Time Of Flight Technology Research Articles

Methodology and algorithms for obtaining long-range 3D-portraits of objects based on 2D-intensity distributions of truncated realizations of reflected laser radiation

A methodology and algorithms for obtaining long range 3D portraits of objects by 2D distributions of intensity of truncated realizations of reflected laser radiation are considered. The methodological and instrumental aspects of increasing the resolution of 3D portraits in terms of topography depth are investigated. Relationships between the relief resolution and optical contrast of the object surface are obtained. It is shown that the resolution can be less than 1 cm. Using the same probing pulse power, the proposed methodology and algorithms allow a tenfold increase in the range of 3D lidars compared to ToF (Time-of-Flight) technology based on the "Range-gated imagers" algorithms. The proposed scheme also provides the possibility of implementing this methodology using standard components without the need to use specialized integrated ToF processors.

Reconstructing Depth Images for Time-of-Flight Cameras Based on Second-Order Correlation Functions

Depth cameras are closely related to our daily lives and have been widely used in fields such as machine vision, autonomous driving, and virtual reality. Despite their diverse applications, depth cameras still encounter challenges like multi-path interference and mixed pixels. Compared to traditional sensors, depth cameras have lower resolution and a lower signal-to-noise ratio. Moreover, when used in environments with scattering media, object information scatters multiple times, making it difficult for time-of-flight (ToF) cameras to obtain effective object data. To tackle these issues, we propose a solution that combines ToF cameras with second-order correlation transform theory. In this article, we explore the utilization of ToF camera depth information within a computational correlated imaging system under ambient light conditions. We integrate compressed sensing and non-training neural networks with ToF technology to reconstruct depth images from a series of measurements at a low sampling rate. The research indicates that by leveraging the depth data collected by the camera, we can recover negative depth images. We analyzed and addressed the reasons behind the generation of negative depth images. Additionally, under undersampling conditions, the use of reconstruction algorithms results in a higher peak signal-to-noise ratio compared to images obtained from the original camera. The results demonstrate that the introduced second-order correlation transformation can effectively reduce noise originating from the ToF camera itself and direct ambient light, thereby enabling the use of ToF cameras in complex environments such as scattering media.

StackZDPD: a novel encoding scheme for mass spectrometry data optimized for speed and compression ratio

As the pervasive, standardized format for interchange and deposition of raw mass spectrometry (MS) proteomics and metabolomics data, text-based mzML is inefficiently utilized on various analysis platforms due to its sheer volume of samples and limited read/write speed. Most research on compression algorithms rarely provides flexible random file reading scheme. Database-developed solution guarantees the efficiency of random file reading, but nevertheless the efforts in compression and third-party software support are insufficient. Under the premise of ensuring the efficiency of decompression, we propose an encoding scheme “Stack-ZDPD” that is optimized for storage of raw MS data, designed for the format “Aird”, a computation-oriented format with fast accessing and decoding time, where the core compression algorithm is “ZDPD”. Stack-ZDPD reduces the volume of data stored in mzML format by around 80% or more, depending on the data acquisition pattern, and the compression ratio is approximately 30% compared to ZDPD for data generated using Time of Flight technology. Our approach is available on AirdPro, for file conversion and the Java-API Aird-SDK, for data parsing.

Exploration of the total-body PET/CT reconstruction protocol with ultra-low 18F-FDG activity over a wide range of patient body mass indices

