title: Analysing and Enhancing the Coarse Registration Pipeline

authors: Larkins, Robert L.

subjects: Registration

abstract: The current and continual development of sensors and imaging systems capable of acquiring three-dimensional data provides a novel form in which the world can be expressed and examined. The acquisition process, however, is often limited by imaging systems only being able to view a portion of a scene or object from a single pose at a given time. A full representation can still be produced by shifting the system and registering subsequent acquisitions together. While many solutions to the registration problem have been proposed, there is no quintessential approach appropriate for all situations. This dissertation aims to coarsely register range images or point-clouds of a priori unknown pose by matching their overlapping regions.

Using spherical harmonics to correlate normals in a coarse registration pipeline has been shown previously to be an effective means for registering partially overlapping point-clouds. The advantage of normals is their translation invariance, which permits the rotation and translation to be decoupled and determined separately. Examining each step of this pipeline in depth allows its registration capability to be quantified and identifies aspects which can be enhanced to further improve registration performance. The pipeline consists of three primary steps: identifying the rotation using spherical harmonics, identifying the translation in the Fourier domain, and automatically verifying if alignment is correct. Having achieved coarse registration, a fine registration algorithm can be used to refine and complete the alignment.

Major contributions to knowledge are provided by this dissertation at each step of the pipeline. Point-clouds with known ground-truth are used to examine the pipeline's capability, allowing its limitations to be determined; an analysis which has not been performed previously. This examination allowed modifications to individual components to be introduced and measured, establishing their provided benefit. The rotation step received the greatest attention as it is the primary weakness of the pipeline, especially as the nature of the overlap between point-clouds is unknown. Examining three schemes for binning normals found that equiangular binning, when appropriately normalised, only had a marginal decrease in accuracy with respect to the icosahedron and the introduced Fibonacci schemes. Overall, equiangular binning was the most appropriate due to its natural affinity for fast spherical-harmonic conversion. Weighting normals was found to provide the greatest benefit to registration performance. The introduction of a straightforward method of combining two different weighting schemes using the orthogonality of complex values increased correct alignments by approximately 80% with respect to the next best scheme; additionally, point-cloud pairs with overlap as low as 5% were able to be brought into correct alignment. Transform transitivity, one of two introduced verification strategies, correctly classified almost 100% of point-cloud pair registrations when there are sufficient correct alignments.

The enhancements made to the coarse registration pipeline throughout this dissertation provide significant improvements to its performance. The result is a pipeline with state-of-the-art capabilities that allow it to register point-cloud with minimal overlap and correct for alignments that are classified as misaligned. Even with its exceptional performance, it is unlikely that this pipeline has yet reached its pinnacle, as the introduced enhancements have the potential for further development.

text: Analysing and Enhancing the Coarse Registration Pipeline The current and continual development of sensors and imaging systems capable of acquiring three-dimensional data provides a novel form in which the world can be expressed and examined. The acquisition process, however, is often limited by imaging systems only being able to view a portion of a scene or object from a single pose at a given time. A full representation can still be produced by shifting the system and registering subsequent acquisitions together. While many solutions to the registration problem have been proposed, there is no quintessential approach appropriate for all situations. This dissertation aims to coarsely register range images or point-clouds of a priori unknown pose by matching their overlapping regions.

Using spherical harmonics to correlate normals in a coarse registration pipeline has been shown previously to be an effective means for registering partially overlapping point-clouds. The advantage of normals is their translation invariance, which permits the rotation and translation to be decoupled and determined separately. Examining each step of this pipeline in depth allows its registration capability to be quantified and identifies aspects which can be enhanced to further improve registration performance. The pipeline consists of three primary steps: identifying the rotation using spherical harmonics, identifying the translation in the Fourier domain, and automatically verifying if alignment is correct. Having achieved coarse registration, a fine registration algorithm can be used to refine and complete the alignment.

Major contributions to knowledge are provided by this dissertation at each step of the pipeline. Point-clouds with known ground-truth are used to examine the pipeline's capability, allowing its limitations to be determined; an analysis which has not been performed previously. This examination allowed modifications to individual components to be introduced and measured, establishing their provided benefit. The rotation step received the greatest attention as it is the primary weakness of the pipeline, especially as the nature of the overlap between point-clouds is unknown. Examining three schemes for binning normals found that equiangular binning, when appropriately normalised, only had a marginal decrease in accuracy with respect to the icosahedron and the introduced Fibonacci schemes. Overall, equiangular binning was the most appropriate due to its natural affinity for fast spherical-harmonic conversion. Weighting normals was found to provide the greatest benefit to registration performance. The introduction of a straightforward method of combining two different weighting schemes using the orthogonality of complex values increased correct alignments by approximately 80% with respect to the next best scheme; additionally, point-cloud pairs with overlap as low as 5% were able to be brought into correct alignment. Transform transitivity, one of two introduced verification strategies, correctly classified almost 100% of point-cloud pair registrations when there are sufficient correct alignments.

