline that could serve as a "one-stop-shop" for studying locomotor function, from creating 3D models to analyzing the mechanics of locomotor gaits.

Five-year migration of uncemented femoral components in total knee arthroplasty with either highly cross-linked or conventional polyethylene inserts: a blinded randomized controlled trial using radiostereometric analysis.

Aims: The aim of this study was to compare the migration of the femoral component, five years postoperatively, between patients with a highly cross-linked polyethylene (HXLPE) insert and those with a conventional polyethylene (PE) insert in an uncemented Triathlon fixed insert cruciate-retaining total knee arthroplasty (TKA). Secondary aims included clinical outcomes and patient-reported outcome measures (PROMs). We have previously reported the migration and outcome of the tibial components in these patients.

Fit-for-purpose WWTP unmanned aerial systems: A game changer towards an integrated and sustainable management strategy.

In the ongoing Anthropocene era, air quality monitoring constitutes a primary axis of European and international policies for all sectors, including Waste Water Treatment Plants (WWTPs). Unmanned Aerial Systems (UASs) with proper sensing equipment provide an edge technology for air quality and odor monitoring. In addition, Unmanned Aerial Vehicle (UAV) photogrammetry has been used in civil engineering, environmental (water) quality assessment and lately for industrial facilities monitoring.

Degradation Mechanisms of Mortar and Plaster Layers.

This article presents a case of complex investigation of defects of lime mortar and plaster that have been developing over a period of 48 years in a house in Prague and are strongly influenced by thermal and salt crystallization cycles. The aim of this research was to describe the degradation phenomena of mortars and plasters observed on a narrowly limited part of the building, combining structural elements of different types and ages and to explain the mechanisms of their formation and development. The geometric characteristics of the defects were determined by non-destructive methods, especially optical interference moiré, laser profilometry, photogrammetry, and infrared thermography.

High-resolution multispectral and RGB dataset from UAV surveys of ten cocoa agroforestry typologies in Côte d'Ivoire.

This paper introduces a dataset of aerial imagery captured during the 2022 cocoa growing season in the central-western region of Côte d'Ivoire. The images were acquired using a multispectral camera mounted on a DJI Phantom 4 unmanned aerial vehicle (UAV). The agricultural land surveyed encompasses 10 different types of cocoa-based agroforestry systems, each ranging from 2.

The increasingly dominant role of climate change on length of day variations.

The melting of ice sheets and global glaciers results in sea-level rise, a pole-to-equator mass transport increasing Earth's oblateness and resulting in an increase in the length of day (LOD). Here, we use observations and reconstructions of mass variations at the Earth's surface since 1900 to show that the climate-induced LOD trend hovered between 0.3 and 1.

Pipeline for Multi-Scale Three-Dimensional Anatomic Study of the Human Heart.

Detailed study of non-failing human hearts rejected for transplantation provides a unique opportunity to perform structural analyses across microscopic and macroscopic scales. These techniques include tissue clearing (modified immunolabeling-enabled three-dimensional (3D) imaging of solvent-cleared organs) and immunohistochemical staining. Mesoscopic examination procedures include stereoscopic dissection and micro-computed tomographic (CT) scanning.

Surgical strategy in treatment of metopic synostosis in a single centre experience: technical note and quantitative analysis of the outcomes.

Purpose: Trigonocephaly is the most common craniosynostosis involving orbits. Although some degree of agreement has been reached regarding surgical timing and indications for treatment, there is no consensus regarding the ideal operative technique to guarantee an optimal morphological outcome. The purpose of this study is to describe both strategies and to compare morphological outcomes by means of morphological surface analysis obtained from three-dimensional (3D) stereophotogrammetry, with two different techniques.

Navigating the Intersection Between the Orbit and the Skull Base: The "Mirror" McCarty Keyhole During Transorbital Approach: An Anatomic Study With Surgical Implications.

Background And Objectives: McCarty keyhole (MCK) is the most important entry point during orbitocranial and cranio-orbital approaches; nevertheless, its anatomic coordinates have never been detailedly described from transorbital perspective. To provide the spatial coordinates for intraorbital projection of the "mirror" MCK by using the well-established main anatomic-surgical bony landmarks met along transorbital corridor.

Methods: MCK was identified in 15 adult dry skulls (30 sides) on exocranial surface of pterional region based on the well-defined external bony landmarks: on the frontosphenoid suture, 5 to 6 mm behind the joining point (JP) of frontozygomatic suture (FZS), frontosphenoid suture (FSS), and sphenozygomatic suture (SZS).

Accuracy of traditional open-tray impression, stereophotogrammetry, and intraoral scanning with prefabricated aids for implant-supported complete arch prostheses with different implant distributions: An in vitro study.

Statement Of Problem: Conventional impression techniques for complete arch implant-supported fixed dental prostheses (CIFDPs) are technique sensitive. Stereophotogrammetry (SPG) and intraoral scanning (IOS) may offer alternatives to conventional impression making.

Purpose: The purpose of this in vitro study was to assess the accuracy and passive fit of IOS with prefabricated aids, SPG, and open tray impression (OI) for CIFDPs with different implant distributions.

Single-camera photogrammetry using a mobile phone for low-cost documentation of corpses.

Photogrammetry is a technique for studying and defining objects' shape, dimension, and position in a three-dimensional space using measurements obtained from two-dimensional photographs. It has gained popularity following the development of computer graphics technologies and has been applied to various branches of medicine. In this study, the authors present a method for low-cost photorealistic documentation of corpses during autopsy using single-camera photogrammetry with a mobile phone.

Combining Google Earth historical imagery and UAV photogrammetry for urban development analysis.

Rural-urban migration often triggers additional demand for housing and infrastructural development to cater for the growing population in urban areas. Consequently, town planners and urban development authorities need to understand the urban development trend to make sustainable urban planning decisions. Yet, methods to analyse changes and trends in urban spatial development are often complex and require costly data collection.

The best of two worlds: reprojecting 2D image annotations onto 3D models.

Imagery has become one of the main data sources for investigating seascape spatial patterns. This is particularly true in deep-sea environments, which are only accessible with underwater vehicles. On the one hand, using collaborative web-based tools and machine learning algorithms, biological and geological features can now be massively annotated on 2D images with the support of experts.

3D microscopic reconstruction of pearls using combined optical microscopy and photogrammetry.

In this study, we introduce an affordable and accessible method that combines optical microscopy and photogrammetry to reconstruct 3D models of Tahitian pearls. We present a novel device designed for acquiring microscopic images around a sphere using translational displacement stages and outline our method for reconstructing these images. We successfully created 3D models of two individual pearl rings, each representing 6.

Quality Analysis of 3D Point Cloud Using Low-Cost Spherical Camera for Underpass Mapping.

Three-dimensional point cloud evaluation is used in photogrammetry to validate and assess the accuracy of data acquisition in order to generate various three-dimensional products. This paper determines the optimal accuracy and correctness of a 3D point cloud produced by a low-cost spherical camera in comparison to the 3D point cloud produced by laser scanner. The fisheye images were captured from a chessboard using a spherical camera, which was calibrated using the commercial Agisoft Metashape software (version 2.

3-dimensional surface geometry dataset of Scots pine and Norway spruce shoots from the Järvselja RAdiation transfer Model Intercomparison (RAMI) pine stand.

Conifer shoots exhibit intricate geometries at an exceptionally detailed spatial scale. Describing the complete structure of a conifer shoot, which contributes to a radiation scattering pattern, has been difficult, and the previous respective components of radiative transfer models for conifer stands were rather coarse. This paper presents a dataset aimed at models and applications requiring detailed 3D representations of needle shoots.