CN105547188A - Three-dimensional scanning system and three-dimensional scanning method for measuring volume of loose sediment block sample - Google Patents
Three-dimensional scanning system and three-dimensional scanning method for measuring volume of loose sediment block sample Download PDFInfo
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- CN105547188A CN105547188A CN201510888362.3A CN201510888362A CN105547188A CN 105547188 A CN105547188 A CN 105547188A CN 201510888362 A CN201510888362 A CN 201510888362A CN 105547188 A CN105547188 A CN 105547188A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/254—Projection of a pattern, viewing through a pattern, e.g. moiré
Abstract
The invention relates to a three-dimensional scanning system for measuring a volume of a loose sediment block sample. The method comprises steps that the optical information of a white-black standard checker board is acquired through a projector and a camera, coding processing on the optical information is carried out, the three-dimensional information of an edge point is acquired through triangulation, and three-dimensional reconstruction is carried out according to the three-dimensional information of the edge point; according to three-dimensional reconstruction, a coordinate position of an axial center of a rotary table in a projector and camera system coordinate system can be acquired through calculation; according to the coordinate position of the axial center of the rotary table in the projector and camera system coordinate system acquired through calculation, automatic registering of the different-angle three-dimensional data can be carried out. The invention further relates to a three-dimensional scanning system for measuring the volume of the loose sediment block sample. Through the method and the system, damage to physical or chemical structures of to-be-measured samples can be avoided, and measurement precision and three-dimensional scanning efficiency are improved.
Description
Technical field
The present invention relates to a kind of 3 D scanning system for measuring unconsolidated sediment bulk sample volume and method.
Background technology
Current scientific and technical develop rapidly, uses the traditional problem of high-tech apparatus and basic subject such as means solution Geology, environmental classes etc. more and more general.At present, the major part research of geologic media class all be unable to do without high-acruracy survey and process, theoretical question and the conversion of realistic model and the experimental situation of advanced person.
The density of unconsolidated sediment and pedotheque and volume are very important parameters for some fundamental researchs such as palaeoenvironmental reconstruction.But for a long time, seem simple question deposit technical limitation and barrier always for how solving such one.From the means of existing measurement volumes density, contact type measurement is main, based on Archimedes principle, testing sample is placed in certain volume and fixes, in the medium of known density, as water, sand, wet goods, by calculating the volume getting rid of object, indirectly learn the volume of testee, then calculate the density of whole sample by quality.In addition, irradiated by laser or the optical means such as ray scanning, also can know the local density of object or get rid of the real density in space.
But existing technical method and means often can not meet present scientific research demand.Because the inner structure of unconsolidated sediment and soil is complicated, there is the features such as space is grown, semi-consolidated, easy dispersion, the local density using the modes such as laser projection to obtain or real density, the actual density of sediment sample can not be represented, corresponding science truth can not be reflected in a lot of research and solve for problem in science, and laser projection passes through mineral entirety and also can produce certain irreversible infringement to sample.And result that contact type measurement obtains is no doubt accurate, but all can produce destruction to sample itself and inner structure.As water can wash away and absorption, sand can be attached to surface again, like this for the destruction of sample be unfavorable for very much sample other experiment and keeping; And for flusch matter sample, can its characteristic of easily adsorbing and disperseing, obtain reliable measurement result and all there is sizable dispute.If select the medium of some inert gases, it is a lot of that the singularity of medium itself and measuring method all can make cost increase, and the increase of the charged pressure of medium simultaneously also can make that measurement result trends towards real density and error increases or unavailable and corresponding research.
3-D scanning technical development is rapid, has been applied to numerous areas and the industries such as industrial detection, design, animation and film special effect making, 3D displaying, virtual operation, reverse engineering at present.From existing 3-D scanning technological means, based on laser three-dimensional scanning and projecting structural optical 3-D scanning technology, laser three-dimensional scanning system is by projecting laser line or dot matrix, the laser feature of projection is caught with camera, recover three-dimensional depth information by triangulation, but the scan mode major defect of this pointwise and by-line is that speed is slow; Based in the structural light three-dimensional scanning system of projector, it is by structure light coding technology, realize the disposable measurement of whole, have the clear superiority that speed is fast and precision is high, the structural light three-dimensional scanning technique thus based on projection has become current mainstream technology means.
