Spatio-Temporal Non-Rigid Registration of 3D Point Clouds of Plants

Author(s):  
Nived Chebrolu ◽  
Thomas Labe ◽  
Cyrill Stachniss
PLoS ONE ◽  
2021 ◽  
Vol 16 (8) ◽  
pp. e0256340
Author(s):  
David Schunck ◽  
Federico Magistri ◽  
Radu Alexandru Rosu ◽  
André Cornelißen ◽  
Nived Chebrolu ◽  
...  

Understanding the growth and development of individual plants is of central importance in modern agriculture, crop breeding, and crop science. To this end, using 3D data for plant analysis has gained attention over the last years. High-resolution point clouds offer the potential to derive a variety of plant traits, such as plant height, biomass, as well as the number and size of relevant plant organs. Periodically scanning the plants even allows for performing spatio-temporal growth analysis. However, highly accurate 3D point clouds from plants recorded at different growth stages are rare, and acquiring this kind of data is costly. Besides, advanced plant analysis methods from machine learning require annotated training data and thus generate intense manual labor before being able to perform an analysis. To address these issues, we present with this dataset paper a multi-temporal dataset featuring high-resolution registered point clouds of maize and tomato plants, which we manually labeled for computer vision tasks, such as for instance segmentation and 3D reconstruction, providing approximately 260 million labeled 3D points. To highlight the usability of the data and to provide baselines for other researchers, we show a variety of applications ranging from point cloud segmentation to non-rigid registration and surface reconstruction. We believe that our dataset will help to develop new algorithms to advance the research for plant phenotyping, 3D reconstruction, non-rigid registration, and deep learning on raw point clouds. The dataset is freely accessible at https://www.ipb.uni-bonn.de/data/pheno4d/.


Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1228
Author(s):  
Ting On Chan ◽  
Linyuan Xia ◽  
Yimin Chen ◽  
Wei Lang ◽  
Tingting Chen ◽  
...  

Ancient pagodas are usually parts of hot tourist spots in many oriental countries due to their unique historical backgrounds. They are usually polygonal structures comprised by multiple floors, which are separated by eaves. In this paper, we propose a new method to investigate both the rotational and reflectional symmetry of such polygonal pagodas through developing novel geometric models to fit to the 3D point clouds obtained from photogrammetric reconstruction. The geometric model consists of multiple polygonal pyramid/prism models but has a common central axis. The method was verified by four datasets collected by an unmanned aerial vehicle (UAV) and a hand-held digital camera. The results indicate that the models fit accurately to the pagodas’ point clouds. The symmetry was realized by rotating and reflecting the pagodas’ point clouds after a complete leveling of the point cloud was achieved using the estimated central axes. The results show that there are RMSEs of 5.04 cm and 5.20 cm deviated from the perfect (theoretical) rotational and reflectional symmetries, respectively. This concludes that the examined pagodas are highly symmetric, both rotationally and reflectionally. The concept presented in the paper not only work for polygonal pagodas, but it can also be readily transformed and implemented for other applications for other pagoda-like objects such as transmission towers.


2021 ◽  
Vol 5 (1) ◽  
pp. 59
Author(s):  
Gaël Kermarrec ◽  
Niklas Schild ◽  
Jan Hartmann

Terrestrial laser scanners (TLS) capture a large number of 3D points rapidly, with high precision and spatial resolution. These scanners are used for applications as diverse as modeling architectural or engineering structures, but also high-resolution mapping of terrain. The noise of the observations cannot be assumed to be strictly corresponding to white noise: besides being heteroscedastic, correlations between observations are likely to appear due to the high scanning rate. Unfortunately, if the variance can sometimes be modeled based on physical or empirical considerations, the latter are more often neglected. Trustworthy knowledge is, however, mandatory to avoid the overestimation of the precision of the point cloud and, potentially, the non-detection of deformation between scans recorded at different epochs using statistical testing strategies. The TLS point clouds can be approximated with parametric surfaces, such as planes, using the Gauss–Helmert model, or the newly introduced T-splines surfaces. In both cases, the goal is to minimize the squared distance between the observations and the approximated surfaces in order to estimate parameters, such as normal vector or control points. In this contribution, we will show how the residuals of the surface approximation can be used to derive the correlation structure of the noise of the observations. We will estimate the correlation parameters using the Whittle maximum likelihood and use comparable simulations and real data to validate our methodology. Using the least-squares adjustment as a “filter of the geometry” paves the way for the determination of a correlation model for many sensors recording 3D point clouds.


2021 ◽  
Vol 42 (7) ◽  
pp. 2463-2484
Author(s):  
Kexin Zhu ◽  
Xiaodan Ma ◽  
Haiou Guan ◽  
Jiarui Feng ◽  
Zhichao Zhang ◽  
...  

