• Korean Journal of Construction Engineering and Management
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• v.17 no.3
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• pp.32-42
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• 2016

In Korea, the absence of BIM use in existing civil structures and buildings is driving a demand for as-built BIM. As-built BIMs are often created using laser scanners that provide dense 3D point cloud data. Conventional static laser scanning approaches often suffer from limitations in their operability due to the difficulties in moving the equipment, the selection of scanning location, and the requirement of placing targets or extracting tie points for registration of each scanned point cloud. This paper aims at reducing the manual effort using a kinematic 3D laser scanning system based on graph-based simultaneous localization and mapping (SLAM) for continuous indoor mapping. The robotic platform carries three 2D laser scanners: the front scanner is mounted horizontally to compute the robot's trajectory and to build the SLAM graph; the other two scanners are mounted vertically to scan the profiles of surrounding environments. To reduce the accumulated error in the trajectory of the platform through loop closures, the graph-based SLAM system incorporates AdaBoost loop closure approach, which is particularly suitable for the developed multi-scanner system providing more features than the single-scanner system for training. We implemented the proposed method and evaluated it in two indoor test sites. Our experimental results show that the false positive rate was reduced by 13.6% and 7.9% for the two dataset. Finally, the 2D and 3D mapping results of the two test sites confirmed the effectiveness of the proposed graph-based SLAM.

• Journal of Cadastre & Land InformatiX
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• v.50 no.2
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• pp.69-79
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• 2020

TRecently, smart cities that solve various problems in cities based on IoT technology are in the spotlight. In particular, cases of BIM application for smooth management of construction and maintenance are increasing, and spatial information is converted into 3D data through convergence technology and used for safety diagnosis. The purpose of this study is to create and combine point clouds of a multi-story building by using a ground laser scanner and a handheld LiDAR SLAM among UAV and LiDAR equipment, supplementing the Occluded area and disadvantages of each technology, examine the effectiveness of indoor and outdoor reverse design by observing shape reproduction and accuracy. As a result of the review, it was confirmed that the coordinate accuracy of the data was improved by creating and combining the indoor and outdoor point clouds of the multi-story building using three technologies. In particular, by supplementing the shortcomings of each technology, the completeness of the shape reproduction of the building was improved, the Occluded area and boundary were clearly distinguished, and the effectiveness of reverse engineering was verified.

• Journal of the Korea Organic Resources Recycling Association
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• v.24 no.4
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• pp.39-48
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• 2016

An information management system for a solid waste landfill site was developed, in this study, to optimize the operation and management of solid waste landfill in real time in addition to provide the information of landfill status to the landfill operator, public official concerned and local residents. The landfill information management system is composed of two systems (Solid waste landfill history management system and landfill operation and performance management system). The solid waste landfill history management system based on automated RFID/LPR system allows landfill operators to provide information of waste collection vehicles and received waste. In addition, the system aids in the identification of 3-dimensional (3D) position for landfilled solid wastes. Using the landfill operation and performance management system based on 3D laser scanner delivers information about landfill volume, settlement, landfill density, and current landfill capacity to landfill operators in real time, resulting in optimum space utilization. Ultimately, this system would dramatically reduce exposure of landfill operators to hazardous materials and improve the productivity of landfill operations.

• The korean journal of orthodontics
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• v.36 no.1 s.114
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• pp.14-29
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• 2006

Developments in computer technology have made possible the 3-dimensional (3-D) evaluation of hard and soft tissues in orthodontic diagnosis, treatment planning and post-treatment results. In this study, Korean adults with normal occlusion (male 30, female 30) were scanned by a 3-D laser scanner, then 3-D facial images formed by the Rapidform 2004 program (Inus Technology Inc., Seoul, Korea.). Reference planes in the facial soft tissue 3-D images were established and a 3-D coordinate system (X axis-left/right, Y axis-superior/inferior, Z axis-anterior/posterior) was established by using the soft tissue nasion as the zero point. Twenty-nine measurement points were established on the 3-D image and 43 linear measurements, 8 angular measurements, 29 linear distance ratios were obtained. The results are as follows; there were significant differences between males and females in the nasofrontal angle $(male:\;142^{\circ},\;female:\;147^{\circ})$ and transverse nasal prominence $(male:\;112^{\circ},\;female:\;116^{\circ})$ (p<0.05). The transverse upper lip prominence was $107^{\circ}$ in males, $106^{\circ}$ in females and the transverse mandibular prominence was $76^{\circ}$ in both males and females. Li-Me' was 0.4 times the length of Go-Me'(mandibular body length) and the mouth height was also 0.4 times the width of the mouth width. The linear distance ratio from the coronal reference plane of FT, Zy, Pn, ULPm, Li, Me' was -1/-1/1/0.5/0.5/-0.6 respectively. The 3-D facial model of Korean adults with normal occlusion were be constructed using coordinate values and linear measurement values. These data may be used as a reference in 3-D diagnosis and treatment planning for malocclusion and dentofacial deformity patients and applied for 3-D analysis of facial soft tissue changes before and after orthodontic treatment and orthognathic surgery.

