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This paper aims to focus on real-world mobile systems, and thus propose relevant contribution to the special issue on “Real-world mobile robot systems”. This work on 3D laser semantic mobile mapping and particle filter localization dedicated for robot patrolling urban sites is elaborated with a focus on parallel computing application for semantic mapping and particle filter localization. The real robotic application of patrolling urban sites is the goal; thus, it has been shown that crucial robotic components have reach high Technology Readiness Level (TRL).

Three different robotic platforms equipped with different 3D laser measurement system were compared. Each system provides different data according to the measured distance, density of points and noise; thus, the influence of data into final semantic maps has been compared. The realistic problem is to use these semantic maps for robot localization; thus, the influence of different maps into particle filter localization has been elaborated. A new approach has been proposed for particle filter localization based on 3D semantic information, and thus, the behavior of particle filter in different realistic conditions has been elaborated. The process of using proposed robotic components for patrolling urban site, such as the robot checking geometrical changes of the environment, has been detailed.

The focus on real-world mobile systems requires different points of view for scientific work. This study is focused on robust and reliable solutions that could be integrated with real applications. Thus, new parallel computing approach for semantic mapping and particle filter localization has been proposed. Based on the literature, semantic 3D particle filter localization has not yet been elaborated; thus, innovative solutions for solving this issue have been proposed. Recently, a semantic mapping framework that was already published was developed. For this reason, this study claimed that the authors’ applied studies during real-world trials with such mapping system are added value relevant for this special issue.

The main problem is the compromise between computer power and energy consumed by heavy calculations, thus our main focus is to use modern GPGPU, NVIDIA PASCAL parallel processor architecture. Recent advances in GPGPUs shows great potency for mobile robotic applications, thus this study is focused on increasing mapping and localization capabilities by improving the algorithms. Current limitation is related with the number of particles processed by a single processor, and thus achieved performance of 500 particles in real-time is the current limitation. The implication is that multi-GPU architectures for increasing the number of processed particle can be used. Thus, further studies are required.

The research focus is related to real-world mobile systems; thus, practical aspects of the work are crucial. The main practical application is semantic mapping that could be used for many robotic applications. The authors claim that their particle filter localization is ready to integrate with real robotic platforms using modern 3D laser measurement system. For this reason, the authors claim that their system can improve existing autonomous robotic platforms. The proposed components can be used for detection of geometrical changes in the scene; thus, many practical functionalities can be applied such as: detection of cars, detection of opened/closed gate, etc. […] These functionalities are crucial elements of the safe and security domain.

Improvement of safe and security domain is a crucial aspect of modern society. Protecting critical infrastructure plays an important role, thus introducing autonomous mobile platforms capable of supporting human operators of safe and security systems could have a positive impact if viewed from many points of view.

This study elaborates the novel approach of particle filter localization based on 3D data and semantic mapping. This original work could have a great impact on the mobile robotics domain, and thus, this study claims that many algorithmic and implementation issues were solved assuming real-task experiments. The originality of this work is influenced by the use of modern advanced robotic systems being a relevant set of technologies for proper evaluation of the proposed approach. Such a combination of experimental hardware and original algorithms and implementation is definitely an added value.

Terrestrial laser scanning (TLS) point clouds have been widely used in deformation measurement for structures. However, reliability and accuracy of resulting deformation estimation strongly depends on quality of each step of a workflow, which are not fully addressed. This study aims to give insight error of these steps, and results of the study would be guidelines for a practical community to either develop a new workflow or refine an existing one of deformation estimation based on TLS point clouds. Thus, the main contributions of the paper are investigating point cloud registration error affecting resulting deformation estimation, identifying an appropriate segmentation method used to extract data points of a deformed surface, investigating a methodology to determine an un-deformed or a reference surface for estimating deformation, and proposing a methodology to minimize the impact of outlier, noisy data and/or mixed pixels on deformation estimation.

