Geometric fusion for a hand-held 3D sensor

Abstract. This article presents a geometric fusion algorithm developed for the reconstruction of 3D surface models from hand-held sensor data. Hand-held systems allow full 3D movement of the sensor to capture the shape of complex objects. Techniques previously developed for reconstruction from conventional 2.5D range image data cannot be applied to hand-held sensor data. A geometric fusion algorithm is introduced to integrate the measured 3D points from a hand-held sensor into a single continuous surface. The new geometric fusion algorithm is based on the normal-volume representation of a triangle, which enables incremental transformation of an arbitrary mesh into an implicit volumetric field function. This system is demonstrated for reconstruction of surface models from both hand-held sensor data and conventional 2.5D range images. Received: 30 August 1999 / Accepted: 21 January 2000     

Supporting ordering and consistency in a distributed Event Heap for Ubiquitous Computing

The Stanford Event Heap has been shown to provide appropriate support for constructing interactive workspace applications. Given this success it is natural to consider the Event Heap as a platform to support other classes of Ubiquitous Computing applications. In this paper we argue that the distributed, spontaneous nature of these applications places additional demands on the Event Heap that require extensions to both the engineering and API. Suitable extensions are described and their use to support a typical Ubicomp application is discussed.

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Pulsed laser technique application to liquid and gaseous flows and the scattering power of seed materials

Mie scattering computations have been performed for light scattered by small particles from a pulsed sheet of laser illumination and collected and imaged by a camera lens. From these computations the smallest particles that can be photographed in various fluid measurement situations, including air and water, have been determined in terms of system parameters such as laser power, light sheet geometry, f/No., and photographic film properties. The particle scattering requirements of the individual particle image mode and the speckle mode are compared.     

Polynomial enumeration of multidimensional lattices

Denoting the nonnegative (resp. signed) integers byN (resp.Z) and the real numbers byR, letK R ^m andf: R ^m R. Thenf is astoring function (resp.packing function) onK wheneverf|(Z ^m K) is an injection into (resp. bijection onto)N. Unit translations g_m of some P. Chowla [1961] polynomials are packing functions on the correspondingN ^m , and all compositions of these polynomials yield further packing functions on variousN ^r . We study this accessible family of packing functions, using standard properties ofordered trees to classify all those compositions, up to a simple equivalence, which define polynomial packing functions on eachN ^m . The numberc(m) of equivalence classes is an exponentially growing function for largem, whence the uniqueness conjecture of our prior two-dimensional work has no counterpart for largerm. We obtain the admissible degrees for composition polynomials inm variables; we describe the tre structures for all such polynomials with extremal degrees. Them-variable polynomials of least degree form a rather irregular numbera(m) of equivalence classes. Density considerations give some degree constraints on ageneral polynomial packing function whose domainK is the topological closure of a nonvoid open cone.     

An Initial Inventory and Indexation of Groundwater Mega-Depletion Cases

The state of groundwater systems worldwide is presently not well defined, and in particular there is little context for agencies responsible for managing water resources to evaluate occurrences of groundwater depletion against other cases globally. In this study, an initial inventory of groundwater depletion problems is compiled and ranked to identify the world’s most critical cases, i.e. situations of groundwater mega-depletion. The ranking is based on an indexed approach that considers overdraft, drawdown and subsidence, plus the importance of the resources in terms of population-dependency and rates of extraction. The five most highly ranked depleted aquifers of the world include the shallow aquifers of the Hai River Plain (China), the Altiplano region (Spain), the Mexico Basin (Mexico), the Huang River basin (China) and the California Central Valley (USA). An abridged account of modelling to assess drawdown is described for the Hai River Plain, revealing that despite recharge in the order of 13,000 GL/yr, an overdraft of about 8,000 GL/yr is occurring to support the vast population of the region. This has led to up to 100 m of drawdown in places and reports of subsidence of several metres. The Hai River situation demonstrates that falling water levels may not act to alleviate pumping stresses; a symptom of unchecked extraction and an exemplary illustration of the tragedy of the commons. The causal factors leading to mega-depletion are varying across the globe and each mega-depletion case contains unique elements, although population appears to be an important factor.     

