The aim of this thesis is to design an automated scanning system for components for the purpose of inspecting their dimensions and tolerances. The theoretical introduction provides the reader with basic information on the topic of 3D scanning. The work also includes the design of own scanning system. The greatest attention is paid to the design of a program using the PCL library. The aim of the program is automatic processing of data from a 3D scanner and evaluation of the required dimensions of the scanned component. The final part of the work is devoted to testing the proposed solution.

This thesis deals with comparison the results of the frequency modal analysis of blade package of steam turbine with stiffening or damping bounding elements. Computational model was created through the finite element method, using cyclical symmetry. The results were compared with experimental analysis and analysis in VIPACK programme. Thesis also contains creating the solid blade model, using the reverse engineering.

The thesis focuses on the design of an appropriate reconstruction of automobile gearboxes for racing cars. It describes the steps necessary to create the final solution. It also describes the work of the ATOS 3D scanner and software Engineer.

<p>Abstract: Previous research on the Viking Age trade centre of Birka has suggested the parallel use of two harmonising standard weight units, differing in mass by five percent. As an explanation to this phenomenon, this paper puts forward a hypothesis of a trading fee, embedded in the weights. This is corroborated through a hypothetical deductive study; including a reassertion of earlier results by means of a new method for archaeometrological analysis, using a 3D scanner and Computer-Aided Design. Further, the role of silver, as a preferred unit of payment in Birka, is supported through a spatial analysis of the distribution of Islamic coins and Oriental beads in the provinces of Middle Sweden. Plausible manufacturing sites for the cylindrical lead weights, adhering to the Birka mitqal, are discussed as a possible way of falsifying the hypothesis. The results suggest that a trading fee was extracted, using the Birka mitqal for imports and the Islamic mitqal for exports. The metrological analysis was also expanded to weights from Sigtuna, which proved the Birka mitqal, as well the dual metrics system, continued to be in use there until, at least, the first half of the 11^th century. Finally, a short study on the origins of the Scandinavian/Islamic weight system suggests that the direct influence for the system primarily can be attributed the Volga-Bulgarians.</p>

Abstract: Previous research on the Viking Age trade centre of Birka has suggested the parallel use of two harmonising standard weight units, differing in mass by five percent. As an explanation to this phenomenon, this paper puts forward a hypothesis of a trading fee, embedded in the weights. This is corroborated through a hypothetical deductive study; including a reassertion of earlier results by means of a new method for archaeometrological analysis, using a 3D scanner and Computer-Aided Design. Further, the role of silver, as a preferred unit of payment in Birka, is supported through a spatial analysis of the distribution of Islamic coins and Oriental beads in the provinces of Middle Sweden. Plausible manufacturing sites for the cylindrical lead weights, adhering to the Birka mitqal, are discussed as a possible way of falsifying the hypothesis. The results suggest that a trading fee was extracted, using the Birka mitqal for imports and the Islamic mitqal for exports. The metrological analysis was also expanded to weights from Sigtuna, which proved the Birka mitqal, as well the dual metrics system, continued to be in use there until, at least, the first half of the 11th century. Finally, a short study on the origins of the Scandinavian/Islamic weight system suggests that the direct influence for the system primarily can be attributed the Volga-Bulgarians.

