DIVESPOT: Depth Integrated Volume Estimation of Pile of Things Based on Point Cloud

Non-contact volume estimation of pile-type objects has considerable potential in industrial scenarios, including grain, coal, mining, and stone materials. However, using existing method for these scenarios is challenged by unstable measurement poses, significant light interference, the difficulty of training data collection, and the computational burden brought by large piles. To address the above issues, we propose the Depth Integrated Volume EStimation of Pile Of Things (DIVESPOT) based on point cloud technology in this study. For the challenges of unstable measurement poses, the point cloud pose correction and filtering algorithm is designed based on the Random Sample Consensus (RANSAC) and the Hierarchical Density-Based Spatial Clustering of Applications with Noise (HDBSCAN). To cope with light interference and to avoid the relying on training data, the height-distribution-based ground feature extraction algorithm is proposed to achieve RGB-independent. To reduce the computational burden, the storage space optimizing strategy is developed, such that accurate estimation can be acquired by using compressed voxels. Experimental results demonstrate that the DIVESPOT method enables non-data-driven, RGB-independent segmentation of pile point clouds, maintaining a volume calculation relative error within 2%. Even with 90% compression of the voxel mesh, the average error of the results can be under 3%.

Joint Location and Beamforming Design for STAR-RIS Assisted NOMA Systems

Simultaneously transmitting and reflecting reconfigurable intelligent surface (STAR-RIS) assisted non-orthogonal multiple access (NOMA) communication systems are investigated in its vicinity, where a STAR-RIS is deployed within a predefined region for establishing communication links for users. Both beamformer-based NOMA and cluster-based NOMA schemes are employed at the multi-antenna base station (BS). For each scheme, the STAR-RIS deployment location, the passive transmitting and reflecting beamforming (BF) of the STAR-RIS, and the active BF at the BS are jointly optimized for maximizing the weighted sum-rate (WSR) of users. To solve the resultant non-convex problems, an alternating optimization (AO) algorithm is proposed, where successive convex approximation (SCA) and semi-definite programming (SDP) methods are invoked for iteratively addressing the non-convexity of each sub-problem. Numerical results reveal that 1) the WSR performance can be significantly enhanced by optimizing the specific deployment location of the STAR-RIS; 2) both beamformer-based and cluster-based NOMA prefer asymmetric STAR-RIS deployment.