The art of reconstructing a real-world scene digitally has been on the mind of researchers for decades. Recently, it has attracted more and more attention from companies seeing a chance to bring this kind of technology to the market. Digital reconstruction of buildings in particular is a niche that has both potential and room for improvement. With this background, this thesis will present the design and evaluation of a pipeline made to find and correct approximately flat surfaces in architectural scenes. The scenes are 3D-reconstructed triangle meshes based on RGB images. The thesis will also comprise an evaluation of a few different components available for doing this, leading to a choice of best components. The goal is to improve the visual quality of the reconstruction. The final pipeline is designed with two blocks - one to detect initial plane seeds and one to refine the detected planes. The first block makes use of a multi-label energy formulation on the graph that describes the reconstructed surface. Penalties are assigned to each vertex and each edge of the graph based on the vertex labels, effectively describing a Markov Random Field. The energy is minimized with the help of the alpha-expansion algorithm. The second block uses heuristics for growing the detected plane seeds, merging similar planes together and extracting deviating details. Results on several scenes are presented, showing that the visual quality has been improved while maintaining accuracy compared with ground truth data. / Konsten att digitalt rekonstruera en verklig miljö har länge varit intressant för forskare. Nyligen har området även tilldragit sig mer och mer uppmärksamhet från företag som ser en möjlighet att föra den här typen av teknik till produkter på marknaden. I synnerhet är digital rekonstruktion av byggnader en nisch som har både stor potential och möjlighet till förbättring. Med denna bakgrund så presenterar detta examensarbete designen för och utvärderingen av en pipeline som skapats för att detektera och rätta till approximativt platta regioner i arkitektoniska miljöer. Miljöerna är 3D-rekonstruerade triangelmeshar skapade från RGB-bilder. Examensarbetet omfattar även utvärdering av olika komponenter för att uppnå detta, som avslutas med att de mest lämpliga komponenterna presenteras. Målet i korthet är att förbättra den visuella kvaliteten av en rekonstruerad modell. Den slutgiltiga pipelinen består av två övergripande block - ett för att detektera initiala plan och ett för att förbättra de funna planen. Det första blocket använder en multi-label energiformulering på grafen som beskriver den rekonstruerade ytan. Straffvärden tilldelas varje vertex och varje båge i grafen baserade på varje vertex label. På så sätt beskriver grafen ett Markov Random Field. Energin är sedan minimerad med alpha-expansion-algoritmen. Det andra blocket använder heuristiker för att låta planen växa, slå ihop närliggande plan och för att extrahera avvikande detaljer. Resultat på flera miljöer presenteras också för att påvisa att den visuella kvaliteten har förbättrats utan att rekonstruktionens noggrannhet har försämrats jämfört med ground truth-data.

Subduction of an oceanic plate under the Pacific margin of South America has heen prevalent since Jurassic times. Magmatic and deformation centres have migrated eastward since suhduction began. Northern Chile houses two north-south trench linked strike-slip fault systems, the Atacama Fault Zone and the Domeyko Fault System (DFS). The DFS lies within the Chilean Precordillera from 2 10 to 28°S. Lateral movement began on the DFS in the Eocene. The DFS can be divided into three segments which have apparently undergone differing deformation histories. This study has focused on the central segment of the DFS, to determine fault kinematics and to establish a relative chronology of deformation. Observations have been made in more detail than previous investigations and have heen used to infer the deformation history . Shallow level faulting has resulted in heavily fractured zones with occasional slickenline surfaces. It is difficult to infer kinematics of faulting from these. Much effort has been expended in developing techniques to analyse fracture patterns associated with brittle faulting under conditions of plane strain, simple shear. A novel approach of analysing the shapes of clasts of rock defined by secondary fractures within a fault zone has been used. The clasts approximate ellipses when viewed in 2 dimensions. Combining ellipse orientation and aspect ratio from mutually perpendicular sections through the fault zone allowed calculation of an ellipsoid representative of the clasts of rock in 3 dimensions. Independent determination of the fault kinematics using stratigraphic relationships across the fault, fracture distribution, incremental strain axes and palaeomagnetic analysis has all owed evaluation of the new technique. The shapes of rock clasts are found to be related to the kinematics of the fault system. Up to a critical stage of development of the fault zone the axes of the rock clasts parallel the slip direction, intermediate strain axis and pole to the boundary faults. Which rock clast axis parallels which structural feature depends upon the spacing and curvature of fractures and stage of development of the fault zone. Analysis of the shapcs or rock clasts defined by fractures can avoid bias of the data set towards thicker fractures or against irregular fractures, which can occur when measuring fracture orientations directly. The degree of development of the fault zone varies laterally along the fault over short distances. This causes the shape.: fabric of the rock clasts to change, so predictions of connectivity within a fault zone are limited. The history of the central segment of the DFS determined from this study is found to occur with earlier workers. The complementary deformation histories produced from two scales of ohservation verifies the reliability of the chronology. Lateral movements along the DFS are thought to begin in the Eocene with a sinistral transpressive event which occurred along all three segments of the DFS. En echelon folds, east and west verging thrusts and clockwise rotations associated with sinistral faulting along the master fault of the segment are documented. Later, in the Oligocene, dextral faulting occurred. large clockwise palaeomagnetic rotations, determined from Palaeozoic samples beside the master fault, indicate sinistral displacements have been larger than dextral disp acements. It is inferred that only one episode of large lateral transport occurred. This is the Eocene sinistral event. Normal faulting associated with sinistral displ acements along the western side of the system are documented. This later sinistral faulting has not been documented before in the central segment of the DFS. After Oligocene age dextral faulting, the three segments of the DFS underwent separate deformation histories, as the main Andean deformation foci had moved eastward.

