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There is great interest in affordable, precise and reliable metrology underwater:
Archaeologists want to document artifacts in situ with high detail.
In marine research, biologists require the tools to monitor coral growth and geologists need recordings to model sediment transport.
Furthermore, for offshore construction projects, maintenance and inspection millimeter-accurate measurements of defects and offshore structures are essential.
While the process of digitizing individual objects and complete sites on land is well understood and standard methods, such as Structure from Motion or terrestrial laser scanning, are regularly applied, precise underwater surveying with high resolution is still a complex and difficult task.
Applying optical scanning techniques in water is challenging due to reduced visibility caused by turbidity and light absorption.
However, optical underwater scanners provide significant advantages in terms of achievable resolution and accuracy compared to acoustic systems.
This thesis proposes an underwater laser scanning system and the algorithms for creating dense and accurate 3D scans in water.
It is based on laser triangulation and the main optical components are an underwater camera and a cross-line laser projector.
The prototype is configured with a motorized yaw axis for capturing scans from a tripod.
Alternatively, it is mounted to a moving platform for mobile mapping.
The main focus lies on the refractive calibration of the underwater camera and laser projector, the image processing and 3D reconstruction.
For highest accuracy, the refraction at the individual media interfaces must be taken into account.
This is addressed by an optimization-based calibration framework using a physical-geometric camera model derived from an analytical formulation of a ray-tracing projection model.
In addition to scanning underwater structures, this work presents the 3D acquisition of semi-submerged structures and the correction of refraction effects.
As in-situ calibration in water is complex and time-consuming, the challenge of transferring an in-air scanner calibration to water without re-calibration is investigated, as well as self-calibration techniques for structured light.
The system was successfully deployed in various configurations for both static scanning and mobile mapping.
An evaluation of the calibration and 3D reconstruction using reference objects and a comparison of free-form surfaces in clear water demonstrate the high accuracy potential in the range of one millimeter to less than one centimeter, depending on the measurement distance.
Mobile underwater mapping and motion compensation based on visual-inertial odometry is demonstrated using a new optical underwater scanner based on fringe projection.
Continuous registration of individual scans allows the acquisition of 3D models from an underwater vehicle.
RGB images captured in parallel are used to create 3D point clouds of underwater scenes in full color.
3D maps are useful to the operator during the remote control of underwater vehicles and provide the building blocks to enable offshore inspection and surveying tasks.
The advancing automation of the measurement technology will allow non-experts to use it, significantly reduce acquisition time and increase accuracy, making underwater metrology more cost-effective.
Der Mandelkernkomplex (Amygdala) ist ein Kerngebiet im medialen Temporallappen, das zum limbischen System gehört und dem eine wichtige Rolle in der Regulation von Gefühlen, sozialem Verhalten, Affekten, Gedächtnis und Sexualität zugeschrieben wird. Die mit Hilfe der 3D-Software Amira erstellten dreidimensionalen Rekonstruktionen des Mandelkernkomplexes von Kontrollfällen und Personen mit M. Alzheimer, Chorea Huntington, M. Little und Megalenzephalie basierten auf den mikroskopisch ausgewerteten zytoarchitektonischen Abgrenzungen der amygdaloiden Kerngebiete der nach Nissl gefärbten Hirnschnittpräparate. Die quantitativen Ergebnisse wurden mit bewährten stereologischen Methoden verglichen und den mit Post-mortem- und In-vivo-Verfahren generierten Ergebnissen anderer Studien gegenüber gestellt. Dabei wurden die Nomenklatur und die Abgrenzung der einzelnen Kerne diskutiert und auf exogene und biologische Volumen und Zelldichte beeinflussende Faktoren eingegangen, die die exakte und reproduzierbare Volumenbestimmung des menschlichen ZNS und seiner Komponenten erschweren. Unter Berücksichtigung von Schrumpfungsfaktoren und mehr oder minder großen Differenzen in der Abgrenzung des Mandelkernkomplexes sind die eigenen Daten mit bisher veröffentlichten Untersuchungen gut vergleichbar. Die in dieser Arbeit beschriebene Methode der dreidimensionalen Rekonstruktion von Hirnstrukturen eröffnet neue Möglichkeiten der Darstellung und Animation, die entscheidende wissenschaftliche Kenntnisse und wichtige Hinweise zur Auswertung MRT-basierter Morphometrie liefern und damit zur Diagnostik neuropsychiatrischer Erkrankungen beitragen kann.