This paper presents a novel segmentation algorithm specially developed for applications in 3D point clouds with high variability and noise, particularly suitable for heritage building 3D data. The method can be categorized within the segmentation procedures based on edge detection. In addition, it uses a graph-based topological structure generated from the supervoxelization of the 3D point clouds, which is used to make the closure of the edge points and to define the different segments. The algorithm provides a valuable tool for generating results that can be used in subsequent classification tasks and broader computer applications dealing with 3D point clouds. One of the characteristics of this segmentation method is that it is unsupervised, which makes it particularly advantageous for heritage applications where labelled data is scarce. It is also easily adaptable to different edge point detection and supervoxelization algorithms. Finally, the results show that the 3D data can be segmented into different architectural elements, which is important for further classification or recognition. Extensive testing on real data from historic buildings demonstrated the effectiveness of the method. The results show superior performance compared to three other segmentation methods, both globally and in the segmentation of planar and curved zones of historic buildings.

In mobile robotics, LASER scanners have a wide spectrum of indoor and outdoor applications, both in structured and unstructured environments, due to their accuracy and precision. Most works that use this sensor have their own data representation and their own case-specific modeling strategies, and no common formalism is adopted. To address this issue, this manuscript presents an analytical approach for the identification and localization of objects using 2D LiDARs. Our main contribution lies in formally defining LASER sensor measurements and their representation, the identification of objects, their main properties, and their location in a scene. We validate our proposal with experiments in generic semi-structured environments common in autonomous navigation, and we demonstrate its feasibility in multiple object detection and identification, strictly following its analytical representation. Finally, our proposal further encourages and facilitates the design, modeling, and implementation of other applications that use LASER scanners as a distance sensor.

The rapid advancement of mobile laser scanner technology used for terrain mapping, among other things, imposes increasing requirements for scanning frequency and distance measurement accuracy. To meet these requirements, rangefinder modules are expected to operate with high echo signal dynamics and to allow accurate distance measurement even based on single-laser-pulse echo detection. Such performance can be potentially achieved using pulsed time-of-flight (ToF) laser rangefinders (LRF). In conventional ToF modules, however, the STOP signal (for time counter interruption) is generated using a straightforward fixed-threshold comparator method. Unfortunately, it corresponds to the so-called walk error, i.e., the dependence of the measured time of flight on the magnitude of the echo signal. In most ranging applications, however, the LRF detection channel can be exposed to an extremely large span of received echo power levels, which depend on the distance measured, type of target surface, atmospheric transmission, etc. Thus, the walk error is an inseparable element of the conventional ToF technique and creates a fundamental limit for its precision. This article presents a novel method of walk error compensation in real time. By using our authorial electronic circuit for measuring the magnitude of the echo signal, it is possible to effectively compensate for the walk error even when the echo signal brings the detection channel amplifiers into saturation. In addition, the paper presents a laboratory method for calibrating the walk error compensation curve.

Crime scene investigation (CSI) is the complex act of reconstructing the dynamics that led to a crime and the circumstances of its perpetration. Crystallizing the CSI is a difficult task for the forensic pathologist; however, it is often requested by the public prosecutor and many judicial cases remain unsolved precisely for this reason. Recent years have seen an improvement in the ability of 3D scanning technology to obtain dense surface scans of large-scale spaces, for surveying, engineering, archaeology, and medical purposes such as forensics. The applications of this new technology are growing every day: forensic measurement of wounds in clinical reports, for example, reconstruction of traffic accidents, bullet trajectory studies in gunshot wounds, and 3D bloodstain pattern analysis. A retrospective analysis was conducted across all crime scene investigations performed by the forensic staff of the Department of Forensic Pathology of the University of Catania from January 2019 to June 2022. Inclusion criteria were the use of a laser scanner (LS), the use of a camera, a full investigative scene, and collection of circumstantial data thanks to the help of the judicial police. Cases in which the LS was not used were excluded. Out of 200 CSIs, 5 were included in the present study. In case number 1, the use of the LS made it possible to create a complete scale plan of the crime scene in a few hours, allowing a ship to be quickly returned to the judicial police officer. In case 2 (fall from a height), the LS clarified the suicidal intent of the deceased. In case number 3 it was possible to reconstruct a crime scene after many years. In case 4, the LS provided a great contribution in making a differential diagnosis between suicide and homicide. In case 5, the LS was fundamental for the COVID team in planning the study of COVID-19 pathways and areas within a hospital with the aim of reduction of nosocomial transmission. In conclusion, the use of the LS allowed the forensic staff to crystallize the investigative scene, making it a useful tool.

