3D scanning

Face study and description through landmarks is a key activity in many fields, in particular the medical one for both corrective and esthetic surgery purposes. In a previous work, we used a geometric approach to automatically extract landmarks working in the Differential Geometry domain, through the coefficients of the Fundamental Forms, the Principal Curvatures, Mean and Gaussian Curvatures, derivatives, and Shape and Curvedness Indexes. In this paper we describe the improvements made to our previously developed algorithm by using a new parameterization of the mesh, new geometrical descriptors, and new conditions. © 2013 Elsevier B.V. All rights reserved.

Keywords: 3D face , 3D scanner , Differential Geometry , Face morphology , Soft-tissue landmark extraction

The CoMAS project aims to develop new methodologies and tools for the restoration and conservation of submerged archaeological artefacts. One of the project goals is to study the cleaning operations that are intended to remove the living organisms (algae, sponges, molluscs, etc.). These organisms cause severe deteriorations of the artefacts and their removal is crucial for the subsequent phases of consolidation and protection. In particular, the Unit of Underwater Archaeology of the Istituto Superiore per la Conservazione ed il Restauro is experimenting and comparing different cleaning techniques and tools developed in the context of the CoMAS project. This comparison requires also a precise documentation of the test cases and a quantitative measurement of the effectiveness of the cleaning procedures. This paper describes the process that has been defined in order to document and monitor the results obtained through different cleaning experiments, conducted with different tools and utensils over various types of surfaces (marble, bricks, mortar, etc.) affected by several types of biological colonization. The process includes: 1) the 3D mapping of the experimental site; 2) the planning of the tests and the choice of the areas to be cleaned; 3) the 3D reconstruction of the selected areas; 4) the execution of cleaning operations; 5) the 3D acquisition of the cleaned areas; 6) the comparison of the 3D model of the areas before and after the cleaning; 7) the analysis of the data about the cleaning effectiveness. This process has been implemented during an experimentation carried out in the "Villa dei Pisoni", located within the underwater archaeological site of Baia near Naples. © 2013 IEEE.

Keywords: 3D Reconstruction , Archaeology , Restoration , Underwater

In some application fields, such as underwater archaeology or marine biology, there is the need to collect three-dimensional, close-range data from objects that cannot be removed from their site. In particular, 3D imaging techniques are widely employed for close-range acquisitions in underwater environment. In this work we have compared in water two 3D imaging techniques based on active and passive approaches, respectively, and whole-field acquisition. The comparison is performed under poor visibility conditions, produced in the laboratory by suspending different quantities of clay in a water tank. For a fair comparison, a stereo configuration has been adopted for both the techniques, using the same setup, working distance, calibration, and objects. At the moment, the proposed setup is not suitable for real world applications, but it allowed us to conduct a preliminary analysis on the performances of the two techniques and to understand their capability to acquire 3D points in presence of turbidity. The performances have been evaluated in terms of accuracy and density of the acquired 3D points. Our results can be used as a reference for further comparisons in the analysis of other 3D techniques and algorithms. © 2013 by the authors; licensee MDPI, Basel, Switzerland.

Keywords: 3D reconstruction , Active and passive 3D techniques , Underwater imaging

Multispectral imaging techniques are widely used to analyse and restore digital images of ancient documents degraded over time. In particular, acquisitions in infrared and ultraviolet bands can reveal information invisible by naked eye, which is not captured by conventional RGB imaging. Multispectral acquisitions are usually performed with filter-wheel cameras that mount a series of interference filters in front of the sensor to select the spectral band in which the document has to be acquired. Due to the use of different filters, the focus of the lens changes and it is necessary to adjust it manually for each filter, because such imaging systems are devoid of automatic focusing. Thus the acquired images may not be perfectly in-focus and have misalignments. In this work we present an automatic solution to acquire a multispectral data cube of aligned images that can be used in document analysis to extract and/or separate information through enhancement techniques. A custom-made motorized autofocus system controlled by software has been installed on a filter-wheel camera, which allows us to acquire in-focus images automatically at each filter changing, and a registration method based on Fourier-Mellin transform aligns these images. A preliminary calibration is performed to set the focusing of each filter with the working distance. As a result, the camera can capture images independently from the contrast of the scene, also in presence of documents with homogeneous texture. The proposed solution reduces considerably the acquisition time and offers a tool to acquire automatically the data cube to be used in further image analysis techniques. The results of experimentations are hereby presented and discussed. © 2012 Elsevier Masson SAS.