This thesis investigates the problem of developing new computer vision techniques for early detection of skin cancer. The first part of this work presents a novel methodology to correct color reproduction in dermatological images when different cameras and/or dermoscopes are used. Next, the problem of automatic full body mapping is addressed by proposing a mosaicing method based on an on-the-shelf digital compact camera and a set of markers. This method increases the possibilities of total body photography by taking the low-resolution images of a whole body exploration and automatically combining them into a high-resolution photomosaic. The third contribution of this work consists of the development of a full body scanner for acquiring cutaneous images. On one hand, the scanner reduces the long time-consuming examinations done in dermoscopy explorations, and on the other hand, it increases the resolution of total body photography systems. / En aquesta tesi s'investiga el desenvolupament de noves tècniques de visió per computador per a la detecció del càncer de pell. La primera part del treball presenta una nova metodologia per a la correcció del color en imatges dermatològiques quan s'utilitzen diferents càmeres i/o els dermatoscops. A continuació és proposa una solució al problema del registre automàtic d'imatges de cos complert amb la proposta d’un mètode de mosaicing basat en l'ús de càmeres compactes i un conjunt de markers. Incrementant les possibilitats de la fotografia de cos complert mitjançant la combinació automàtica d’imatges de baixa resuloció per a l'obtenció d'un fotomosaic d’alta resolució. La tercera contribució d'aquest treball consisteix en el desenvolupament d'un escàner de cos complert per a l'adquisició d'imatges cutànies. D'una banda l'escàner redueix el llarg temps necessari per a les exploracions dermatoscòpiques, i de l'altre, incrementa la resolució de la fotografia de cos complet.

Cette thèse s’inscrit dans le cadre d’un projet industriel multi-partenaires ayant pour objectif le développement d’un robot mobile collaboratif (un cobot), autonome dans ses mouvements au sol, capable de réaliser l’inspection visuelle d’un aéronef, à la fois en phase de petite ou grande maintenance dans un hangar ou en phase de pré-vol sur le tarmac d’un aéroport. Le cobot est équipé de capteurs lui permettant d’effectuer ses tâches de navigation autonome, mais également d’un ensemble de capteurs optiques constituant la tête d’inspection : une caméra orientable Pan-Tilt-Zoom et un scanner 3D qui délivrent respectivement des données sous forme d’images 2D et de nuages de points 3D. L’objectif de la thèse est de développer des algorithmes d’analyse d’images 2D et de nuages de points 3D, afin d’établir un diagnostic sur l’état de l’avion et son aptitude à voler. Nous avons développé des algorithmes pour vérifier certains éléments de l’appareil, tels que valves, portes, capteurs, pneus ou moteurs, et également pour détecter et caractériser des dommages 3D sur le fuselage (impacts, rayures, etc.). Nous avons exploité dans nos algorithmes les connaissances a priori disponibles, en particulier le modèle 3D CAO de l’avion (un AIRBUS A320 dans le cadre de nos essais). Durant ces travaux de la thèse, nous avons pu répondre à deux besoins (parfois antagonistes) : développer des algorithmes d’inspection rapides et robustes, mais également répondre aux exigences spécifiques d’un projet industriel qui visait à développer un prototype opérationnel. Nous nous sommes attachés à développer des algorithmes les plus génériques possibles, de manière à ce qu’ils puissent être utilisés pour d’autres types d’inspection, tels que l’inspection de bâtiments ou de navires par exemple. Nous avons aussi contribué au développement du prototype (robot mobile équipé de capteurs) en développant le module de contrôle des capteurs d’inspection et en intégrant nos codes sur le robot avec les autres modules développés par les partenaires. Le prototype a fait l’objet de nombreux essais en hangar de maintenance ou sur tarmac. / This thesis makes part of an industry oriented multi-partners project aimed at developing a mobile collaborative robot (a cobot), autonomous in its movements on the ground, capable of performing visual inspection of an aircraft during short or long maintenance procedures in the hangar or in the pre-flight phase on the tarmac. The cobot is equipped with sensors for realizing its navigation tasks as well as with a set of optical sensors which constitute the inspection head: an orientable Pan-Tilt-Zoom visible light camera and a three-dimensional scanner, delivering data in the format of two-dimensional images and three-dimensional point clouds, respectively. The goal of the thesis is to propose original approaches for processing 2D images and 3D clouds, with intention to make a decision with respect to the flight readiness of the airplane. We developed algorithms for verification of the aircraft items such as vents, doors, sensors, tires or engine as well as for detection and characterization of three-dimensional damages on the fuselage. We integrated a-priori knowledge on the airplane structure, notably numerical three-dimensional CAD model of the Airbus-A320. We argue that with investing effort to develop robust enough algorithms and with the help of existing optical sensors to acquire suitable data, we can come up with non-invasive, accurate, and time-efficient system for automatic airplane exterior inspection. The thesis work was placed in between two main requirements: develop inspection algorithms which could be as general as possible and also meet the specific requirements of an industry oriented project. Often, these two goals do not go along and the balance had to be made. On one side, we were aiming to design and assess the approaches that can be employed on other large structures, for ex. buildings, ships. On the other hand, writing source code for controlling sensors as well as integrating our whole developed source code with other modules on the real-time robotic system, were necessary in order to demonstrate the feasibility of our robotic prototype.