PurposeThe purpose of this study was to investigate the image quality and diagnostic performance of different reconstructions over a wide range of patient body mass indices (BMIs) obtained by total-body PET/CT with ultra-low 18F-FDG activity (0.37 MBq/kg).MethodsA total of 63 patients who underwent total-body PET/CT with ultra-low activity (0.37 MBq/kg) 18F-FDG were enrolled. Patients were grouped by their BMIs. Images were reconstructed with the following two algorithms: the ordered subset expectation maximization (OSEM) algorithm (2, 3 iterations), both with time of flight (TOF) and point spread function (PSF) corrections (hereinafter referred as OSEM2, OSEM3) and HYPER Iterative algorithm (β-values of 0.3, 0.4, 0.5, 0.6) embedded TOF and PSF technologies (hereinafter referred as HYPER0.3, HYPER0.4, HYPER0.5 and HYPER0.6, respectively). Subjective image quality was assessed by two experienced nuclear medicine physicians according to the Likert quintile, including overall image quality, image noise and lesion conspicuity. The standard deviation (SD) and signal-to-noise ratio (SNR) of the liver, and maximum standard uptake value (SUVmax), peak standard uptake value (SUVpeak), tumour background ratio (T/N) and the largest diameter of lesions were quantitatively analysed by a third reader who did not participate in the subjective image assessment.ResultsIncreased noise was associated with increased BMI in all reconstruction groups. Significant differences occurred in the liver SNR among BMI categories of OSEM reconstructions (P < 0.001) but no difference was seen in the HYPER Iterative reconstructions between any of the BMI categories (P > 0.05). With the increase in BMI, overall image quality and image noise scores decreased significantly in all reconstructions, but there was no statistically significant difference of lesion conspicuity. The overall image quality score of the obese group was not qualified (score = 2.7) in OSEM3, while the others were qualified. The lesion conspicuity scores were significantly higher in HYPER Iterative reconstructions and lower in OSEM2 than in OSEM3 (all P < 0.05). The values of SUVmax, SUVpeak and T/N in HYPER0.3, HYPER0.4 and HYPER0.5 were higher than those in OSEM3. In different reconstructions, there was a correlation between lesion size (median, 1.55 cm; range, 0.7–11.0 cm) and SUVpeak variation rate compared to OSEM3 (r = 0.388, − 0.515, − 0.495, − 0.464, and − 0.423, respectively, and all P < 0.001).ConclusionConsidering the image quality and lesion analysis in 18F-FDG total-body PET/CT with ultra-low activity injection, OSEM reconstructions with 3 iterations meet the clinical requirements in patients with BMI < 30. In patients with BMI ≥ 30, it is recommended that the HYPER Iterative algorithm (β-value of 0.3–0.5) be used to ensure consistent visual image quality and quantitative assessment.

Three-Dimensional Particle Tracking Velocimetry using a Single Time-of-Flight Camera

Time of Flight (ToF) cameras are a type of range-imaging camera that provides three-dimensional scene information from a single camera. This paper assesses the ability of ToF technology to be used for threedimensional particle tracking velocimetry (3D-PTV). Using a commercially available ToF camera various aspects of 3D-PTV are considered, including: minimum resolvable particle size, environmental factors (reflections and refractive index changes) and time resolution. Although it is found that an off-the-shelf ToF camera is not a viable alternative to traditional 3D-PTV measurement systems, basic 3D-PTV measurements are shown with large (6mm) particles in both air and water to demonstrate future potential use as this technology develops. A summary of necessary technological advances is also discussed.

Hardhat Detection Using IR and Depth Frames

The construction industry is one of the largest sectors and 20% of the total deaths happen here. Safety hardhat helmets are one of the precautionary methods recommended and followed in a construction site. Detecting and classifying people wearing and not wearing helmets is an important task. Safety and Security is one of the most researched fields in recent years and acquiring 3D geometric information from any real environment is an important task for such applications. Well-known methods like stereo vision camera systems suffer from high time consumption or from the inability to match corresponding points inhomogeneous regions. Time of Flight (ToF)technology, being a recent development, fulfills features desired for real-time distance acquisition along with the compact size and higher frame rate. A safety application based on the ToF technology ad IR imaging is proposed in the paper. The ToF sensor provides depth information for each pixel as opposed to RGB values in case stereo camera-based systems. The depth sense cameras provide IR images along with the depth information. A YOLO framework is used to classify images. YOLO being faster than RCNN and the faster RCNN is much suitable for real-time classification. The model was trained on 50,000 images. Weights obtained during the 6000th epoch were chosen. A Mean Average Precision of 56% was obtained while testing.