Background: Our objective was to conduct a comprehensive analysis of the reproducibility of foot and ankle anthropometric measurements with a three-dimensional (3D) optical scanner. Methods: We evaluated thirty-nine different anthropometric parameters obtained with a 3D Laser UPOD-S Full-Foot Scanner in a healthy population of twenty subjects. We determined the variance of the measurements for each foot/ankle, and the average variance among different subjects. Results: For 40 feet and ankles (15 women and 5 men; mean age 35.62 +/- 9.54 years, range 9-75 years), the average variance was 1.4 ± 2 (range 0.1 to 8). Overall, the mean absolute measurement error was <1 mm, with a maximum variance percentage of 8.3%. Forefoot and midfoot circumferences had a low variance <2.5, with variance percentages <1%. Hindfoot circumferences, malleolar heights, and the length of the first and fifth metatarsal to the ground contact points showed the highest variance (range 1 to 7). Conclusions: The UPOD-S Full-Foot optical Scanner achieved a good reproducibility in a large set of foot and ankle anthropometric measurements. It is a valuable tool for clinical and research purposes.

The continuous steel casting process must simultaneously meet the requirements for production performance, quality and safety against breakouts. Knowing the thickness of the solidified shell, particularly at the exit of the mould, is useful for the casting process control and breakout prevention. Shell thickness is difficult to measure during casting; in practice, it is predicted by indirect methods and models. But after undesired rupture of the shell and leakage of the liquid steel, it is possible to measure the shell thickness directly. This article is focused on the problem of the growth and measurement of the solid shell obtained after the breakout of a round block with a diameter of 410 mm. An original methodology was developed in which a surface mesh of points was created from the individual scanned parts of the block using a 3D laser scanner. Research has shown differences of up to 6 mm between the maximum and minimum shell thickness at the mould exit. A regression function of the average shell thickness on time was found. The results of the real shell growth were further used for the verification of the original numerical model of cooling and solidification of the round block.

This study proposes a method for detecting and tracking traversable regions in off-road conditions for unmanned ground vehicles (UGVs). Off-road conditions, such as rough terrain or fields, present significant challenges for UGV navigation, and detecting and tracking traversable regions is essential to ensure safe and efficient operation. Using a 3D laser scanner and range-image-based approach, a method is proposed for detecting traversable regions under off-road conditions; this is followed by a Bayesian fusion algorithm for tracking the traversable regions in consecutive frames. Our range-image-based traversable-region-detection approach enables efficient processing of point cloud data from a 3D laser scanner, allowing the identification of traversable areas that are safe for the unmanned ground vehicle to drive on. The effectiveness of the proposed method was demonstrated using real-world data collected during UGV operations on rough terrain, highlighting its potential as a solution for improving UGV navigation capabilities in challenging environments.

A mannequin head was digitized using a reference scanner (Scan in a Box) to acquire the reference mesh. Subsequently it was scanned with a structured light scanner (Einscan Pro HD), a stereophotogrammetry scanner (RayFace100) and a laser scanner (Proface 3D Mid) to acquire test meshes.Resulting meshes were delineated in four horizontal areas and discrepancies calculated for the complete face and different facial partitions. One-way Anova and pairwise comparisons tests were used to compare trueness and precision between scanners across different areas. Significant differences were detected among scanners for complete face (F (3, 27) =776, P ⟨ 0.01)) and for delineated face areas (F (11, 99) =200.1, P ⟨ 0.01)). Einscan had significantly higher accuracy for the complete face (P⟨0.01) and significantly higher trueness for each facial partition compared to other scanners. RayFace had significantly higher trueness when scanning the middle part of face compared to other facial parts. Proface had significantly lower upper facial third trueness compared to other facial parts. All scanners had accuracy levels below the 2.00mm threshold. Facial scanning accuracy was influenced per scanner used. Scanning trueness per device was influenced by location of surface area. All scanners had accuracy levels within the acceptable accuracy threshold.

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.

The relative-range error test is one of several tests described in the ASTM E3125-2017 standard for performance evaluation of spherical coordinate three-dimensional (3D) imaging systems such as terrestrial laser scanners (TLS). We designed a new artifact, called the plate-sphere target, that allows the realization of the relative-range error tests quickly and efficiently without the need for alignment at each position of the test.Use of a simple planar/plate target requires careful alignment of the target at each position of the relative-range error test, which is labor-intensive and time-consuming. This new artifact significantly reduces the time required to perform the test, from a matter of about 2 h to less than 30 min while resulting in similar test uncertainty values.The plate-sphere target was conceived and initially developed at the National Institute of Standards and Technology (NIST), improved based on feedback from collaborators at the National Research Council (NRC) of Canada and TLS manufacturers, and commercialized by Bal-tec Inc.This new artifact will save users and manufacturers of TLSs considerable time and money.