3D characterization of hot metallic shells during industrial forging

During industrial forging of hot metallic shells, it is necessary to regularly measure the dimensions of the parts, especially the inner and outer diameters and the thickness of the walls. A forging sequence lasts 2 h or more during which the diameter of the shell is regularly measured in order to decide when to stop the forging process. For better working conditions, for the safety of the blacksmiths, and for a faster and more accurate measurement, we have developed a novel system based on two commercially available time of flight laser scanners for the measurement of the diameters of hot cylindrical metallic shells during the forging process. The advantages of using laser scanners are that they can be placed very far from the hot shell, more than 15 m, while at the same time giving an accurate point cloud from which three-dimensional views of the shell can be reconstructed and diameter measurements done. Moreover, more accurate measurement is achieved in less time with the laser system than with the conventional method using a large ruler. The system has been successfully used to measure the diameters of hot cylindrical metallic shells.     

Electrical Substations for Pipeline Pump and Compressor Stations

The paper goes systematically through the problem of load selection, negotiating load supply details with the electric utility, electrical supply contract completion, and the design specification, construction, and maintenance of electrical substation facilities as applied to pipeline pump and compressor station. The ``simple' type of substation is discussed, although component specifications and selection normally are the same regardless of substation complexity. An up-to-date list of applicable United States and Canadian Standards as well as a detailed list of required tests to be carried out on individual components are included in the Appendix.     

Large-scale mapping of boreal forest in SIBERIA using ERS tandem coherence and JERS backscatter data

Siberia's boreal forests represent an economically and ecologically precious resource, a significant part of which is not monitored on a regular basis. Synthetic aperture radars (SARs), with their sensitivity to forest biomass, offer mapping capabilities that could provide valuable up-to-date information, for example about fire damage or logging activity. The European Commission SIBERIA project had the aim of mapping an area of approximately 1 million km² in Siberia using SAR data from two satellite sources: the tandem mission of the European Remote Sensing Satellites ERS-1/2 and the Japanese Earth Resource Satellite JERS-1. Mosaics of ERS tandem interferometric coherence and JERS backscattering coefficient show the wealth of information contained in these data but they also show large differences in radar response between neighbouring images. To create one homogeneous forest map, adaptive methods which are able to account for brightness changes due to environmental effects were required. In this paper an adaptive empirical model to determine growing stock volume classes using the ERS tandem coherence and the JERS backscatter data is described. For growing stock volume classes up to 80 m³/ha, accuracies of over 80% are achieved for over a hundred ERS frames at a spatial resolution of 50 m.     

An experimental study on the role of 3D sound in augmented reality environment

Investigation of augmented reality (AR) environments has become a popular research topic for engineers, computer and cognitive scientists. Although application oriented studies focused on audio AR environments have been published, little work has been done to vigorously study and evaluate the important research questions of the effectiveness of three-dimensional (3D) sound in the AR context, and to what extent the addition of 3D sound would contribute to the AR experience.

Thus, we have developed two AR environments and performed vigorous experiments with human subjects to study the effects of 3D sound in the AR context. The study concerns two scenarios. In the first scenario, one participant must use vision only and vision with 3D sound to judge the relative depth of augmented virtual objects. In the second scenario, two participants must cooperate to perform a joint task in a game-based AR environment.

Hence, the goals of this study are (1) to access the impact of 3D sound on depth perception in a single-camera AR environment, (2) to study the impact of 3D sound on task performance and the feeling of ‘human presence and collaboration’, (3) to better understand the role of 3D sound in human–computer and human–human interactions, (4) to investigate if gender can affect the impact of 3D sound in AR environments. The outcomes of this research can have a useful impact on the development of audio AR systems, which provide more immersive, realistic and entertaining experiences by introducing 3D sound. Our results suggest that 3D sound in AR environment significantly improves the accuracy of depth judgment and improves task performance. Our results also suggest that 3D sound contributes significantly to the feeling of human presence and collaboration and helps the subjects to ‘identify spatial objects’.     

From Cards to Code: How Extreme Programming Re-Embodies Programming as a Collective Practice

This paper discusses Extreme Programming (XP), a relatively new and increasingly popular ‘user-centred’ software design approach. Extreme Programming proposes that collaborative software development should be centred on the practices of programming. That proposal contrasts strongly with more heavily instrumented, formalised and centrally managed software engineering methodologies. The paper maps the interactions of an Extreme Programming team involved in building a commercial organisational knowledge management system. Using ethnographic techniques, it analyses how this particular style of software development developed in a given locality, and how it uniquely hybridised documents, conversations, software tools and office layout in that locality. It examines some of the many artifices, devices, techniques and talk that come together as a complicated contemporary software system is produced. It argues that XP's emphasis on programming as the core activity and governing metaphor can only be understood in relation to competing overtly formal software engineering approaches and the organisational framing of software development. XP, it suggests, gains traction by re-embodying the habits of programming as a collective practice. This revised version was published online in August 2006 with corrections to the Cover Date.