In practice, the quality of data point clouds and of surface extraction strongly impacts on resulting deformation estimation based on laser scanning point clouds, which can cause an incorrect decision on the state of the structure if uncertainty is available. In an effort to have more comprehensive insight into those impacts, this study addresses four issues: data errors due to data registration from multiple scanning stations (Issue 1), methods used to extract point clouds of structure surfaces (Issue 2), selection of the reference surface S_ref to measure deformation (Issue 3), and available outlier and/or mixed pixels (Issue 4). This investigation demonstrates through estimating deformation of the bridge abutment, building and an oil storage tank.

The study shows that both random sample consensus (RANSAC) and region growing–based methods [a cell-based/voxel-based region growing (CRG/VRG)] can be extracted data points of surfaces, but RANSAC is only applicable for a primary primitive surface (e.g. a plane in this study) subjected to a small deformation (case study 2 and 3) and cannot eliminate mixed pixels. On another hand, CRG and VRG impose a suitable method applied for deformed, free-form surfaces. In addition, in practice, a reference surface of a structure is mostly not available. The use of a fitting plane based on a point cloud of a current surface would cause unrealistic and inaccurate deformation because outlier data points and data points of damaged areas affect an accuracy of the fitting plane. This study would recommend the use of a reference surface determined based on a design concept/specification. A smoothing method with a spatial interval can be effectively minimize, negative impact of outlier, noisy data and/or mixed pixels on deformation estimation.

Due to difficulty in logistics, an independent measurement cannot be established to assess the deformation accuracy based on TLS data point cloud in the case studies of this research. However, common laser scanners using the time-of-flight or phase-shift principle provide point clouds with accuracy in the order of 1–6 mm, while the point clouds of triangulation scanners have sub-millimetre accuracy.

This study aims to give insight error of these steps, and the results of the study would be guidelines for a practical community to either develop a new workflow or refine an existing one of deformation estimation based on TLS point clouds.

The results of this study would provide guidelines for a practical community to either develop a new workflow or refine an existing one of deformation estimation based on TLS point clouds. A low-cost method can be applied for deformation analysis of the structure.

Although a large amount of the studies used laser scanning to measure structure deformation in the last two decades, the methods mainly applied were to measure change between two states (or epochs) of the structure surface and focused on quantifying deformation-based TLS point clouds. Those studies proved that a laser scanner could be an alternative unit to acquire spatial information for deformation monitoring. However, there are still challenges in establishing an appropriate procedure to collect a high quality of point clouds and develop methods to interpret the point clouds to obtain reliable and accurate deformation, when uncertainty, including data quality and reference information, is available. Therefore, this study demonstrates the impact of data quality in a term of point cloud registration error, selected methods for extracting point clouds of surfaces, identifying reference information, and available outlier, noisy data and/or mixed pixels on deformation estimation.

The purpose of this research is to provide the necessarily and resourceful information regarding range sensors to select the best fit sensor for robust autonomous navigation. Autonomous navigation is an emerging segment in the field of mobile robot in which the mobile robot navigates in the environment with high level of autonomy by lacking human interactions. Sensor-based perception is a prevailing aspect in the autonomous navigation of mobile robot along with localization and path planning. Various range sensors are used to get the efficient perception of the environment, but selecting the best-fit sensor to solve the navigation problem is still a vital assignment.

Autonomous navigation relies on the sensory information of various sensors, and each sensor relies on various operational parameters/characteristic for the reliable functioning. A simple strategy shown in this proposed study to select the best-fit sensor based on various parameters such as environment, 2 D/3D navigation, accuracy, speed, environmental conditions, etc. for the reliable autonomous navigation of a mobile robot.

This paper provides a comparative analysis for the diverse range sensors used in mobile robotics with respect to various aspects such as accuracy, computational load, 2D/3D navigation, environmental conditions, etc. to opt the best-fit sensors for achieving robust navigation of autonomous mobile robot.

This paper provides a straightforward platform for the researchers to select the best range sensor for the diverse robotics application.