A Simple I-ToF Module Based on Avalanche Photodiode

This letter presents for the first time a new type of indirect time-of-flight (ToF) detection unit based on avalanche photodiode (APD) which is simple in structure and easy to integrate. Leveraging the advantages afforded by the direct ToF and indirect ToF technology, it has been verified by simulation that it has good time resolution, and the measurement results show a standard deviation of 3.17 mm at 4 m and less than 35 cm for distances up to 7.5 m. At the same time, this work proposes a new lateral APD model with a high responsivity reaching up to 4.37 A/W and low breakdown voltage of ~9.4 V.

Evaluation of low-cost depth cameras for agricultural applications

Low-cost depth-cameras have been used in many agricultural applications with reported advantages of low cost, reliability and speed of measurement. However, some problems were also reported and seem to be technology-related, so understanding the limitations of each type of depth camera technology could provide a basis for technology selection and the development of research involving its use. The cameras use one or a combination of two of the three available technologies: structured light, time-of-flight (ToF), and stereoscopy. The objectives were to evaluate these different technologies for depth sensing, including measuring accuracy and repeatability of distance data and measurements at different positions within the image, and cameras usefulness in indoor and outdoor settings. Then, cameras were tested in a swine facility and in a corn field. Five different cameras were used: (1) Microsoft Kinect v.1, (2) Microsoft Kinect v.2, (3) Intel® RealSense™ Depth Camera D435, (4) ZED Stereo Camera (StereoLabs), and (5) CamBoard Pico Flexx (PMD Technologies). Results indicate that there were significant camera to camera differences for ZED Stereo Camera and Kinect v.1 camera (p < 0.05). All cameras showed an increase in the standard deviation as the distance between camera and object increased; however, the Intel RealSense camera had a larger increase. Time-of-flight cameras had the smallest error between different sizes of objects. Time-of-flight cameras had non-readable zones on the corners of the images. The results indicate that the ToF technology is the best to be used for indoor applications and stereoscopy is the best technology for outdoor applications.

Hetero-integration enables fast switching time-of-flight sensors for light detection and ranging

The time-of-flight (ToF) principle is a method used to measure distance and construct three-dimensional (3D) images by detecting the time or the phase difference between emitted and back-reflected optical flux. The ToF principle has been employed for various applications including light ranging and detection (LiDAR), machine vision and biomedical engineering; however, bulky system size and slow switching speed have hindered the widespread application of ToF technology. To alleviate these issues, a demonstration of hetero-integration of GaN-based high electron mobility transistors (HEMTs) and GaAs-based vertical cavity surface emitting lasers (VCSELs) on a single platform via a cold-welding method was performed. The hetero-integrated ToF sensors show superior switching performance when compared to silicon-transistor-based systems, miniaturizing size and exhibiting stable ranging and high-resolution depth-imaging. This hetero-integrated system of dissimilar material-based high-performance devices suggests a new pathway towards enabling high-resolution 3D imaging and inspires broader range application of heterogeneously integrated electronics and optoelectronics.

Timing calibration comparison research of integrated TOF-PET/MR

Integrated TOF-PET/MR is a multimodal imaging system which can acquire high-quality magnetic resonance (MR) and positron emission tomography (PET) images at the same time, and it has time of flight (TOF) function. The TOF-PET system usually features better image quality compared to traditional PET because it is capable of localizing the lesion on the line of response where annihilation takes place. TOF technology measures the time difference between the detectors on which the two 180-degrees-seperated photons generated from positron annihilation are received. Since every individual crystal might be prone to its timing bias, timing calibration is needed for a TOF-PET system to work properly. Three approaches of timing calibration are introduced in this article. The first one named as fan-beam method is an iterative method that measures the bias of the Gaussian distribution of timing offset created from a fan-beam area constructed using geometric techniques. The second one is to find solutions of the overdetermination equations set using L1 norm minimization and is called L1-norm method. The last one called L2-norm method is to build histogram of the TOF and find the peak, and uses L2 norm minimization to get the result. This article focuses on the comparison of the amount of the data and the calculation time needed by each of the three methods. To avoid location error of the cylinder radioactive source during data collection, we developed a location calibration algorithm which could calculate accurate position of the source and reduce image artifacts. The experiment results indicate that the three approaches introduced in this article could enhance the qualities of PET images and standardized uptake values of cancer regions, so the timing calibration of integrated TOF-PET/MR system was realized. The fan-beam method has the best image quality, especially in small lesions. In integrated TOF-PET/MR timing calibration, we recommend using fan-beam method.

