Stereo Pointclouds for Safety Monitoring of Port Environments

Abstract—The MOSES project develops an autonomous vessel equipped with an autonomous crane to optimise the supply chain of shortsea shipping. This study focusses on monitoring the safety of the port environment based on stereo camera data generated by sensors attached to the crane at 15m altitude, oriented 45° downward. The objective is to...

Learning object-object affordances for placement-position prediction in an item packing task

Grocery e-commerce has been rapidly increasing in recent years, posing a new challenge for retailers as groceries, unlike other goods, have a limited shelf life. Thus, customers expect their orders to arrive quickly and undamaged. Currently, most processes between a customer placing an order and the delivery are performed manually in a warehouse...

Quantifying complex relations between spit growth and its hydrodynamic drivers, in non-tidal, wind-dominated lake environments: Application to the Marker Wadden (Lake Markermeer, The Netherlands): Spit quantification at the Marker Wadden

Many sand spits are morphodynamically complex cases that are hard to quantify. Therefore, most case studies on sand spits in a specific type of environment, are descriptive or even non-existent. As is the case for spits in low-energy lake environments, like the two spits at the Marker Wadden islands. Because quantification is necessary for spits...

Dynamic Objects Detection and Removal in Mobile Laser Scanning Data

Many MLS point cloud application scenarios, such as navigation and localization algorithms, require only static environments, but the original MLS data usually inevitably includes many dynamic objects such as moving vehicles, bicycles, and pedestrians. Therefore, these dynamic objects need to be removed before using MLS point clouds. This thesis...

A pipeline for multiparty volumetric video conferencing: Transmission of point clouds over low latency DASH

The advent of affordable 3D capture and display hardware is making volumetric videoconferencing feasible. This technology increases the immersion of the participants, breaking the flat restriction of 2D screens, by allowing them to collaborate and interact in shared virtual reality spaces. In this paper we introduce the design and development...

Adaptive pointcloud segmentation for assisted interactions

In this work, we propose an interaction-driven approach streamlined to support and improve a wide range of real-time 2D interaction metaphors for arbitrarily large pointclouds based on detected primitive shapes. Rather than performing shape detection as a costly pre-processing step on the entire point cloud at once, a user-controlled...

Storing Massive TINs in a DBMS: A comparison and a prototype implementation of the multistar approach

Solutions have been introduced to handle massive point clouds in Database Management Systems (DBMS), namely by Oracle in 2011 and postgreSQL in 2013. Many common operations on these massive point clouds require knowledge about the original surface in order to analyse them. A possible method to recreate a representation of the original surface is...

Registration of range images using geometric features

Registering pointclouds of polyhedral buildings to 2D maps

This paper presents a method for automated pointcloud-to-map registration using a plane matching technique. The registration is based on estimating a transformation between a set of planes inferred from the map and their corresponding planes extracted from the pointcloud. A plane matching algorithm is developed to search for corresponding planes...