MRI: Development of Versatile Mobile Range Scanning System?Enabling Large-scale High-density 3D Data Acquisition for Cross-Disciplinary Research

提案号：CNS 09-23131PI(s)：杨瑞刚；乔治·m·克罗瑟斯；詹姆斯·s·丁格；威廉·b·席尔斯；Weisenfluh, Gerald a .机构：肯塔基大学列克星敦，肯塔基州40506-0057标题：MRI/Dev。项目建议：该项目开发基于光探测和测距（LIDAR）原理的多功能移动距离系统，实现：- 3D重建和建模，模式识别和数据挖掘的新数据驱动方法；-地质学的数量研究（例如，分析山坡运动和描绘露头的特征）；-对进出有限的脆弱地点（例如洞穴）进行考古记录。该系统由3个激光雷达传感器头、GPS和惯性测量单元、高分辨率数码相机和处理软件组成，用于生成高分辨率、精确的地理参考彩色点云。与典型的激光扫描系统不同，它支持固定和高速移动扫描。例如，当安装在车辆上时，在100公里/小时的速度下，它应该能够每米产生超过50个点。相比之下，机载激光雷达系统的典型密度仅为每米1-2个点。这种高扫描速度下的密度水平允许对大型场景进行快速3D扫描，这在固定系统（太慢）或机载系统（太稀疏）中是不可能的。通过相对简单的硬件修改和更复杂的处理算法，有望在扫描范围、密度和操作条件方面取得以下进展：—移动模式下扫描范围增加6倍以上；从原来的100米（由LIDAR传感器厂商指定）到大于600米——在不改变硬件配置的情况下，应用压缩高分辨率彩色图像的传感和信息的原理，将点密度提高10倍以上。-开发使用廉价的自校准反射镜进行超视距扫描的能力，并开发实时视觉和基于惯性的导航，以允许移动扫描无需gps的操作（对于在地下地区进行扫描至关重要，那里有许多考古遗址）。计划还包括建立一个大型3D城市景观数据库，其中包含超过300亿个原始数据样本，覆盖整个列克星敦都市区。该数据库将被共享，以实现图形和视觉以外的研究，包括但不限于数据压缩、传输、可视化、索引和检索以及计算几何。更广泛的影响：该仪器有望成为第一个大学拥有的移动激光距离传感系统，这可能会激发和促进许多令人兴奋的新研究场所。扫描和处理任务将由本科生执行并记录。地质和考古研究将被用来吸引当地学生，特别是那些来自阿巴拉契亚地区的学生。该系统将具有商业价值，可为建筑、城市规划、执法、测绘和3D成像等应用提供按需扫描。商业用户将收取费用，以维持运营，并在合同有效期内维持数据。

Proposal #: CNS 09-23131PI(s): Yang, Ruigang; Crothers, George M.; Dinger, James S.; Seales, William B.; Weisenfluh, Gerald A.Institution: University of Kentucky Lexington, KY 40506-0057Title: MRI/Dev.: Versatile Mobile Range Scanning System Enabling Large-scale High-Density 3D Data Acquisition for Cross-Disciplinary ResearchProject Proposed:This project, developing a versatile mobile range system based on the principle of Light Detection and Ranging (LIDAR), enables:- New data driven approaches in 3D reconstruction and modeling, pattern recognition, and data mining;- Quantitative studies in geology (e.g., analysis of hill slope movement and characterization of outcrops;- Archaeological recording of fragile sites with limited access (e.g., those in caves).The system consists of 3 LIDAR sensor heads, GPS and inertial measurement unit, high-resolution digital cameras, and processing software to generate high-resolution, accuracy colored point clouds that are geo-referenced. Unlike typical laser scanning system, it supports both stationary and high-speed mobile scanning. For example, when mounted on a vehicle, it should be able to generate over 50 points per meter given a speed of 100km/hr. In comparison, the typical density from an airborne LIDAR system is only 1-2 points per meter. This level of density at high scanning speeds allows rapid 3D scanning of large scenes not possible with either stationary systems (too slow) or airborne systems (too sparse). Through relatively simple hardware modification and more sophisticated processing algorithms, the state of the art in scanning range, density, and operational conditions is expected to advance as follows:- Increasing the scanning range over 6 times in the mobile mode, from the original 100 m (specified by the LIDAR sensor vendor) to greater than 600 m.- Improving the point density over 10 times by applying the principle of compressing sensing and information from the high-resolution color image, without changing the hardware configuration.- Developing the ability to scan beyond line of sight with inexpensive self-calibrating reflective mirrors, and develop real-time vision and inertial-based navigation to allow GPS-free operations for mobile scan (critical for scanning in underground areas, where many archaeological sites reside).Plans also include building a large scale 3D cityscape database with over 30 billions of raw data samples to cover the entire Lexington metro area. The database will be shared to enable research beyond graphics and vision, including, but not limited to, data compression, transmission, visualization, index and retrieval, and computational geometry.Broader Impacts: The instrument is expected to be the first university-owned mobile laser range sensing system, which might inspire and facilitate many exciting new research venues. The scanning and processing tasks will be carried out and documented by undergraduate students. The geological and archaeological studies will be used to attract local students, in particular those underrepresented from Appalachia. The system will have commercial values to provide on-demand scanning for applications ranging from construction, city planning, law enforcement, survey and mapping, to 3D imaging. Commercial users will be charged a fee to maintain operation and sustain the enabling data beyond the life of the award.