Monitoring Dehydration and Clearing in Tissue Processing for High-Quality Clinical Pathology.

The development of precision testing for disease diagnosis has advanced medicine by specifically matching patients with drugs to treat specific diseases. High-quality diagnostics start with high-quality tissue specimens. The development and optimization of tissue handling and processing have lagged behind bioassay development. Ultrasound time-of-flight (TOF) technology has been successfully used to monitor the critical processing step of tissue fixation with formalin. In this study, we expand the use of this technology to monitor tissue dehydration and clearing by analyzing TOF signals from 270 different specimens, representing 13 different tissue types obtained through surgical resections. We determined the time constant τ90 for each tissue type for the following tissue processing solvents: 70% ethanol, 90% ethanol, 100% ethanol, and xylene. The TOF signals were correlated with tissue morphology to ensure that high-quality tissue was produced. Tissues can be grouped into those exhibiting fast and slow reagent diffusion. We monitored incomplete dehydration of tissue by skipping a key processing step, dehydration in absolute ethanol, and then correlated the τ90 with poor histomorphology, demonstrating that the technique can detect significant processing errors. Ultrasound TOF technology can therefore be used to monitor all phases of tissue processing cycle and yields an important preanalytical quality metric.

Microbiological Aspects of Naturally Occurring Primary Endodontic Infections in Dogs.

Dental fractures are common in dogs, but data on microbiology of naturally occurring primary endodontic infections, and their relation to clinical and radiographic signs, are lacking. Samples were obtained from root canals of 32 periodontally healthy fractured teeth under aseptic conditions and immediately cultured for aerobic and anaerobic bacteria. Cultures were further identified by matrix-assisted laser desorption/ionization, time of flight technology. Sixty-one bacteria (30 bacterial species) were isolated from root canals; 54% were Gram-negative bacteria, 53% were facultative anaerobic, and 42% were anaerobic bacteria. Number of bacterial species in the root canals declined with the duration of fractures over 12 months. No statistically significant association was found between the number of bacterial species involved in the root canal infection and any of the clinical or radiographic signs of endodontic disease. Naturally occurring primary endodontic infections in dogs appear to be polymicrobial and involve only a selected number of opportunistic pathogen species.

Status of technology of MRPC time of flight system

TOF (Time Of Flight) system based on MRPC (Multi-gap Resistive Plate Chamber) technology is widely used in modern physics experiments, and it also plays an important role in particle identification. With the increase of accelerator energy and luminosity, the TOF system is required to identify definite particles precisely under high rate environment. The MRPC technology TOF system can be defined as three generations. The first generation TOF is based on float glass MRPC and its time resolution is around 80 ps, but the rate is relatively low (typically lower than a few hundred Hz/cm2). The typical systems are TOF of RHIC-STAR, LHC-ALICE and BES III endcap. For the second generation TOF, its time resolution is in the same order with the first generation, but the rate capability is much higher. Its rate capability can reach 30 kHz/cm2. The typical experiment with this high rate TOF is FAIR-CBM. The biggest challenge is on the third generation TOF. For example, the momentum upper limit of K/PI separation is around 7 GeV/c for JLab-SoLID TOF system under high particle rate as high as 20 kHz/cm2, the time requirement is around 20 ps. The readout electronics of the first two generations is based on time over threshold method and pulse shape sampling technology will be used in the third generation TOF. In the same time, the machine learning technology is also designed to analyze the time performance. In this paper, we will describe the evolution of MRPC TOF technology and key technology of each generation TOF.

