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ESR 1.3: status & next steps
Vasileios Vlachakis
PACMAN meeting25 June 2015
CERN, Geneva, Switzerland
Training
Snapshots of ETHZ courses
Measurements
Wire detection
Analysis software
Material
Summary
Outline
Jul - SepFeb – May Jun
Jul - SepFeb – May Jun
Physical Geodesy and Geodynamics 98 h
Project Parameter Estimation 81 h
Industrial Metrology and Machine Vision 103 h
Exams: 20.08.2015 (4 credits)
Exams: in August (4 credits)
Passed: 5.5/6 (3 credits)
IT coursesC/C++2 h
LaTeX 4 h
MATLAB 4 h
HTML, CSS2 h
Geomatics seminarsRecent Advances in Terrestrial Radar Interferometry2 h
Bathymetry of lakes: Exploring the underwater world2 h Procurement and
Contract Management Training on Supplies 8 h
Uncertainties of measurements, W. Bich
Invited expert from SLAC, R. Ruland
Training
Project Parameters EstimationTopic 1:
• 3D adjustment of mixed networks (GNSS + terrestrial observations) • LTOP software (developed by swisstopo)
45' 44'
10mm
43'
2mm
42'
ST3320231058880
ST3320131054880
31050880
31046880
31042880
41'
31038880ST33210
31035380
31032180
31029480
31026180
31022880
Silenen
8oE 40.00'
31019680
31016380
31013180
31009980
31006760
3100398011924913
11924914
ST33211ST32303ST32302
UR301
ST32301ST33212
11924117
UR26UR25
Erstfeld
39'
11924903
11924916
38' 37' 36' 35'
51'
50'
46oN 49.00'
48'
47'
Topic 2: • Geodetic reference systems: CH1903 (LV03) and CH1903+ (LV95)• Height systems: LN02 and LHN95• Reductions from the physical space to the projection surface
Topic 3: • Gyro-theodolite measurements processing
Project Parameters EstimationTopic 4: • Calibration of a Terrestrial Laser Scanner (TLS)• Gauss-Markov model• Gauss-Helmert model• Robust adjustment Topic 5:
• Kriging (Best Linear Unbiased Predictor)• Gaussian process regression / Kolmogorov-Wiener prediction
Industrial Metrology and Machine VisionTopic 1: • White light / Structured light scanners
Topic 2: • Clean & Compare 3D mesh models in Geomagic®
Industrial Metrology and Machine VisionTopic 3: • Romer – Leica Geosystems scanners
Topic 4: • Register & Compare 3D point clouds in Geomagic®
Industrial Metrology and Machine VisionTopic 5: • Shape from Focus
Topic 6: • Auto-collimation and differential interferometer
Jul - SepFeb – May Jun
CERN, 169/R-004 ETHZ, Messekeller (Calibration Base Room)
Data used to develop and debug the analysis software
Precision and accuracy evaluation
Measurements
Jul - SepFeb – May Jun
1. Minimum edge points (for each edge): increases the robustness.
2. Width of Region Of Interest (ROI) window: increases precision avoiding the out-of-focus area.
3. Height of Region Of Interest (ROI) window: helps when the wire is depicted inclined.
4. Maximum residual: increases precision discarding outlier pixels w.r.t. the fitting line.
5. Canny threshold: increases the robustness in case of noisy images.
Algorithm Graphic User Interface
User defined parameters
Wire detection
Jul - SepFeb – May Jun
Data• 3D coordinates +uncertainties (datum, comparison)• Angles to points (+uncertainties)
• 3D distances +uncertainties (datum, comparison)• Angles to wire (+uncertainties)
• Weights− Instrument specifications− User defined− CCD based (image proc.)
Analysis software
3D network adjustment• Angles to points (inner constraints)• Angles to points (minimum constraints)• Angles to points (additional constraints)
Features• Observations
− Raw (face I, face II)− Combined (face I + II)− Face I only− Face II only
Tools• Import QDaedalus raw data file• Make LGC input file (when applicable)
• Angles to wire (+points)• Calibration• Angles + Distances?
• Periods → Stations− n periods → 1 station (V0/station)− n periods → 1 station (V0/period)− 1 period → 1 station (X, Y, Z, V0/period)
• Compute 3D transformations• Make ChaBa input files• Visualization (measurements + results)• Import CMM and/or Multiline data files?
Jul - SepFeb – May Jun
• 2 Leica TDA5005 (calibration needed)
• 2 new QDaedalus systems
• 2 old QDaedalus systems (for upgrade)
• 1 Laptop
• 6 Targets (supports + spheres)
• 6 Aluminium cylindrical supports
• 1 Stretcher device
• more accessories…
High priority
• Transportation of the equipment from ETHZ
• Lab (ISR8)
• Optical table (borrow/buy)
• Laptop (borrow/buy)
Low priority
• Necessary / Available material list
• Material to borrow / to manufacture
• Market survey
• Decision w.r.t. the budget
Material listMaterial
Jul - SepFeb – May Jun
Training• 3 master courses at ETHZ
• IT courses at ETHZ
• Geomatics seminars at ETHZ
Measurements• Measurements on the wire
• Measurements on the test bench
Software• Wire detection algorithm
developed in Matlab
• Wire detection algorithm implemented in QDaedalus
Material• Instruments sent to ETHZ
• Material collected to build the test bench at ETHZ
Jul - SepFeb – May Jun
Training• Project Parameter
Estimation (3 credits) Passed: 5.5/6
• Procurement and Contract Management Training on Supplies
Measurements• Data used to develop
and debug the analysis software
Software• Input approximate coordinates,
constraints and angle observations
• Solve μ-Triangulation networks (inner, minimum, additional)
• Customize observations and weights
• Communicate with QDaedalus and LGC, through files
Material• List of the necessary
material
Final bench• First thoughts and
simple simulations about the configuration
• Requirements listed and presented, according to the experience
Jul - SepFeb – May Jun
Training• 2 exams in August
(4 + 4 credits)
• Uncertainties of measurements, W. Bich
• Invited expert from SLAC, R. Ruland
Measurements• Precision and accuracy
evaluation
• New measurement?
Material• Necessary / Available
material list
• Material to borrow / to manufacture
• Decide further steps
Final bench• Drawings needed to propose
possible solutions
Research plan• Draft to CERN, 15 Jul.
• Draft to ETHZ, 1 Aug.
• Submit, 31 Aug.
Software• Reconstruct line (wire)
• Solve global geodetic network (fiducials + wire)
• Customize periods of measurements
• Compute 3D transformations and communicate with ChaBa
• Visualize (measurements + results)
Thank you!