2021 ◽  
Vol 42 (15) ◽  
pp. 5721-5742
Author(s):  
Zhichao Zhang ◽  
Xiaodan Ma ◽  
Haiou Guan ◽  
Kexin Zhu ◽  
Jiarui Feng ◽  
...  

2021 ◽  
Vol 10 (5) ◽  
pp. 345
Author(s):  
Konstantinos Chaidas ◽  
George Tataris ◽  
Nikolaos Soulakellis

In a post-earthquake scenario, the semantic enrichment of 3D building models with seismic damage is crucial from the perspective of disaster management. This paper aims to present the methodology and the results for the Level of Detail 3 (LOD3) building modelling (after an earthquake) with the enrichment of the semantics of the seismic damage based on the European Macroseismic Scale (EMS-98). The study area is the Vrisa traditional settlement on the island of Lesvos, Greece, which was affected by a devastating earthquake of Mw = 6.3 on 12 June 2017. The applied methodology consists of the following steps: (a) unmanned aircraft systems (UAS) nadir and oblique images are acquired and photogrammetrically processed for 3D point cloud generation, (b) 3D building models are created based on 3D point clouds and (c) 3D building models are transformed into a LOD3 City Geography Markup Language (CityGML) standard with enriched semantics of the related seismic damage of every part of the building (walls, roof, etc.). The results show that in following this methodology, CityGML LOD3 models can be generated and enriched with buildings’ seismic damage. These models can assist in the decision-making process during the recovery phase of a settlement as well as be the basis for its monitoring over time. Finally, these models can contribute to the estimation of the reconstruction cost of the buildings.


2021 ◽  
Vol 13 (9) ◽  
pp. 1859
Author(s):  
Xiangyang Liu ◽  
Yaxiong Wang ◽  
Feng Kang ◽  
Yang Yue ◽  
Yongjun Zheng

The characteristic parameters of Citrus grandis var. Longanyou canopies are important when measuring yield and spraying pesticides. However, the feasibility of the canopy reconstruction method based on point clouds has not been confirmed with these canopies. Therefore, LiDAR point cloud data for C. grandis var. Longanyou were obtained to facilitate the management of groves of this species. Then, a cloth simulation filter and European clustering algorithm were used to realize individual canopy extraction. After calculating canopy height and width, canopy reconstruction and volume calculation were realized using six approaches: by a manual method and using five algorithms based on point clouds (convex hull, CH; convex hull by slices; voxel-based, VB; alpha-shape, AS; alpha-shape by slices, ASBS). ASBS is an innovative algorithm that combines AS with slices optimization, and can best approximate the actual canopy shape. Moreover, the CH algorithm had the shortest run time, and the R2 values of VCH, VVB, VAS, and VASBS algorithms were above 0.87. The volume with the highest accuracy was obtained from the ASBS algorithm, and the CH algorithm had the shortest computation time. In addition, a theoretical but preliminarily system suitable for the calculation of the canopy volume of C. grandis var. Longanyou was developed, which provides a theoretical reference for the efficient and accurate realization of future functional modules such as accurate plant protection, orchard obstacle avoidance, and biomass estimation.


2021 ◽  
Vol 8 (1) ◽  
Author(s):  
Richard L. Ybañez ◽  
Audrei Anne B. Ybañez ◽  
Alfredo Mahar Francisco A. Lagmay ◽  
Mario A. Aurelio

AbstractSmall unmanned aerial vehicles have been seeing increased deployment in field surveys in recent years. Their portability, maneuverability, and high-resolution imaging are useful in mapping surface features that satellite- and plane-mounted imaging systems could not access. In this study, we develop and apply a workplan for implementing UAV surveys in post-disaster settings to optimize the flights for the needs of the scientific team and first responders. Three disasters caused by geophysical hazards and their associated surface deformation impacts were studied implementing this workplan and was optimized based on the target features and environmental conditions. An earthquake that caused lateral spreading and damaged houses and roads near riverine areas were observed in drone images to have lengths of up to 40 m and vertical displacements of 60 cm. Drone surveys captured 2D aerial raster images and 3D point clouds leading to the preservation of these features in soft-sedimentary ground which were found to be tilled over after only 3 months. The point cloud provided a stored 3D environment where further analysis of the mechanisms leading to these fissures is possible. In another earthquake-devastated locale, areas hypothesized to contain the suspected source fault zone necessitated low-altitude UAV imaging below the treeline capturing Riedel shears with centimetric accuracy that supported the existence of extensional surface deformation due to fault movement. In the aftermath of a phreatomagmatic eruption and the formation of sub-metric fissures in nearby towns, high-altitude flights allowed for the identification of the location and dominant NE–SW trend of these fissures suggesting horst-and-graben structures. The workplan implemented and refined during these deployments will prove useful in surveying other post-disaster settings around the world, optimizing data collection while minimizing risk to the drone and the drone operators.


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