Rigorous Calibration of UAV-Based LiDAR Systems with Refinement of the Boresight Angles Using a Point-to-Plane Approach.

Advances in micro-electro-mechanical navigation systems and lightweight LIDAR (light detection and ranging) sensors onboard unmanned aerial vehicles (UAVs) provide the feasibility of deriving point clouds with very high and homogeneous point density. However, the deformations caused by numerous sources of errors should be carefully treated. This work presents a rigorous calibration of UAV-based LiDAR systems with refinement of the boresight angles using a point-to-plane approach. Our method is divided into a calibration and a parameter mounting refinement part. It starts with the estimation of the calibration parameters and then refines the boresight angles. The novel contribution of the paper is two-fold. First, we estimate the calibration parameters conditioning the centroid of a plane segmented to lie on its corresponding segmented plane without an additional surveying campaign. Second, we refine the boresight angles using a new point-to-plane model. The proposed method is evaluated by analyzing the accuracy assessment of the adjusted point cloud to point/planar features before and after the proposed method. Compared with the state-of-the-art method, our proposed method achieves better positional accuracy.

Bioactive extracts of red seaweeds Pterocladiella capillacea and Osmundaria obtusiloba (Floridophyceae: Rhodophyta) with antioxidant and bacterial agglutination potential.

OBJECTIVE: To evaluate the antioxidant, antibacterial and bacterial cell agglutination activities of the hexane (Hex) and 70% ethanol (70% EtOH) extracts of two species of red seaweeds Pterocladiella capillacea (P. capillacea) and Osmundaria obtusiloba. METHODS: In vitro antioxidant activity was determined by DPPH radical scavenging assay, ferric-reducing antioxidant power assay, ferrous ion chelating assay, ß-carotene bleaching assay and total phenolic content quantification. Antimicrobial activity was tested using the method of disc diffusion on Mueller-Hinton medium. The ability of algal extracts to agglutinate bacterial cells was also tested. RESULTS: The 70% EtOH extract of the two algae showed the highest values of total phenolic content compared to the Hex extract. The results of DPPH for both extracts (Hex, 70% EtOH) of Osmundaria obtusiloba (43.46% and 99.47%) were higher than those of P. capillacea (33.04% and 40.81%) at a concentration of 1000 µg/mL. As for the ferrous ion chelating, there was an opposite behavior, extracts of P. capillacea had a higher activity. The extracts showed a low ferric-reducing antioxidant power, with optical density ranging from 0.054 to 0.180. Antioxidant activities of all extracts evaluated for ß-carotene bleaching were above 40%. There was no antibacterial activity against bacterial strains tested. However, the extracts of both species were able to agglutinate bacterial Gram positive cells of Staphylococcus aureus and Gram negative cells of Escherichia coli, multidrug-resistant Salmonella and Vibrio harveyi. CONCLUSIONS: This is the first report of the interaction between these algal extracts, rich in natural compounds with antioxidant potential, and Gram positive and Gram negative bacterial cells.