Keywords: Document analysis , Focusing , Image registration , Multispectral imaging

Working in the low cost 3D scanner design domain, it would be very interesting to employ the inertial technologies because they could provide objects' surface spatial data, recording their movements, and asking a very low cost in term of sensor investment. Unfortunately these technologies are characterized by distortion problems that normally do not allow to obtain satisfying measures for being employed for 3D scanning applications. This situation happens when working with Magnetic Angular Rate Gravity (MARG) sensor, on which many reports have been written to describe the methods used to suitably manage the data provided by the sensors in order to obtain an accurate orientation estimation; but only a few address the problem of calibration and distortion compensation. Furthermore, the proposed approaches usually involve both complex sensors models and accurate calibration facilities expensive from the workload, the computational and the economic points of view which compromise their possible employment in low-cost 3D scanning applications. In this paper, a novel approach for MARG sensors heading alignment and distortion compensation is proposed in order to increase the reliability of the information provided by the sensors and improve the process of attitude estimation, in order to get measurement quality level sufficient to be employable in 3D scanning applications. Both the effectivity and the reliability of the proposed approach are validated by some experimental results and the performances are evaluated considering the quality of the outcome provided by the same attitude estimation algorithm processing raw data and compensated data. © 2013 Elsevier B.V. All rights reserved.

Keywords: 3D scanners , Attitude estimation , Calibration procedure , Magnetic angular rate gravity

The creation of three-dimensional virtual models by optical technologies typically involve uncontrolled metric errors, in particular, when small high-resolution 3-D imaging systems are used to reconstruct a large object. Within Cultural Heritage, the problem of metric accuracy is a major issue and no methods are currently available for controlling and enhancing it. This paper presents a methodology based on the integration of a 3D range camera system with an optical tracking technique. The basic idea is the generation of a global coordinate system determined by the optical tracker, which controls the rigid motions of the 3D range camera system during multi-scan processes. The tracking process is based on measuring the spatial coordinates of reference markers located onto the range camera. The metric reliability of the 3D model reconstruction is guaranteed to a known acceptable level. Experimental results on a Statue of Hope located at the English Cemetery in Florence, are also reported. © 2012 IEEE.

Keywords: 3D reconstruction , Cultural Heritage , optical tecquiques

Recent advances in 3D imaging techniques have provided flexible tools for clinical assessments within many medical fields. In the field of orthodontic and orthognathic surgery, the reliable creation of 3D anatomical models can assist clinicians for both diagnosis and treatment planning. In particular, the accurate integration between facial soft tissue, facial skeleton and dentition (maxillofacial triad) provides clinicians with a complete model for virtual 3D treatment planning. However, none of the existing imaging technologies is able to simultaneously capture the complete triad with the optimal resolution and accuracy. For this reason, a "model fusion" process must be carried out in order to integrate 3D models obtained using different imaging techniques. This paper aims at introducing a procedure to create accurate maxillofacial triad models by guiding the fusion of multi-modal 3D imaging techniques. The methodology is based on integrating a structured light optical scanner with Cone-Beam Computed Tomography (CBCT) data processing in order to capture the different tissue groups composing the maxillofacial triad. The generated models represent an all-embracing virtual workbench for orthodontists in the treatment planning of malocclusion problems and for surgeons in the preoperative prediction of surgical outcomes. © 2012 IEEE.