Generally speaking, prior art has different defects and drawback, the demand that the scientific research of geology environmental classes one line is measured different sample bulk density can not be met, its subject matter existed is as follows: local density or the real density that 1) can only obtain testing sample, can not replace the actual density of sample; 2) if measurement result accurately will select expensive medium and instrument, cost up is measured; 3) measuring method contacts with determinand, the physics of determinand or chemical constitution is changed, is unfavorable for preservation and the recycling of determinand.
Summary of the invention
In view of this, be necessary to provide a kind of 3 D scanning system for measuring unconsolidated sediment bulk sample volume and method.
The invention provides a kind of 3 D scanning system for measuring unconsolidated sediment bulk sample volume, this system comprises the projector be connected with computer respectively, camera and turntable, described turntable there is the plane for placing sample to be measured, described computer comprises three-dimensional reconstruction module, coordinate position computing module and autoregistration module, wherein: described three-dimensional reconstruction module is used for obtaining the white tessellated optical information of standard black by projector and camera, coded treatment is carried out to described optical information, the three-dimensional information of marginal point is obtained through triangulation, three-dimensional information according to described marginal point carries out three-dimensional reconstruction, described coordinate position computing module is used for according to above-mentioned three-dimensional reconstruction, calculates the coordinate position of axle center under projector and camera system coordinate system of described turntable, described autoregistration module is used for, according to the coordinate position of axle center under projector and camera system coordinate system calculating turntable, carrying out the autoregistration of different angles three-dimensional data.
Wherein, described three-dimensional reconstruction module specifically for the inside and the external parameter that obtain described projector and camera so that the depth calculation of follow-up triangulation; And according to the projector of above-mentioned acquisition and the inside of camera and external parameter, coded treatment is carried out to the structural light stripes projected.
Described coordinate position computing module specifically for: scan described plane and obtain its three-dimensional data P1; Turntable is rotated to an angle, again scans described plane, obtain its rotate to an angle after three-dimensional data P2; And the rotating shaft L of described turntable is calculated according to P1, P2.
Described autoregistration module specifically for: control turntable each anglec of rotation A, rotate 360/A time, complete the comprehensive scanning to described turntable, obtain 360/A group 3 d scan data; And according to the anglec of rotation A of turntable and rotating shaft L, with first group of 3 d scan data for benchmark, complete the registration of 360/A group 3 d scan data obtained above.
The invention provides a kind of 3-D scanning method for measuring unconsolidated sediment bulk sample volume, the method comprises the steps: that a. obtains the white tessellated optical information of standard black by projector and camera, coded treatment is carried out to described optical information, obtain the three-dimensional information of marginal point through triangulation, the three-dimensional information according to described marginal point carries out three-dimensional reconstruction; B. according to above-mentioned three-dimensional reconstruction, the coordinate position of axle center under projector and camera system coordinate system of described turntable is calculated; C. according to the coordinate position of axle center under projector and camera system coordinate system calculating turntable, the autoregistration of different angles three-dimensional data is carried out.
Wherein, described a specifically comprises: a1. obtains inside and the external parameter of described projector and camera, so that the depth calculation of follow-up triangulation; And a2. is according to the projector of above-mentioned acquisition and the inside of camera and external parameter, carries out coded treatment to the structural light stripes projected.
Described b specifically comprises: scan described plane and obtain its three-dimensional data P1; Turntable is rotated to an angle, again scans described plane, obtain its rotate to an angle after three-dimensional data P2; And the rotating shaft L of described turntable is calculated according to P1, P2.
Described c specifically comprises: control each anglec of rotation A of turntable, rotate 360/A time, complete the comprehensive scanning to described turntable, obtain 360/A group 3 d scan data; And according to the anglec of rotation A of turntable and rotating shaft L, with first group of 3 d scan data for benchmark, complete the registration of 360/A group 3 d scan data obtained above.
3 D scanning system for measuring unconsolidated sediment bulk sample volume provided by the present invention and method, do not need the operation of artificial participation and contact measurement, can the scanning completing whole model of robotization, thus eliminate the destruction of measuring method for sample, improve the precision of measurement simultaneously, enormously simplify the operation complexity of whole 3-D scanning process, significantly improve the efficiency of 3-D scanning.
