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- 2024 (2) (entfernen)
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This work addresses the challenge of calibrating multiple solid-state LIDAR systems. The study focuses on three different solid-state LIDAR sensors that implement different hardware designs, leading to distinct scanning patterns for each system. Consequently, detecting corresponding points between the point clouds generated by these LIDAR systems—as required for calibration—is a complex task. To overcome this challenge, this paper proposes a method that involves several steps. First, the measurement data are preprocessed to enhance its quality. Next, features are extracted from the acquired point clouds using the Fast Point Feature Histogram method, which categorizes important characteristics of the data. Finally, the extrinsic parameters are computed using the Fast Global Registration technique. The best set of parameters for the pipeline and the calibration success are evaluated using the normalized root mean square error. In a static real-world indoor scenario, a minimum root mean square error of 7 cm was achieved. Importantly, the paper demonstrates that the presented approach is suitable for online use, indicating its potential for real-time applications. By effectively calibrating the solid-state LIDAR systems and establishing point correspondences, this research contributes to the advancement of multi-LIDAR fusion and facilitates accurate perception and mapping in various fields such as autonomous driving, robotics, and environmental monitoring.
X-ray computed tomography (XRT) is a three-dimensional (3D), non-destructive, and reproducible investigation method capable of visualizing and examining internal and external structures of components independent of the material and geometry. In this work, XRT with its unique abilities complements conventionally utilized examination methods for the investigation of microstructure weakening induced by hydrogen corrosion and furthermore provides a new approach to corrosion research. The motivation for this is the current inevitable transformation to hydrogen-based steel production. Refractories of the system Al2O3-SiO2 are significant as lining materials. Two exemplary material types A and B, which differ mainly in their Al2O3:SiO2 ratio, are examined here using XRT. Identical samples of the two materials are measured, analyzed, and then compared before and after hydrogen attack. In this context, hydrogen corrosion-induced porosity and its spatial distribution and morphology are investigated. The results show that sample B has an higher resistance to hydrogen-induced attack than sample A. Furthermore, the 3D-representation revealed a differential porosity increase within the microstructure.