Keywords: 3D image fusion processes , 3D reconstruction , maxillofacial model

In recent years, various methodologies of shape reconstruction have been proposed with the aim at creating Computer-Aided Design models by digitising physical objects using optical sensors. Generally, the acquisition of 3D geometrical data includes crucial tasks, such as planning scanning strategies and aligning different point clouds by multiple view approaches, which differ for user's interaction and hardware cost. This paper describes a methodology to automatically measure three-dimensional coordinates of fiducial markers to be used as references to align point clouds obtained by an active stereo vision system based on structured light projection. Intensity-based algorithms and stereo vision principles are combined to detect passive fiducial markers localised in a scene. 3D markers are uniquely recognised on the basis of geometrical similarities. The correlation between fiducial markers and point clouds allows the digital creation of complete object surfaces. The technology has been validated by experimental tests based on nominal benchmarks and reconstructions of target objects with complex shapes. © Springer-Verlag 2011.

Keywords: Digital image processing , Marker detection , Multiple view scanning , Reverse engineering , Stereo vision

Full field optical techniques can be reliably used for 3D measurements of complex shapes by multi-view processes, which require the computation of transformation parameters relating different views into a common reference system. Although, several multi-view approaches have been proposed, the alignment process is still the crucial step of a shape reconstruction. In this paper, a methodology to automatically align 3D views has been developed by integrating a stereo vision system and a full field optical scanner. In particular, the stereo vision system is used to remotely track the optical scanner within a working volume. The tracking system uses stereo images to detect the 3D coordinates of retro-reflective infrared markers rigidly connected to the scanner. Stereo correspondences are established by a robust methodology based on combining the epipolar geometry with an image spatial transformation constraint. The proposed methodology has been validated by experimental tests regarding both the evaluation of the measurement accuracy and the 3D reconstruction of an industrial shape. © 2011 Elsevier Ltd. All rights reserved.

Keywords: Multi-view measurements , Optical tracking , Stereo vision , Structured light

In recent years, a number of works meant to define the criteria for translating two-dimensional art into tactile representation, to be benefit of blind and visually impaired people. Due to technology-related limitations, however, these studies mainly investigated only some kinds of possible representations (e.g. tactile diagrams). This work deals with the analysis of 4 alternative translation strategies, implemented using computer-based tools, to determine the most effective one in delivering blind people a correct perception of pictorial artworks. The outcomes of the study contribute new information to the field of tactile paintings for blind and visually impaired individuals by testing the response of a panel of potential users. © 2012 Springer-Verlag Berlin Heidelberg.

Keywords: blind , Computer-based 3D modeling , haptic exploration , tactile artwork , visually impaired

The paper describes the preliminary results of a research activity on the design of consumer-product interaction by means of interactive Virtual Prototypes (iVPs). Differently from Virtual Prototypes (VPs), which can be defined as an integration of geometries and functional multi-domain and multi-physics models, interactive Virtual Prototypes can be implemented as an integration of functional models for each sense - in this case vision, touch and hearing - which are parametric and independent from each other, so that they can be modified on request. Thanks to the use of iVPs the interaction design approach can be reversed. In fact, first the iVP can be used for the design and evaluation with final users of the consumer-product interaction, and then the resulting interaction parameters can be mapped back to the functional models of the VPs by following a sort of reverse engineering activity. So, the interaction specifications are not derived by questionnaires and focus groups with potential customers, but products are shown, tested, and customised directly with the potential buyers. This method presents several advantages for companies. It allows designers to more easily and directly capture the voice of the customers by gathering an immediate feedback about new interaction modalities, and also to design and validate at the same time the emotional response of their products. Besides, these studies and validations can be performed when the product design is in its infancy and technical decisions have not been taken, with the consequent advantage that design changes are not too expensive. The paper demonstrates the validity and potentiality of the methodology through some case studies. Copyright © 2012 by ASME.