Accompanying drawing explanation
Fig. 1 is that the present invention is for measuring the running environment schematic diagram of the 3 D scanning system of unconsolidated sediment bulk sample volume;
Fig. 2 is the hardware structure figure of computer 5 of the present invention;
Fig. 3 is that the present invention is for measuring the process flow diagram of the 3-D scanning method of unconsolidated sediment bulk sample volume;
Fig. 4 is the detail flowchart of step S1 of the present invention;
Fig. 5 is the detail flowchart of step S11 of the present invention;
Fig. 6 is the detail flowchart of step S12 of the present invention;
Fig. 7 is the detail flowchart of step S2 of the present invention;
Fig. 8 is the detail flowchart of step S3 of the present invention.
Embodiment
Below in conjunction with drawings and the specific embodiments, the present invention is further detailed explanation.
Consulting shown in Fig. 1, is that the present invention is for measuring the running environment schematic diagram of the 3 D scanning system of unconsolidated sediment bulk sample volume.This system comprises the projector 1, camera 2, the turntable 3 that are electrically connected with computer 5 respectively.Wherein, plane 4 is placed on turntable 3, for placing object to be measured.Described computer 5 can control projector 1 respectively and project, and camera 2 is taken pictures and turntable 3 rotates.
See also Fig. 2, described computer 5 comprises: three-dimensional reconstruction module, coordinate position computing module and autoregistration module.
Described three-dimensional reconstruction module is used for obtaining the white tessellated optical information of standard black by projector 1 and camera 2, coded treatment is carried out to described optical information, obtain the three-dimensional information of marginal point through triangulation, the three-dimensional information according to described marginal point carries out three-dimensional reconstruction.Wherein, the three-dimensional information of described marginal point is the data of three-dimensional point cloud.Specifically:
Described three-dimensional reconstruction module obtains inside and the external parameter of projector 1 and camera 2, so that the depth calculation of follow-up triangulation; And
Described three-dimensional reconstruction module, according to the projector 1 of above-mentioned acquisition and the inside of camera 2 and external parameter, carries out coded treatment to the structural light stripes projected.
Wherein, described three-dimensional reconstruction module obtains inside and the external parameter of projector 1 and camera 2, so that the depth calculation of follow-up triangulation, specifically comprises:
Be pasted on planar object by a white cross-hatch pattern sheet of standard black, described tessellated size and grid quantity are known;
Before described gridiron pattern is placed on camera 2, take a gridiron pattern photo;
Keep gridiron pattern position motionless, open projector 1, project a black and white chessboard grid pattern on scaling board, and control camera 2 and take a photo;
Change position or the attitude of described gridiron pattern plane, repeat the shooting of above-mentioned camera and projector projects step; And
According to the photo that described camera 2 obtains, complete described projector 1 and the described inside of camera 2 and the demarcation of external parameter.
Wherein, described three-dimensional reconstruction module, according to the projector 1 of above-mentioned acquisition and the inside of camera 2 and external parameter, is carried out coded treatment to the structural light stripes projected, is specifically comprised:
First 11 Gray code pictures are projected, according to the definition of Gray code, by described 11 Gray code pictures, to whole image 2
10unique encodings is carried out in=1024 regions, i.e. Gray code overall situation coding.Wherein, the code value of described Gray code overall situation coding is 1 to 1020;
Employing width is the black and white striped of 4 pixels, again it is moved 1 pixel at every turn, mobile 3 times altogether, obtain 4 striped images altogether, by edge detecting technology, detect the stripe edge after each movement, and encode with the edge pixel of 1-2-3-4 tetra-encoded radios to described striped, i.e. local unique encodings, the code value of described Gray code overall situation coding is 1 to 4;
According to described local unique encodings and Gray code overall situation coding, complete the overall unique encodings of limit pixel, the code value of described overall unique encodings is 1 to 1024; And
According to epipolar line restriction condition and the described overall unique encodings of calibration phase, complete mating of projector 1 and camera 2 marginal point, and then obtain the three-dimensional information of marginal point by triangulation, realize 3D according to the three-dimensional information of described marginal point and rebuild.