The enhancements made to the coarse registration pipeline throughout this dissertation provide significant improvements to its performance. The result is a pipeline with state-of-the-art capabilities that allow it to register point-cloud with minimal overlap and correct for alignments that are classified as misaligned. Even with its exceptional performance, it is unlikely that this pipeline has yet reached its pinnacle, as the introduced enhancements have the potential for further development.

year: 2015

title: Evaluation of reactive induction sintering as a manufacturing route for blended elemental Ti-5Al-2.5Fe alloy

authors: Jia, Mingtu

subjects: Science & Technology

abstract: This work focuses on gaining a better understanding of the feasibility of using reactive induction sintering to obtain the alloy Ti-5Al-2.5Fe using Ti, Al and Fe powders (i.e. via a blended elemental approach). For this, powder compacts were induction sintered under various temperature/time combinations like 700–1250 °C and isothermal holding of 0–15 min. Compositional homogeneity, microstructure evolution and mechanical properties of the sintered Ti-5Al-2.5Fe alloy were investigated. It was found that by increasing the sintering temperature and isothermal holding time, sintered Ti-5Al-2.5Fe components with a homogeneous chemical composition and a Widmanstätten microstructure can be produced. The tensile strength increases with the sintering temperature/time reaching comparable values to the wrought alloy; however the residual porosity has a significant impact on the ductility of the alloy. This study demonstrates that reactive induction sintering is suitable to shorten the production route of blended elemental Ti alloys to be used in non-critical applications where ductility is not the main requirement.

text: Evaluation of reactive induction sintering as a manufacturing route for blended elemental Ti-5Al-2.5Fe alloy This work focuses on gaining a better understanding of the feasibility of using reactive induction sintering to obtain the alloy Ti-5Al-2.5Fe using Ti, Al and Fe powders (i.e. via a blended elemental approach). For this, powder compacts were induction sintered under various temperature/time combinations like 700–1250 °C and isothermal holding of 0–15 min. Compositional homogeneity, microstructure evolution and mechanical properties of the sintered Ti-5Al-2.5Fe alloy were investigated. It was found that by increasing the sintering temperature and isothermal holding time, sintered Ti-5Al-2.5Fe components with a homogeneous chemical composition and a Widmanstätten microstructure can be produced. The tensile strength increases with the sintering temperature/time reaching comparable values to the wrought alloy; however the residual porosity has a significant impact on the ductility of the alloy. This study demonstrates that reactive induction sintering is suitable to shorten the production route of blended elemental Ti alloys to be used in non-critical applications where ductility is not the main requirement.

year: 2018

title: Tihei Mauri Ora: A Māori response to health disparities

authors: Waitoa, Alieta Jei

subjects: Maori

abstract: Māori bear a disproportionate burden of health problems which, in concert with other factors (e.g. poor housing, low socio-economic status and low education attainment), contribute to and maintain low health status. It is noted that there have been multiple attempts to reduce health inequities – however, such attempts have been largely unsuccessful. Barriers to success include government reticence, restrictions on Māori participation in determining health directions/solutions, current contract paradigms and a reluctance to engage in meaningful partnerships with Māori. Those barriers occur within a cultural framework which defines (and therefore prioritises) the health of an individual over the needs of the collective.

The hypothesis of this research is that Māori health disparities are best addressed via the development and delivery of Māori health models by services which are oriented to kaupapa Māori principles. Utilising a case study approach, this thesis looks at the outcomes generated when a kaupapa Māori service applies key Māori principles to health service delivery. The case study, in tandem with focus group interviews identifies the key elements necessary to developing services which are responsive to the needs of Māori.

This study identified the importance of promoting change (and ultimately improve Māori health status) that encompasses the formation of a framework which considers collective benefit over individualism, encompasses Māori values, acknowledges and accepts Māoricentric clinical interventions. In addition, the thesis asserts that Māori health status will improve once Māori are active participants rather than recipients of health services.

text: Tihei Mauri Ora: A Māori response to health disparities Māori bear a disproportionate burden of health problems which, in concert with other factors (e.g. poor housing, low socio-economic status and low education attainment), contribute to and maintain low health status. It is noted that there have been multiple attempts to reduce health inequities – however, such attempts have been largely unsuccessful. Barriers to success include government reticence, restrictions on Māori participation in determining health directions/solutions, current contract paradigms and a reluctance to engage in meaningful partnerships with Māori. Those barriers occur within a cultural framework which defines (and therefore prioritises) the health of an individual over the needs of the collective.

The hypothesis of this research is that Māori health disparities are best addressed via the development and delivery of Māori health models by services which are oriented to kaupapa Māori principles. Utilising a case study approach, this thesis looks at the outcomes generated when a kaupapa Māori service applies key Māori principles to health service delivery. The case study, in tandem with focus group interviews identifies the key elements necessary to developing services which are responsive to the needs of Māori.

This study identified the importance of promoting change (and ultimately improve Māori health status) that encompasses the formation of a framework which considers collective benefit over individualism, encompasses Māori values, acknowledges and accepts Māoricentric clinical interventions. In addition, the thesis asserts that Māori health status will improve once Māori are active participants rather than recipients of health services.

year: 2014