The purpose of this paper is to analyse the signal dependency of the camera-based coaxial monitoring system QMMeltpool 3D (Concept Laser GmbH, Lichtenfels, Germany) for laser powder bed fusion (LPBF) under the variation of process parameters, position, direction and layer thickness to determine the capability of the system. Because such and similar monitoring systems are designed and presented for quality assurance in series production, it is important to present the dominant signal influences and limitations.

Hardware of the commercially available coaxial monitoring QMMeltpool 3D is used to investigate the thermal emission of the interaction zone during LPBF. The raw images of the camera are analysed by means of image processing to bypass the software of QMMeltpool 3D and to gain a high level of signal understanding. Laser power, scan speed, laser spot diameter and powder layer thickness were varied for single-melt tracks to determine the influence of a parameter variation on the measured sensory signals. The effects of the scan direction and position were also analysed in detail. The influence of surface roughness on the detected sensory signals was simulated by a machined substrate plate.

Parameter variations are confirmed to be detectable. Because of strong directional and positional dependencies of the melt-pool monitoring signal a calibration algorithm is necessary. A decreasing signal is detected for increasing layer thickness. Surface roughness is identified as a dominating factor with major influence on the melt-pool monitoring signal exceeding other process flaws.

This work was performed with the hardware of a commercially available QMMeltpool 3D system of an LPBF machine M2 of the company Concept Laser GmbH. The results are relevant for all melt-pool monitoring research activities connected to LPBF, as well as for end users and serial production.

Surface roughness has not yet been revealed as being one of the most important origins for signal deviations in coaxial melt-pool monitoring. To the best of the authors’ knowledge, the direct comparison of influences because of parameters and environment has not been published to this extent. The detection, evaluation and remelting of surface roughness constitute a plausible workflow for closed-loop control in LPBF.

Previous research has shown that “Scan-vs-BIM” object recognition systems, which fuse three dimensional (3D) point clouds from terrestrial laser scanning (TLS) or digital photogrammetry with 4D project building information models (BIM), provide valuable information for tracking construction works. However, until now, the potential of these systems has been demonstrated for tracking progress of permanent structural works only; no work has been reported yet on tracking secondary or temporary structures. For structural concrete work, temporary structures include formwork, scaffolding and shoring, while secondary components include rebar. Together, they constitute most of the earned value in concrete work. The impact of tracking secondary and temporary objects would thus be added veracity and detail to earned value calculations, and subsequently better project control and performance. The paper aims to discuss these issues.

Two techniques for recognizing concrete construction secondary and temporary objects in TLS point clouds are implemented and tested using real-life data collected from a reinforced concrete building construction site. Both techniques represent significant innovative extensions of existing “Scan-vs-BIM” object recognition frameworks.

The experimental results show that it is feasible to recognise secondary and temporary objects in TLS point clouds with good accuracy using the two novel techniques; but it is envisaged that superior results could be achieved by using additional cues such as colour and 3D edge information.

This article makes valuable contributions to the problem of detecting and tracking secondary and temporary objects in 3D point clouds. The power of Scan-vs-BIM object recognition approaches to address this problem is demonstrated, but their limitations are also highlighted.

The purpose of this paper is to provide a comprehensive work flow for the improvement of the Reverse Engineering (RE) process in producing non‐uniform rational B‐splines (NURBS) models from scanned point cloud data. This should become a reliable guide in the creation of desired 3D‐CAD models in order to improve efficiency of downstream operations and further to make decisions regarding quality control.

The paper deals with a detailed investigation of operations in achieving an object's accuracy in the data editing phase and data fitting phase that employs the use of a 3D scanner. A case example involving the ShapeGrabber® AI310 laser scanner was used in digitizing the physical object. Operations considered for investigation at the data editing phase include relaxation, decimation of triangles and sharpening of edges. Contour detection, construct patches, target patch count, grid construction and grid resolution are selected as the operations for investigation in the data fitting phase. Evaluation of the generated digitized models was carried out by performing tests which include 3D Comparisons and Geometric Dimensioning and Tolerance (GD & T) testing.