Described coordinate position computing module is used for according to above-mentioned three-dimensional reconstruction, calculates the coordinate position of axle center under projector 1 with camera 2 system coordinate system of turntable 3.Specifically:
Described coordinate position computing module places a plane 4 on turntable 3 surface, scans described plane 4 and obtains its three-dimensional data P1;
Turntable 3 rotates to an angle by described coordinate position computing module, again scans described plane 4, obtain its rotate to an angle after three-dimensional data P2; And
Described coordinate position computing module calculates the rotating shaft L of described turntable 3 according to P1, P2.Specifically, carry out reconstruction simulation according to above-mentioned three-dimensional data P1, P2, calculate the rotating shaft L of described turntable 3.
In the present embodiment, described three-dimensional data P1, P2 rebuild the postrotational crossing part of simulation S21 and S22 midplane, form a right cylinder or cone, the axis of this right cylinder or cone is the rotating shaft L of described turntable 3, namely the axle center of turntable 3 under projector 1 with camera 2 system coordinate system.
Described autoregistration module is used for, according to the coordinate position of axle center under projector 1 with camera 2 system coordinate system calculating turntable 3, carrying out the autoregistration of different angles three-dimensional data.Specifically:
Described autoregistration module controls each anglec of rotation A of turntable 3, rotates 360/A time, completes the comprehensive scanning to described turntable 3, obtain 360/A group 3 d scan data; And
Described autoregistration module, according to the anglec of rotation A of turntable 3 and rotating shaft L, with first group of 3 d scan data for benchmark, completes the registration of 360/A group 3 d scan data obtained above.
Consulting shown in Fig. 3, is that the present invention is for measuring the operation process chart of the 3-D scanning method preferred embodiment of unconsolidated sediment bulk sample volume.
Step S1, obtain the white tessellated optical information of standard black by projector 1 and camera 2, carry out coded treatment, obtain the three-dimensional information of marginal point through triangulation to described optical information, the three-dimensional information according to described marginal point carries out three-dimensional reconstruction.Wherein, the three-dimensional information of described marginal point is the data of three-dimensional point cloud.Specific as follows, see also Fig. 4:
Step S11, obtains inside and the external parameter of projector 1 and camera 2, so that the depth calculation of follow-up triangulation.Specifically comprise, see also Fig. 5:
Step S111, is pasted on a white cross-hatch pattern sheet of standard black on planar object.Wherein, described tessellated size and grid quantity are known.
Step S112, before described gridiron pattern is placed on camera 2, takes a gridiron pattern photo.
Step S113, keeps gridiron pattern position motionless, opens projector 1, project a black and white chessboard grid pattern on scaling board, and control camera 2 and take a photo.
Step S114, changes position or the attitude of described gridiron pattern plane.In the present embodiment, above-mentioned steps S112 to step S114 about 20 to 30 times are repeated.
Step S115, according to the photo that described camera 2 obtains, completes described projector 1 and the described inside of camera 2 and the demarcation of external parameter.In the present embodiment, according to 20 to 30 comparison films that described camera 2 obtains, complete described projector 1 and the described inside of camera 2 and the demarcation of external parameter.
Step S12, according to the projector 1 of above-mentioned acquisition and the inside of camera 2 and external parameter, carries out coded treatment to the structural light stripes projected.Specifically comprise, see also Fig. 6:
Step S121, first projects 11 Gray code pictures, according to the definition of Gray code, by described 11 Gray code pictures, and to whole image 2
10unique encodings is carried out in=1024 regions, i.e. Gray code overall situation coding.Wherein, the code value of described Gray code overall situation coding is 1 to 1020.
Step S122, employing width is the black and white striped of 4 pixels, then it is moved 1 pixel at every turn, mobile 3 times altogether, obtains 4 striped images altogether.By edge detecting technology, detect the stripe edge after each movement, and encode with the edge pixel of 1-2-3-4 tetra-encoded radios to described striped, be i.e. local unique encodings.Wherein, the code value of described Gray code overall situation coding is 1 to 4.
Step S123, according to described local unique encodings and Gray code overall situation coding, completes the overall unique encodings of limit pixel.Wherein, the code value of described overall unique encodings is 1 to 1024.
Step S124, according to epipolar line restriction condition and the described overall unique encodings of calibration phase, complete mating of projector 1 and camera 2 marginal point, and then obtain the three-dimensional information of marginal point by triangulation, realize 3D according to the three-dimensional information of described marginal point and rebuild.