Aus der Einleitung: "In der Historie erforderte die komplette dreidimensionale Aufnahme eines Objektes mittels Streifenprojektion einen hohen Zeitaufwand aufgrund der Realisierung der zeitlichen Abfolge von Streifensequenzen mit analogen Mitteln, mehrere Sekunden sind der übliche Standard für eine 3D Aufnahme. Damit einher geht die Notwendigkeit des während der Aufnahmezeit ruhenden Objektes. Das bedeutet Einschränkungen für eine Vielzahl von Anwendungen insbesondere bei dynamischen Prozessen und lebenden Objekten. Neue Möglichkeiten eröffneten sich mit der Einführung digitaler Lichtmodulatoren."

Measuring 3D surface geometry with precision and accuracy is an important part of many engineering and scientific tasks. 3D Scanning techniques measure surface geometry by estimating the locations of sampled surface points. In recent years, Structured-Light 3D scanners have gained significant popularity owing to their ability to produce highly accurate scans in real-time at a low cost. In this thesis we describe an approach for Structured-Light 3D scanning using a digital camera and a digital projector. We utilise the projective geometric relationships between the projector and the camera to carry out both an implicit calibration of the system and to solve for 3D structure. Our approach to geometric calibration is flexible, reliable and amenable to robust estimation. In addition, we model and account for the radiometric non-linearities in the projector such as gamma distortion. Finally, we apply a post-processing step to efficiently smooth out high-frequency surface noise while retaining the structural details. Consequently, the proposed work reduces the computational load and set-up time of a Structured-Light 3D scanner; thereby speeding up the whole scanning process while retaining the ability to generate highly accurate results. We demonstrate the accuracy of our scanning results on real-world objects of varying degrees of surface complexity. Introduction The projective geometry for a pair of pin-hole viewing devices is completely defined by their intrinsic calibration and their relative motion or extrinsic calibration in the form of matrices. For a Euclidean reconstruction, the geometry elements represented by the calibration matrices must be parameterised and estimated in some form. The use of a projector as the ‘second viewing’ device has led to numerous approaches to model and estimate its intrinsic parameters and relative motion with respect to the camera's 3D co-ordinate system. Proposed thesis work assimilates the benefits of projective geometry constructs such as Homography and the invariance of the cross-ratios to simplify the system calibration and the 3D estimation processes by an implicit modeling of the projector's intrinsic parameters and its relative motion. Though linear modeling of the projective geometry between a camera-projector view-pair captures the most essential aspects of the underlying geometry, it does not accommodate system non-linearities due to radiometric distortions of a projector device. We propose an approach that uses parametric splines to model the systematic errors introduced by radiometric non-linearities and thus correct for them. For 3D surfaces reconstructed as point-clouds, noise manifests itself as some high-frequency variations for the resulting mesh. Various pre and/or post processing techniques are proposed in the literature to model and minimize the effects of noise. We use simple bilateral filtering of the depth-map for the reconstructed surface to smoothen the surface while retaining its structural details. Modeling Projective Relations In our approach for calibrating the projective-geometric structure of a projector-camera view-pair, the frame of reference for measurements is attached to the camera. The camera is calibrated using a commonly used method. To calibrate the scanner system, one common approach is to project sinusoidal patterns onto the reference planes to generate reference phase maps. By relating the phase-information between the projector and image pixels, a dense mapping is obtained. However, this is an over-parameterisation of the calibration information. Since the reference object is a plane, we can use the projective relationships induced by a plane to implicitly calibrate the projector geometry. For the estimation of the three-dimensional structure of the imaged object, we utilise the invariance of cross-ratios along with the calibration information of two reference planes. Our formulation is also extensible to utilise more than two reference plane to compute more than one estimate of the location of