• Korean Journal of Construction Engineering and Management
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• v.15 no.3
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• pp.3-11
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• 2014

Recently, remodeling construction project has been prevalently conducted in major city areas in Korea. However, remodeling construction project has a difficulty in conducting a construction because of non-existing drawing or lack of drawing information. To solve these problems, modeling techniques by using reverse engineering have been widely studied in other industries such as aerospace and automobile industry. But reverse engineering techniques have not been used in remodeling construction projects because those technology haven't supplied less accuracy during required time for surveying. So, this study suggests optimal method of acquiring accurate 3D laser scanner information for reverse engineering at interior remodeling project.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.24 no.2
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• pp.304-310
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• 2020

The technology in 3D modelling have advanced not only maps, heritages, constructions but also trees modelling. By laser scanning(Faro s350) and photogrammetry software(Pix4d) for 3D modelling, this study compared with real coniferous tree and both technology's results about characteristics of shape, texture, and dimensions. As a result, both technologies all showed high reproducibility. The scanning technique showed very good results in the reproduction about bark and leaves. Comparing the detailed dimensions on it, the error between the actual tree and modelling with scanning was 1.7~2.2%, and the scanning result was larger than the actual tree. The error between the actual tree and photogrammetry was only 0.2~0.5%, which was larger than the actual tree. On the other hand, the dark areas's modelling was not fully processed. This study is meaningful as a basic research that can be used for tree DB on BIM for the landscape architecture, landscape design and analysis with AR technology, historical tree and heritage also.

• Journal of Dental Rehabilitation and Applied Science
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• v.27 no.2
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• pp.247-251
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• 2011

Botulinum toxin type A (BoNT-A) is used for treating bilateral masseter hypertrophy since 1994. Recently there have been more clinical studies in this area, with some authors reporting that BoNT-A can reduce the size of the masseter muscle, as documented by photography, ultrasonography, computed tomography, and 3D(three dimensional) laser scan. However, earlier studies were only for bilateral masseter hypertrophy cases, not for unilateral masseter hypertrophy cases. The aim of this study was to use 3D laser scanning to evaluate changes in the external facial contour induced by unilateral BoNT-A injection. BoNT-A was injected into hypertrophic masseter muscle unilaterally in 10 patients with asymmetric masseter hypertrophy. The clinical effects of unilaterally injected BoNT-A were evaluated before the injection and 4, 8, and 12weeks after the injection using 3D laser scan. And the mean values of both sides (injection and non-injection sides) were compared with. At injection side, mean values of the volume and the bulkiest height at each time point diminished significantly between pre-injection and 4, 8, and 12weeks post-injection. At non-injection side, in contrast, mean values of the volume and the bulkiest height diminished also but less than that of injected side, and there was no statistical significance. In this limited study, we concluded that the unilaterally BoNT-A injection side showed greater mean values of the reduction of muscle volume than non-injection side at 4, 8, and 12 weeks after the injection.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.732-737
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• 2005

Distal 3D Real Object Duplication System(RODS) consists of 3D Scanner and Solid Freeform Fabrication System(SFFS). It is a device to make three-dimensional objects directly from the drawing or the scanning data. In this research, we developed an office type SFFS based on Three Dimensional Printing Process and a industrial SFFS using Dual Laser. An office type SFFS applied sliding mode control with sliding perturbation observer(SMCSPO) algorithm for control of this system. And we measured process variables about droplet diameter measurement and powder bed formation etc. through experiments. Also, in order to develop more elaborate and speedy system for large objects than existing SLS process, this study applies a new Selective Multi-Laser Sintering(SMLS) process and 3-axis dynamic Focusing Scanner for scanning large area instead of the existing $f\theta$ lens. In this process, the temperature has a great influence on sintering of the polymer. Also the laser parameters are considered like that laser beam power, scan speed, scan spacing. Now, this study is in progress to eveluate the effect of experimental parameters on the sintering process.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.10
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• pp.811-816
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• 2016

In light of recently developed 3D printers for rapid prototyping, there is increasing attention on the 3D scanner as a 3D data acquisition system for an existing object. This paper presents a prototypical 3D scanner based on a striped laser light image. In order to solve the problem of shadowy areas, the proposed 3D scanner has two cameras with one laser light source. By using a horizontal rotation table and a rotational arm rotating about the latitudinal axis, the scanner is able to scan in all directions. To remove an additional optical filter for laser light pixel extraction of an image, we have adopted a differential image method with laser light modulation. Experimental results show that the scanner's 3D data acquisition performance exhibited less than 0.2 mm of measurement error. Therefore, this scanner has proven that it is possible to reconstruct an object's 3D surface from point cloud data using a 3D scanner, enabling reproduction of the object using a commercially available 3D printer.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.3
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• pp.186-191
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• 2016

This paper addresses the development of 3D data acquisition system (3D scanner) based laser structured-light image. The 3D scanner consists of a stripe laser generator, a conventional camera, and a rotation table. The stripe laser onto an object has distortion according to 3D shape of an object. By analyzing the distortion of the laser stripe in a camera image, the scanner obtains a group of 3D point data of the object. A simple semiconductor stripe laser diode is adopted instead of an expensive LCD projector for complex structured-light pattern. The camera has an optical filter to remove illumination noise and improve the performance of the distance measurement. Experimental results show the 3D data acquisition performance of the scanner with less than 0.2mm measurement error in 2 minutes. It is possible to reconstruct a 3D shape of an object and to reproduce the object by a commercially available 3D printer.