Time of flight technology based on multi-gap resistive plate chamber

Particle identification is very important in nuclear and particle physics experiments. Time of flight system (TOF) plays an important role in particle identification such as the separation of pion, kaon and proton. Multi-gap resistive plate chamber (MRPC) is a new kind of avalanche gas detector and it has excellent time resolution power. The intrinsic time resolution of narrow gap MRPC is less than 10 ps. So the MRPC technology TOF system is widely used in modern physics experiments for particle identification. With the increase of accelerator energy and luminosity, the TOF system is required to indentify definite particles precisely under high rate environment. The MRPC technology TOF system can be defined as three generations according to the timing and rate requirement. The first-generation TOF is based on the float glass MRPC and its time resolution is around 80 ps, but the rate is relatively low (typically lower than 100 Hz/cm&lt;sup&gt;2&lt;/sup&gt;). The typical systems are TOF of RHIC-STAR, LHC-ALICE and BES III endcap. For the second-generation TOF, its time resolution has the same order as that for the first generation, but the rate capability is much higher. Its rate capability can reach 30 kHz/cm&lt;sup&gt;2&lt;/sup&gt;. The typical experiment with this high rate TOF is FAIR-CBM. The biggest challenge is in the third-generation TOF. For example, the momentum upper limit of &lt;inline-formula&gt;&lt;tex-math id="M1"&gt;\begin{document}$ {\rm{K}}/{\text{π}}$\end{document}&lt;/tex-math&gt;&lt;alternatives&gt;&lt;graphic xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="10-20182192_M1.jpg"/&gt;&lt;graphic xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="10-20182192_M1.png"/&gt;&lt;/alternatives&gt;&lt;/inline-formula&gt; separation is around 7 GeV/c for JLab-SoLID TOF system under high particle rate as high as 20 kHz/cm&lt;sup&gt;2&lt;/sup&gt;, and the time requirement is around 20 ps. The readout electronics of first two generations is based on time over threshold method, and pulse shape sampling technology will be used in the third-generation TOF. In the same time, the machine learning technology LSTM network is also used to analyze the time performance. As a very successful sample, MRPC barrel TOF has been used in RHIC-STAR for more than ten years and many important physics results have been obtained. A prominent result is the observation of antimatter helium-4 nucleus. This discovery proves the existence of antimatter in the early universe. In this paper, we will describe the evolution of MRPC TOF technology and key technology of each generation of TOFs including MRPC detector and related electronics. The industrial and medical usage of MRPC are also introduced in the work finally.

Feasibility of state of the art PET/CT systems performance harmonisation

PurposeThe objective of this study was to explore the feasibility of harmonising performance for PET/CT systems equipped with time-of-flight (ToF) and resolution modelling/point spread function (PSF) technologies. A second aim was producing a working prototype of new harmonising criteria with higher contrast recoveries than current EARL standards using various SUV metrics.MethodsFour PET/CT systems with both ToF and PSF capabilities from three major vendors were used to acquire and reconstruct images of the NEMA NU2–2007 body phantom filled conforming EANM EARL guidelines. A total of 15 reconstruction parameter sets of varying pixel size, post filtering and reconstruction type, with three different acquisition durations were used to compare the quantitative performance of the systems. A target range for recovery curves was established such that it would accommodate the highest matching recoveries from all investigated systems. These updated criteria were validated on 18 additional scanners from 16 sites in order to demonstrate the scanners’ ability to meet the new target range.ResultsEach of the four systems was found to be capable of producing harmonising reconstructions with similar recovery curves. The five reconstruction parameter sets producing harmonising results significantly increased SUVmean (25%) and SUVmax (26%) contrast recoveries compared with current EARL specifications. Additional prospective validation performed on 18 scanners from 16 EARL accredited sites demonstrated the feasibility of updated harmonising specifications. SUVpeak was found to significantly reduce the variability in quantitative results while producing lower recoveries in smaller (≤17 mm diameter) sphere sizes.ConclusionsHarmonising PET/CT systems with ToF and PSF technologies from different vendors was found to be feasible. The harmonisation of such systems would require an update to the current multicentre accreditation program EARL in order to accommodate higher recoveries. SUVpeak should be further investigated as a noise resistant alternative quantitative metric to SUVmax.