Physical and mechanical properties of metallic foams derive from their micro- and macrostructure. Unfortunately these foams have a very heterogeneous structure so that their properties may show a large scatter. In this paper image analysis has been used to determine size, morphology and distribution of cells in three aluminium alloy foams produced by means of different manufacturing processes. The study highlighted that difficulties deriving from cell cavity coalescence can be overcame by using the assistedwatershed method. The morphometric analysis of cells showed that cell size, shape and distribution are strictly related to the manufacturing process. The proposed and analysed method appears to be a useful tool to correlate cell morphology with the manufacturing parameters and then to tailor foam properties to given applications. © 2012 Taylor & Francis Group.

Distance measures and geometrical features are widely used to describe faces. Generally, they are extracted punctually from landmarks, namely anthropometric reference points. The aims are various, such as face recognition, facial expression recognition, face detection, study of changes in facial morphology due to growth, or dysmorphologies. Most of the time, landmarks were extracted with the help of an algorithm or manually located on the faces. Then, measures are computed or geometrical features are extracted to perform the scope of the study. This paper is intended as a survey collecting and explaining all these features, in order to provide a structured user database of the potential parameters and their characteristics. Firstly, facial soft-tissue landmarks are defined and contextualized; then the various measures are introduced and some results are given; lastly, the most important measures are compared to identify the best one for face recognition applications. © 2012 Elsevier B.V. All rights reserved.

Keywords: 3D models , 3D scanners , Face morphology , Soft tissue landmarks

The diagnostic analysis of decay processes on small specimens is gaining importance in the restoration and maintenance of archeological finds. In this context, the 3D reconstruction is very useful for the study and identification of the different types of decay. In this paper we present the analysis conducted on two small specimens taken from an ancient underwater pavement, using a new technique for the 3D reconstruction of small sized objects based on a multi-view passive stereo technique applied on a sequence of macro images. In order to overcome the problems related to the use of macro lenses, such as the very small depth of field and the loss of sharpness due to diffraction, each image of the sequence is obtained by merging a stack of images acquired at different focus planes by the means of an image fusion algorithm. The experimentation involves a series of preliminary laboratory tests in which we validate the system accuracy and the 3D reconstruction of specimens taken from a marble pavement located in the underwater archeological site park of Baiae (Naples, Italy). The results show that with our approach it is possible to obtain high quality textured 3D models of objects with dimensions ranging from few millimeters to few centimeters, which can be usable both for interactive measurements and virtual presentations. © 2012 IEEE.

Keywords: 3D reconstruction , Cultural Heritage , Image Fusion , Macro Lens , Small Objects

In the shipbuilding industry, the manufacturing of large yacht hulls is a complex process. Metal hulls are traditionally manufactured by welding pre fabricated large steel panels to form the external superstructure. A surface finishing process is then carried out in order to obtain a final target surface having a smooth curvature. The methodologies manly rely on manual processes based on the measurement of the as built hull shape through simple testing instrumentation. Well-experienced workers are required, and a great amount of time is usually wasted, thus affecting the overall shipyard competitiveness. This paper introduces a methodology for automating the measurement process of as built hull yacht shapes. The methodology, which is based on the integration of a robotic system with an optical scanner, provides accurate non contact 3D full field measurements of the hull surface. The placement of the robotic system around the hull shape is determined by a laser total station thus allowing the automatic multi view data registration into a common reference frame. The proposed approach represents the basis for the automation of the whole surface finishing process of large yacht hulls. In this paper, the methodology has been tested by measuring a large broadside area of a 59 m hull assembled within a shipyard. © 2012 Elsevier Ltd. All rights reserved.

Keywords: Laser tracking , Mechanical tracking , Optical 3D measurement , Shipbuilding

This paper presents a new high-performance method for triangular mesh generation based on a mesh-growing approach. Starting from a seed triangle, the algorithm grows the triangular mesh by selecting a new point based on the Gabriel 2Simplex criterion. This criterion can be considered to be a good approximation of the 2D Delaunay if the point cloud is well-sampled and not too rough. The performance of the proposed method is compared with that of the Cocone family and that of Ball Pivoting as regards the tessellation rate and the quality of the surface being generated from some benchmark point clouds and artificially noised test cases. The results are analysed and critically discussed. © 2011 Elsevier Ltd. All rights reserved.