The process of data editing is considered to be extremely time consuming which requires a high degree of skill in order to carry out the data manipulation steps. For the purpose of investigation, an electrical socket cover was considered as the object for digitization. The study found some contributors to enhance the quality of the digital model that can be used in the first piece inspection. The results indicate that although the operations associated with the data fitting phase affect the overall quality of the digitized model; they are however, limited by whatever the quality achieved at the data editing phase.

The RE work flow described in this research will assist designers and practitioners in improving both the efficiency and effectiveness of design and manufacturing functions.

The data editing and fitting processes are time consuming due to various adjustments necessary in obtaining a NURBS model from the digitized data. Thus, the proposed RE work flow identified the steps to realize the desired CAD models from the point cloud data. Moreover, from this study, practitioners will get a concise overall understanding about which geometrical features need to be adjusted so that the required model can be achieved; instead of the need to develop this procedure by themselves through the process of trial and error.

To report on the evaluation of error of a face matching system consisting of a 3D sensor for obtaining the surface of the face, and a two‐stage matching algorithm that matches the sensed surface to a model surface.

Rigid mannikin face that was, otherwise, fairly realistic was obtained, and several sensing and matching experiments were performed. Pose position, lighting and face color were controlled.

The combined sensor‐matching system typically reported correct face surface matches with trimmed RMS error of 0.5 mm or less for a generous volume of parameters, including roll, pitch, yaw, position, lighting, and facecolor. Error accelerated beyond this “approximately frontal” set of parameters. Mannikin results are compared to results with thousands of cases of real faces. The sensor accuracy is not a limiting component of the system, but supports the application well.

The sensor supports the application well (except for the current cost). Equal error rates achieved appear to be practical for face verification.

No similar report is known for sensing faces.

Optical measurement sensors are increasingly available, often finding application in measurement and inspection of manufactured products. For example, theodolites and laser trackers are already used to calibrate jigs and tooling. Digital photogrammetry is used in dimensional inspection of assemblies such as aircraft wings. Such tasks demand high performance sensors with 2D and 3D capability, large working envelopes, high accuracy, low measurement latency and increased flexibility. The availability of sensors which meet and exceed such criteria is fuelling new possibilities in the manufacturing process itself. Fixed tooling may be eliminated and replaced by flexible fixturing under the control of embedded sensor systems. Sensor technology is reviewed and a novel application presented.

The reconstructed skull of the primate fossil Homunculus, a Miocene New World monkey from Argentina, offers unique opportunities for further study and has revealed information that could not be observed or appreciated on the original damaged specimens. This paper presents the process that applies the rapid prototyping methodology to reconstruct and produce such a physical model of the Homunculus’s skull. A laser scanner is used to digitize three pieces of sharp epoxy casts from the left facial skull and the mandible, which were broken apart during fossilization. Commercial software systems are used to develop image models of the fully reconstructed face and lower jaw. A stereolithography process is used to build the physical model.

The purpose of this paper is to describe a multisource system for nondestructive inspection of welded elements exploited in aircraft industry developed in West Pomeranian University of Technology, Szczecin in the frame of CASELOT project. The system task is to support the operator in flaws identification of welded aircraft elements using data obtained from X-ray inspection and 3D triangulation laser scanners.

For proper defects detection a set of special processing algorithms were developed. For easier system exploitation and integration of all components a user friendly interface in LabVIEW environment was designed.

It is possible to create the fully independent, intelligent system for welds’ flaws detection. This kind of technology might be crucial in further development of aircraft industry.

In this paper a number of innovative solutions (new algorithms, algorithms’ combinations) for defects’ detection in welds are presented. All of these solutions are the basis of presented complete system. One of the main original solution is a combination of the systems based on 3D triangulation laser scanner and X-ray testing.