PATIENT EXPOSURE FROM NUCLEAR MEDICINE IN FRANCE: NATIONAL FOLLOW-UP AND INFLUENCE OF THE TECHNOLOGY THROUGH DIAGNOSTIC REFERENCE LEVELS DATA ANALYSIS.

The Nuclear Safety and Radiation Protection French Institute (IRSN) presents its latest assessment from up-to-date diagnostic reference levels (DRL) national data in nuclear medicine (NM). NM departments annually send data to IRSN to estimate the representativeness of current DRLs. Complementary analyses of the data have been performed to evaluate the influence of equipment evolution on practice and patient radiation exposure. Based on data from almost 90% of the French NM departments, some DRL update are proposed. The analysis of positron emission tomography data show that the more the time of flight technology is available on equipment, the lower is the administered activity to the patient. IRSN recommends updating DRL regulation with current and relevant examination data. The influence of technology evolution appeared to be positive for patient exposure and the results showed an obvious involvement of professionals in the radiation dose optimisation process.

Charge transport and its characterization using photo-CELIV in bulk heterojunction solar cells

This mini-review gives a simple overview of the workings of organic photovoltaic (OPV) devices, the way in which charge transfer occurs through the active layers, and then introduces how photo-induced charge carrier extraction by linearly increasing voltage (photo-CELIV) and time of flight (TOF) techniques can be employed to give comprehensive indications of charge carrier mobility, density and recombination in OPVs. It is shown how photo-CELIV and TOF characterizations, using extraction current transients, can give an understanding of degradation mechanisms through observation of the trapping of charge carriers and bimolecular recombination. Examples of deployment and the interpretation of the results are given. It is hoped that this brief introduction will serve as a stepping stone into more in-depth papers and books and encourage wider use of photo-CELIV and TOF technologies which can be employed with whole devices. (c) 2016 Society of Chemical Industry

3D camera technology trade-off and breadboard demonstration for space applications

In previous decades, the vision-based navigation problem based on 2D imaging has been largely studied and applied in space, for rendezvous and docking, as well as rover navigation, or entry, descent and landing. By providing measurement of the third dimension (range), 3D camera technology looks a promising alternative for many applications. Stereoscopic camera is one option to measure the third coordinate, but relies on significant CPU capabilities, which are generally not available for space applications. Scanning LIDAR (LIght detection and ranging) is also an existing solution, but it is relatively large and heavy and the refresh rate, lifetime and reliability are mainly determined by moving parts. 3D time-of-flight (TOF) technology (including flash LIDARs) offers a reliable alternative. By illuminating a whole scene at a time and thus providing a whole array image, there is no need for complex processing nor moving mechanisms, which clearly appears as an advantage for space applications. This paper presents the ongoing study conducted under ESA contract in the field of 3D TOF technology. Its goal is to evaluate the suitability of a 3D TOF camera for space applications, to derive requirements and a preliminary design, and finally to create and test a breadboard model. Performance budget, cost, and a development plan of a versatile spatialized 3D TOF camera are also outputs of the study, in addition to a high-fidelity simulator, allowing further studies by generating representative images and depth maps. To fulfill this project, a European team has been created, gathering Thales Alenia Space, Terma and SINTEF.

Quantification of the effects of fur, fur color, and velocity on Time-Of-Flight technology in dairy production.