Step S2, according to above-mentioned three-dimensional reconstruction, calculates the coordinate position of axle center under projector 1 with camera 2 system coordinate system of turntable 3.Specific as follows, see also Fig. 7:
Step S21, places a plane 4 on turntable 3 surface, scans described plane 4 and obtain its three-dimensional data P1;
Step S22, rotates to an angle turntable 3, again scans described plane 4, obtain its rotate to an angle after three-dimensional data P2;
Step S23, calculates the rotating shaft L of described turntable 3 according to P1, P2.Specifically, carry out reconstruction simulation according to above-mentioned three-dimensional data P1, P2, calculate the rotating shaft L of described turntable 3.
In the present embodiment, described three-dimensional data P1, P2 rebuild the postrotational crossing part of simulation S21 and S22 midplane, form a right cylinder or cone, the axis of this right cylinder or cone is the rotating shaft L of described turntable 3, namely the axle center of turntable 3 under projector 1 with camera 2 system coordinate system.
Step S3, according to the coordinate position of axle center under projector 1 with camera 2 system coordinate system calculating turntable 3, carries out the autoregistration of different angles three-dimensional data.Specific as follows, see also Fig. 8:
Step S31, controls each anglec of rotation A of turntable 3, rotates 360/A time, complete the comprehensive scanning to described turntable 3, obtain 360/A group 3 d scan data.
In the present embodiment, as A=30 degree, then amount to rotation 12 times, namely complete comprehensive scanning of described turntable 3, suppose that scanning the 3 d scan data obtained for the first time is D1, by that analogy, then obtains D1 ... D12, amounts to 12 groups of 3 d scan datas;
Step S32, according to anglec of rotation A and the rotating shaft L of turntable 3, with first group of 3 d scan data for benchmark, completes the registration of 360/A group 3 d scan data obtained above.
In the present embodiment, in rotation process, the relative tertiary location of projector 1, camera 2 and turntable 3 can not change, according to anglec of rotation A and the rotating shaft L of turntable 3, with first group of 3 d scan data D1 for benchmark, D2 is rotated A degree around turning axle L, complete the accuracy registration of D2 and D1, the rest may be inferred, with first group of 3 d scan data for D1 benchmark, and follow-up scan-data L around the shaft, retrograde rotation (N-1) × 30 degree, completes the registration of 12 groups of data.
After above-mentioned registration completes, the measurement being follow-up bulk sample determines scale and object of reference, when carrying out the measurement of bulk sample volume, just can carry out 3-D scanning and reconstruction fast according to the position determined to bulk sample.
The present invention is based on the structural light three-dimensional scanister of projector and camera composition, add a turntable able to programme, testing sample is placed on platform, some angles are rotated by software control turntable, carry out 3-D scanning simultaneously, thus realize the scanning of automatic multi-angle three-dimensional data, because precise rotating platform strictly rotates around an axle, thus can by the calculating to turntable rotation axis, in conjunction with the known turntable anglec of rotation, the three-dimensional data of different angles scanning is rotated, achieves automatic multi-angle three-dimensional data registration and fusion.Advantage is as follows: 1) need not contact with object under test, can not damage physics or the chemical constitution of testing sample; 2) whole volumes of object can be measured, obtain global density; 3) can recycle, precision is high, and cost is low; 4) 360 degree of 3-D scannings of object are automatically completed; 5) do not need the auxiliary registration operation such as existing artificial labelling, the method for registering adopting Space Rotating axle to calculate is more accurately simple.
Although the present invention is described with reference to current better embodiment; but those skilled in the art will be understood that; above-mentioned better embodiment is only used for the present invention is described; not be used for limiting protection scope of the present invention; any within the spirit and principles in the present invention scope; any modification of doing, equivalence replacement, improvement etc., all should be included within the scope of the present invention.
