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

提议#：CNS09-23131PI(S)：杨瑞刚；克罗瑟斯，George M.；Dinger，James S.；Seales，William B.；Weisenflh，Gerald A.机构：肯塔基州列克星敦大学，KY 40506-0057标题：核磁共振/开发：多用途移动距离扫描系统，实现用于跨学科研究的大规模高密度3D数据获取项目建议：该项目基于光检测和测距(LIDAR)原理开发通用移动距离系统，使得：-在3D重建和建模、模式识别和数据挖掘方面的新的数据驱动方法；-地质学中的定量研究(例如，分析山坡移动和露头特征；-对进入有限的脆弱地点(例如，洞穴中的地点)的考古记录。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，以生成高分辨率、准确的彩色点云，供地理参考。与典型的激光扫描系统不同，它既支持静止扫描，也支持高速移动扫描。例如，当安装在车辆上时，在速度为100公里/小时的情况下，它应该能够每米产生超过50个点数。相比之下，机载激光雷达系统的典型密度只有每米1-2个点。在高扫描速度下，这种密度级别允许快速扫描大型场景，无论是固定系统(太慢)还是机载系统(太稀疏)都不可能。通过相对简单的硬件修改和更复杂的处理算法，扫描范围、密度和操作条件方面的最新水平预计将提高如下：-在移动模式下将扫描范围增加6倍以上，从最初的100米(由激光雷达传感器供应商指定)增加到600米以上。-通过应用压缩来自高分辨率彩色图像的传感和信息的原理，在不改变硬件配置的情况下将点密度提高10倍以上。-发展利用廉价的自校准反射镜扫描视线之外的能力，并开发实时视觉和基于惯性的导航，以允许无GPS操作进行移动扫描(对于许多考古遗址所在的地下区域的扫描至关重要)。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，以覆盖整个列克星敦大都市区。该数据库将被共享，以便能够进行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。广泛影响：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，可能会启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和记录。地质学和考古学研究将用于吸引当地学生，特别是那些来自阿巴拉契亚地区代表性不足的学生。该系统将具有商业价值，为从建筑、城市规划、执法、测量和地图到3D成像的各种应用提供按需扫描。商业用户将被收取费用，以维持运营并在奖励有效期后维持使能数据。

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.