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Simultaneous localization and mapping (SLAM) is the problem of mapping your surroundings while simultaneously localizing yourself in the map. It is an important and active area of research for robotics. In this master thesis two approaches are attempted to reduce the drift which appears over time in SLAM algorithms. The first approach tries 3 different motion models for the camera. Two of the models exploit the a priori knowledge that the camera is mounted on a trolley. These two methods are shown to improve the results. The second approach attempts to reduce the drift by reducing noise in the point cloud data used for mapping. This is done by finding planar surfaces in the point clouds. Median filtering is used as an alternative to compare the result for noise reduction. The planes estimation approach is also shown to reduce the drift, while the median estimation makes it worse. / Simultaneous localization and mapping (SLAM) är problemet att kartlägga sin omgivning samtidigt som man lokaliserar sig själv i kartan. Det är ett viktigt och aktivt forskningsområde inom robotik. I det här exjobbet testas två tillvägagångssätt för att minska felet i kameraposition och orientering som uppstår över tiden i SLAM-lösningar. Det första tillvägagångssättet testar 3 olika rörelsemodeller för kameran. Två av modellerna utnyttjar vetskapen om att kameran sitter monterad på en vagn. Dessa två metoder förbättrar resultatet för SLAM-algoritmen. Det andra tillväggagångssättet försöker minska felet genom att reducera bruset i punktmolnsdatan som används i kartläggningen. Det görs genom att hitta plana ytor i punktmolnen. Medianfiltrering används som en alternativ lösning för att jämföra hur bra planestimeringen står sig. Planestimeringen visar sig också minska felet i lösningen, medan medianfiltreringen endast försämrar resultatet.

The Phase Induced Amplitude Apodization Complex Mask Coronagraph (PIAACMC) is an architecture for directly observing extrasolar planets, and can achieve performance near the theoretical limits for any direct-detection instrument. The PIAACMC architecture includes aspheric PIAA optics, and a complex phase-shifting focal plane mask that provides a pi phase shift to a portion of the on-axis starlight. The phase-shifted starlight is forced to interfere destructively with the un-shifted starlight, causing the starlight to be eliminated, and allowing a region for high-contrast imaging near the star. The PIAACMC architecture can be designed for segmented and obscured apertures, so it is particularly well suited for ground-based observing with the next generation of large telescopes. There will be unique scientific opportunities for directly observing Earth-like planets around nearby low-mass stars. We will discuss design strategies for adapting PIAACMC for the next generation of large ground-based telescopes, and present progress on the development of the focal plane mask technology. We also present simulations of wavefront control with PIAACMC, and suggest directions to apply the coronagraph architecture to future telescopes.

The purpose of this paper is to investigate Saunders MacLane's axioms for plane geometry. The wording of the axioms has been modified; however, the concept suggested by each axiom remains the same.

An alternative road traffic noise barrier using an array of periodically arranged vertical cylinders known as a Sonic Crystal (SC) is investigated. As a result of multiple (Bragg) scattering, SCs exhibit a selective sound attenuation in frequency bands called band gaps or stop bands related to the spacing and size of the cylinders. Theoretical studies using Plane Wave Expansion (PWE), Multiple Scattering Theory (MST) and Finite Element Method (FEM) have enabled study of the performance of SC barriers. Strategies for improving the band gaps by employing the intrinsic acoustic properties of the scatterer are considered. The use of the tube cavity (Helmholtz type) resonances in Split Ring Resonator (SRR) or the breathing mode resonances observed in thin elastic shells is shown to increase Insertion loss (IL) in the low-frequency range below the first Bragg stop band. Subsequently, a novel design of composite scatterer uses these 2 types of cylindrical scatterer in a concentric configuration with multiple symmetrical slits on the outer rigid shell. An array of composite scatterers forms a system of coupled resonators and gives rise to multiple low-frequency resonances. Measurements have been made in an anechoic chamber and also on a full-scale prototypes outdoors under various meteorological conditions. The experimental results are found to confirm the existence of the Bragg band gaps for SC barriers and the predicted significant improvements when locally resonant scatterers are used. The resonant arrays are found to give rise to relatively angle-independent stop bands in a useful range of frequencies. Good agreement between computational modelling and experimental work is obtained. Studies have been made also of the acoustical performances of regular arrays of cylindrical elements, with their axes aligned and parallel to a ground plane including predictions and laboratory experiment.