Claims (8)
1. one kind for measuring the 3 D scanning system of unconsolidated sediment bulk sample volume, this system comprises the projector, camera and the turntable that are connected with computer respectively, described turntable there is the plane for placing sample to be measured, it is characterized in that, described computer comprises three-dimensional reconstruction module, coordinate position computing module and autoregistration module, wherein:
Described three-dimensional reconstruction module is used for obtaining the white tessellated optical information of standard black by projector and camera, coded treatment is carried out to described optical information, obtain the three-dimensional information of marginal point through triangulation, the three-dimensional information according to described marginal point carries out three-dimensional reconstruction;
Described coordinate position computing module is used for according to above-mentioned three-dimensional reconstruction, calculates the coordinate position of axle center under projector and camera system coordinate system of described turntable;
Described autoregistration module is used for, according to the coordinate position of axle center under projector and camera system coordinate system calculating turntable, carrying out the autoregistration of different angles three-dimensional data.
2. the system as claimed in claim 1, is characterized in that, described three-dimensional reconstruction module specifically for:
Obtain inside and the external parameter of described projector and camera, so that the depth calculation of follow-up triangulation; And
According to the projector of above-mentioned acquisition and the inside of camera and external parameter, coded treatment is carried out to the structural light stripes projected.
3. system as claimed in claim 2, is characterized in that, described coordinate position computing module specifically for:
Scan described plane and obtain its three-dimensional data P1;
Turntable is rotated to an angle, again scans described plane, obtain its rotate to an angle after three-dimensional data P2; And
The rotating shaft L of described turntable is calculated according to P1, P2.
4. system as claimed in claim 3, is characterized in that, described autoregistration module specifically for:
Control each anglec of rotation A of turntable, rotate 360/A time, complete the comprehensive scanning to described turntable, obtain 360/A group 3 d scan data; And
According to anglec of rotation A and the rotating shaft L of turntable, with first group of 3 d scan data for benchmark, complete the registration of 360/A group 3 d scan data obtained above.
5., for measuring a 3-D scanning method for unconsolidated sediment bulk sample volume, it is characterized in that, the method comprises the steps:
A. obtain the white tessellated optical information of standard black by projector and camera, carry out coded treatment to described optical information, obtain the three-dimensional information of marginal point through triangulation, the three-dimensional information according to described marginal point carries out three-dimensional reconstruction;
B. according to above-mentioned three-dimensional reconstruction, the coordinate position of axle center under projector and camera system coordinate system of described turntable is calculated;
C. according to the coordinate position of axle center under projector and camera system coordinate system calculating turntable, the autoregistration of different angles three-dimensional data is carried out.
6. method as claimed in claim 5, it is characterized in that, described a specifically comprises:
A1. inside and the external parameter of described projector and camera is obtained, so that the depth calculation of follow-up triangulation; And
A2. according to the projector of above-mentioned acquisition and the inside of camera and external parameter, coded treatment is carried out to the structural light stripes projected.
7. method as claimed in claim 6, it is characterized in that, described b specifically comprises:
Scan described plane and obtain its three-dimensional data P1;
Turntable is rotated to an angle, again scans described plane, obtain its rotate to an angle after three-dimensional data P2; And
The rotating shaft L of described turntable is calculated according to P1, P2.
8. method as claimed in claim 7, it is characterized in that, described c specifically comprises:
Control each anglec of rotation A of turntable, rotate 360/A time, complete the comprehensive scanning to described turntable, obtain 360/A group 3 d scan data; And
According to anglec of rotation A and the rotating shaft L of turntable, with first group of 3 d scan data for benchmark, complete the registration of 360/A group 3 d scan data obtained above.
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| CN106093041A (en) * | 2016-06-17 | 2016-11-09 | 长江大学 | A kind of laboratory experiment analogy method of friable deposit deformation |
| CN110044293A (en) * | 2018-01-17 | 2019-07-23 | 深圳中科飞测科技有限公司 | A kind of three-dimensional reconfiguration system and three-dimensional reconstruction method |
| CN113916152A (en) * | 2021-09-09 | 2022-01-11 | 湖南长步道光学科技有限公司 | Sample detection device and method based on phase deflection technology |
| RU2803712C1 (en) * | 2023-04-04 | 2023-09-19 | Федеральное государственное бюджетное учреждение "Всероссийский научно-исследовательский институт по проблемам гражданской обороны и чрезвычайных ситуаций МЧС России" (Федеральный центр науки и высоких технологий) (ФГБУ ВНИИ ГОЧС (ФЦ)) | Method for determining actual density of soils using 3d modelling of hole |
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