Universiti Teknologi Petronas

About: Universiti Teknologi Petronas is a education organization based out in Ipoh, Malaysia. It is known for research contribution in the topics: Adsorption & Ionic liquid. The organization has 6127 authors who have published 11284 publications receiving 119400 citations.

Underwater 3-D Scene Reconstruction Using Kinect v2 Based on Physical Models for Refraction and Time of Flight Correction

Abstract: Commercial RGB-D cameras provide the possibility of fast, accurate, and cost-effective 3-D scanning solution in a single package. These economical depth cameras provide several advantages over conventional depth sensors, such as sonars and lidars, in specific usage scenarios. In this paper, we analyze the performance of Kinect v2 time-of-flight camera while operating fully submerged underwater in a customized waterproof housing. Camera calibration has been performed for Kinect’s RGB and NIR cameras, and the effect of calibration on the generated 3-D mesh is discussed in detail. To overcome the effect of refraction of light due to the sensor housing and water, we propose a time-of-flight correction method and a fast, accurate and intuitive refraction correction method that can be applied to the acquired depth images, during 3-D mesh generation. Experimental results show that the Kinect v2 can acquire point cloud data up to 650 mm. The reconstruction results have been analyzed qualitatively and quantitatively, and confirm that the 3-D reconstruction of submerged objects at small distances is possible without the requirement of any external NIR light source. The proposed algorithms successfully generated 3-D mesh with a mean error of ±6 mm at a frame rate of nearly 10 fps. We acquired a large data set of RGB, IR and depth data from a submerged Kinect v2. The data set covers a large variety of objects scanned underwater and is publicly available for further use, along with the Kinect waterproof housing design and correction filter codes. The research is aimed toward small-scale research activities and economical solution for 3-D scanning underwater. Applications such as coral reef mapping and underwater SLAM in shallow waters for ROV’s can be a viable application area that can benefit from results achieved.

Glycerol-Mediated Facile Synthesis of Colored Titania Nanoparticles for Visible Light Photodegradation of Phenolic Compounds.

Abstract: In this study, we developed a glycerol-mediated safe and facile method to synthesize colored titania nanoparticles (NPs) via solution route. Our method is considerably effective and greener than other options currently available. Colored titania NPs were produced by hydrolyzing TiCl4 precursor in aqueous solution containing different concentrations of glycerol (0.0, 1.163, 3.834, and 5.815 mol/L) and subsequent calcination at 300 °C for 1 h. Our results highlight firstly that glycerol-mediated synthesis is unlikely to affect the anatase crystalline structure of TiO2, and secondly, that it would lead to coloration, band gap narrowing, and a remarkable bathochromic redshift of the optical response of titania. More importantly, the synthesized colored titania have Ti3+ ions, which, at least in terms of our samples, is the major factor responsible for its coloration. These Ti3+ species could induce mid gap states in the band gap, which significantly improve the visible light absorption capability and photocatalytic performance of the colored titania. The photocatalytic experiments showed that the colored TiO2 NPs prepared in 1.163 mol/L aqueous glycerol solution displayed the best photocatalytic performance. Almost 48.17% of phenolic compounds and 62.18% of color were removed from treated palm oil mill effluent (POME) within 180 min of visible light irradiation.