Keywords: Reverse engineering , Surface reconstruction , Triangular meshes

Current research on underwater 3D imaging methods is mainly addressing long range applications like seafloor mapping or surveys of archeological sites and shipwrecks. Recently, there is an increasing need for more accessible and precise close-range 3D acquisition technologies in some application fields like, for example, monitoring the growth of coral reefs or reconstructing underwater archaeological pieces that in most cases cannot be recovered from the seabed. This paper presents the first results of a research project that aims to investigate the possibility of using active optical techniques for the whole-field 3D reconstructions in an underwater environment. In this work we have tested an optical technique, frequently used for in air acquisition, based on the projection of structured lighting patterns acquired by a stereo vision system. We describe the experimental setup used for the underwater tests, which were conducted in a water tank with different turbidity conditions. The tests have evidenced that the quality of 3D reconstruction is acceptable even with high turbidity values, despite the heavy presence of scattering and absorption effects. © 2011 International Society for Photogrammetry and Remote Sensing, Inc. (ISPRS).

Keywords: 3D reconstruction , Imaging in turbid medium , Photogrammetry , Structured light , Underwater imaging

Background: A precise placement of dental implants is a crucial step to optimize both prosthetic aspects and functional constraints. In this context, the use of virtual guiding systems has been recognized as a fundamental tool to control the ideal implant position. In particular, complex periodontal surgeries can be performed using preoperative planning based on CT data. The critical point of the procedure relies on the lack of accuracy in transferring CT planning information to surgical field through custom-made stereo-lithographic surgical guides.Methods: In this work, a novel methodology is proposed for monitoring loss of accuracy in transferring CT dental information into periodontal surgical field. The methodology is based on integrating 3D data of anatomical (impression and cast) and preoperative (radiographic template) models, obtained by both CT and optical scanning processes.Results: A clinical case, relative to a fully edentulous jaw patient, has been used as test case to assess the accuracy of the various steps concurring in manufacturing surgical guides. In particular, a surgical guide has been designed to place implants in the bone structure of the patient. The analysis of the results has allowed the clinician to monitor all the errors, which have been occurring step by step manufacturing the physical templates.Conclusions: The use of an optical scanner, which has a higher resolution and accuracy than CT scanning, has demonstrated to be a valid support to control the precision of the various physical models adopted and to point out possible error sources. A case study regarding a fully edentulous patient has confirmed the feasibility of the proposed methodology. © 2011 Frisardi et al; licensee BioMed Central Ltd.

The evolution of olive oil technology is related to research raised to deepen the understanding of biological and biophysical phenomena during the machining process olives, thus allowing the introduction of sensors able to monitoring the parameters and the process according to the characteristics of olives themselves. Current research has identified manufacturing protocols that can enable the achievement levels of product quality required by the market, mainly by reducing the time between collection and processing of olives and raising the technological level of extraction lines. In this context, the present paper aims to describe some of the results of a three-years project developed by the PIN-University of Florence (Italy) in collaboration with the Tuscan Regional Agricultural Development, the Florence Commerce Chamber "Laboratorio Chimico Merceologico-Azienda Speciale CCIAA di Firenze" and the SME "TEM" (Toscana Enologica Mori). The paper will describe the development of an innovative Machine Vision system able to 1) acquire, in real-time, images of olives in the conferring phase and 2) to process the acquired images in order to evaluate the ripeness of olives on the basis of their colour and the eventual presence of superficial defects. The devised system has been tested with the data extracted by olives in the harvesting period of year 2006. © 2011 by Nova Science Publishers, Inc. All rights reserved.