With increasing herd sizes, camera based monitoring solutions rise in importance. 3D cameras, for example Time-Of-Flight (TOF) cameras, measure depth information. These additional information (3D data) could be beneficial for monitoring in dairy production. In previous studies regarding TOF technology, only standing cows were recorded to avoid motion artifacts. Therefore, necessary conditions for a TOF camera application in dairy cows are examined in this study. For this purpose, two cow models with plaster and fur surface, respectively, were recorded at four controlled velocities to quantify the effects of movement, fur color, and fur. Comparison criteria concerning image usability, pixel-wise deviation, and precision in coordinate determination were defined. Fur and fur color showed large effects (η2=0.235 and η2=0.472, respectively), which became even more considerable when the models were moving. The velocity of recorded animals must therefore be controlled when using TOF cameras. As another main result, body parts which lie in the middle of the cow model’s back can be determined neglecting the effect of velocity or fur. With this in mind, further studies may obtain sound results using TOF technology in dairy production.Electronic supplementary materialThe online version of this article (doi:10.1186/s40064-015-0903-0) contains supplementary material, which is available to authorized users.

DEFORMATION MONITORING OF MOTORWAY UNDERPASSES USING LASER SCANNING DATA

Abstract. The motorway Ourense – Celanova will become the next years in one of the main roads of inland Galicia (northwest region of Spain) that will connect quickly with the cities of Northern Portugal. This highway is projected as a public – private partnership between the regional government of Xunta de Galicia and the construction companies Copasa SA and Extraco SA. There are currently under construction the 19 km of this road and presents a number of structures as viaducts, overpasses and underpasses. The viaducts are part of the main road, allowing passage of the vehicles at conventional speed. Overpasses are mainly used in the connection of the highway with secondary roads. Moreover, the underpasses are better suited for the passage of wildlife animals, persons or agricultural machinery. The underpass arch-shape structures used for this project consist of two reinforced concrete voussoirs placed on two small concrete walls. For each set of voussoirs there are three joining points, two between the walls and the voussoirs and one between the both voussoirs at the top of the structure. These underpasses suffer significant mechanical stress during construction, because during the backfilling process asymmetric loads are applied to both sides. Thus, it is very important the monitoring of the structure using geodetic techniques as total stations, levels or laser scanners The underpass selected for this study is located at the kilometric point 4.9 of the highway, with a total length of 50.38 m, maximum span of 13.30 m and rise of 7.23 m. Voussoirs has a thickness of 0.35 m and a length of 2.52 m. The small lateral walls exhibit a height of 2.35 m and thickness of 0.85 m. The underpass presents a slope of approximately 4 % and the maximum height of the backfill over the top of the structure is 3.80 m. The foundation consists of a concrete slab arch-shape (curvature opposite the main arch) with a thickness of 0.7 m. The geodetic technology used for the deformation monitoring is a Optech Lynx mobile LiDAR. This laser scanner is based on time of flight technology and presents an accuracy of 6 mm in the determination of the geometrical coordinates. This accuracy can be improved to around 1 mm using fitting post-processing techniques and makes this technology very useful for studies related with deformation monitoring. The laser scanner, in comparison with other geodetic techniques as total stations, allows the control of all the structure, including unexpected deformations. Reflective targets are permanently positioned over the small walls of the structure to allow the 3D orientation of the different scans. Two main scans are made for this study, before and after the backfilling process. Backfilling takes about 10 days for the construction companies. The scans need a time of approximately 12 minutes. Construction works do not need to be interrupted during the scans. Point clouds are then post-processed using QT Modeler Software. First, the point cloud is cleaned to use only the data directly related with the structure under study. Then, using the target coordinates, both point clouds are moved to the same coordinate system. Finally, the deformation of the underpass is studied using two algorithms specifically developed using Matlab software. First algorithm fits a geometrical surface to the point cloud of the first scan and evaluates the residuals of both scans for this fitting surface. Differences in the residuals give the deformation map of the structure. Second algorithm takes a portion of the point cloud from the top of the structure, where it is located the joining point between the voussoirs. The joining between two voussoirs shows a height step that in an ideal case must tend to zero. Deformations produced by the loading of the structure are measured as a comparison between the steps before and after the backfilling process. The analysis of the results show as some deformation occurs in the structure in the joining point of the voussoirs ranging between 1 mm and 5 mm. These deformations are under the tolerances predicted by the structure and confirm the success in the construction works developed. The laser scanning and the post-processing algorithms here developed appear as an easy methodology to make deformation monitoring of underpass structures and guarantee the load capacity of the structure.