an unknown surface point. Such estimates are amenable to statistical analysis which allows us to derive both the shape of an object and associate reliability scores to each estimated point location. Radiometric Correction Structured-light based 3D scanners commonly employ phase-shifted sinusoidal patterns to solve for the correspondence problem. For scanners using projective geometry between a camera and a projector, the projector's radiometric non-linearities introduce systematic errors in establishing correspondences. Such errors manifest as visual artifacts which become pronounced when fewer phase-shifted sinusoidal patterns are used. While these artifacts can be avoided by using a large number of phase-shifts, doing so also increases the acquisition time. We propose to model and rectify such systematic errors using parametric representations. Consequently, while some existing methods retain the complete reference phase maps to account for such distortions, our approach describes the deviations using a few model parameters. The proposed approach can be used to reduce the number of phase-shifted sinusoidal patterns required for codification while suppressing systematic artifacts. Additionally, our method avoids the 1D search steps that are needed when a complete reference phase map is used, thus reducing the computational load for 3D estimation. The effectiveness of our method is demonstrated with reconstruction of some geometric surfaces and a cultural figurine. Filtering Noise For a structured-light 3D scanner, various sources of noise in the environment and the devices lead to inaccuracies in estimating the codewords (phase map) for an unknown surface, during reconstruction. We examine the effects of such noise factors on our proposed methods for geometric and radiometric estimation. We present a quantitative evaluation for our proposed method by scanning the objects of known geometric properties or measures and then computing the deviations from the expected results. In addition, we evaluate the errors introduced due to inaccuracies in system calibration by computing the variance statistics from multiple estimates for the reconstructed 3D points, where each estimate is computed using a different pair of reference planes. Finally, we discuss the efficacy of certain filtering techniques in reducing the high-frequency surface noise when applied to: (a) the images of the unknown surface at a pre-processing stage, or (b) the respective phase (or depth) map at a post-processing stage. Conclusion In this thesis, we motivate the need for a procedurally simple and computationally less demanding approach for projector calibration. We present a method that uses homographies induced by a pair of reference planes to calibrate a structured-light scanner. By using the projective invariance of the cross-ratio, we solved for the 3D geometry of a scanned surface. We demonstrate the fact that 3D geometric information can be derived using our approach with accuracy on the order of 0.1 mm. Proposed method reduces the image acquisition time for calibration and the computational needs for 3D estimation. We demonstrate an approach to effectively model radiometric distortions for the projector using cubic splines. Our approach is shown to give significant improvement over the use of complete reference phase maps and its performance is comparable to that of a sate-of-the-art method, both quantitatively as well as qualitatively. In contrast with that method, proposed method is computationally less expensive, procedurally simpler and exhibits consistent performance even at relatively higher levels of noise in phase estimation. Finally, we use a simple bilateral filtering on the depth-map for the region-of-interest. Bilateral filtering provides the best trade-off between surface smoothing and the preservation of its structural details. Our filtering approach avoids computationally expensive surface normal estimation algorithms completely while improving surface fidelity.

The diploma thesis is focused on an optical method for 3D scanning. There is selected photogrammetry for creating 3D models. In the practical part, a mechanism for automatic photo capture is designed and manufactured and 3D printed with using a digital camera, Arduino microcontroller and stepper motors. There are proposed two methods of capturing photographs with which digital twins of reference objects are created. The result of the work is a functional 3D scanner. The next are evaluated used methods as well as the production costs and the time required by the operator when creating a digital copy of the object is listed.