Panoramic image processing and route navigation:
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Buch |
| Sprache: | German |
| Veröffentlicht: |
Aachen
Shaker
1998
|
| Ausgabe: | Als Ms. gedr. |
| Schriftenreihe: | BISS monographs
7 |
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | Zugl.: Bremen, Univ., Diss., 1998 |
| Beschreibung: | III, 159 S. Ill., graph. Darst. |
| ISBN: | 3826540700 |
Internformat
MARC
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|---|---|---|---|
| 001 | BV012120920 | ||
| 003 | DE-604 | ||
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| 007 | t | ||
| 008 | 980818s1998 gw ad|| m||| 00||| ger d | ||
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| 100 | 1 | |a Röfer, Thomas |e Verfasser |4 aut | |
| 245 | 1 | 0 | |a Panoramic image processing and route navigation |c Thomas Röfer |
| 250 | |a Als Ms. gedr. | ||
| 264 | 1 | |a Aachen |b Shaker |c 1998 | |
| 300 | |a III, 159 S. |b Ill., graph. Darst. | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 490 | 1 | |a BISS monographs |v 7 | |
| 500 | |a Zugl.: Bremen, Univ., Diss., 1998 | ||
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| 830 | 0 | |a BISS monographs |v 7 |w (DE-604)BV012498787 |9 7 | |
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Datensatz im Suchindex
| DE-BY-863_location | 1911 |
|---|---|
| DE-BY-FWS_call_number | 1911/1999:0615 |
| DE-BY-FWS_katkey | 166438 |
| DE-BY-FWS_media_number | 083100671331 |
| _version_ | 1806174545822875648 |
| adam_text |
CONTENTS
1
INTRODUCTION
1
1.1
GLOBAL
NAVIGATION
.
2
1.1.1
THE
CLASSIFICATION
OF
TRULLIER
ET
AL
.
2
1.1.2
THE
SPATIAL
SEMANTIC
HIERARCHY
.
5
1.1.3
THE
TAXONOMY
OF
NAVIGATION
.
7
1.2
LOCAL
NAVIGATION
.
10
1.2.1
AUTONOMOUS
MOBILE
SYSTEMS
WITH
WHEELS
.
10
1.2.2
WALKING
MACHINES
.
12
1.3
VISION
.
14
1.3.1
DEPTH
ESTIMATION
.
14
1.3.2
IMAGE-BASED
HOMING
.
15
1.4
STRUCTURE
OF
THE
THESIS
.
17
2
THE
PANAMA
ALGORITHM
19
2.1
PANORAMIC
IMAGES
.
21
2.2
OPTICAL
FLOW
FIELD
.
24
2.2.1
CORRELATION
MATRIX
.
25
2.2.2
MATCHING
PROCESS
.
26
2.2.3
OPTICAL
FLOW
FIELD
.
30
2.3
MOVEMENT
COMPONENTS
.
32
2.3.1
CALCULATION
OF
THE
ROTATION
.
32
2.3.2
DETERMINATION
OF
THE
DISTANCE
.
35
2.3.3
CALCULATION
OF
THE
BEARING
DIRECTION
.
35
2.4
COMPUTATIONAL
COMPLEXITY
.
39
2.4.1
CORRELATION
MATRIX
.
40
2.4.2
BEST
MATCH
.
40
2.4.3
ADAPTATION
STEP
.
41
2.4.4
OPTICAL
FLOW
.
41
2.4.5
ROTATION
.
41
2.4.6
DISTANCE
.
42
2.4.7
BEARING
DIRECTION
.
42
II
CONTENTS
2.4.8
OVERALL
COMPLEXITY
.
43
2.5
EXPERIMENTS
AND
RESULTS
.
44
2.5.1
DERIVATIVE
FILTERS
.
48
2.5.2
DERIVATIVE
COUNT
.
51
2.5.3
SMOOTHING
FILTERS
.
52
2.5.4
IMAGE
RESOLUTION
.
54
2.5.5
NUMBER
OF
ADAPTATION
STEPS
.
55
2.5.6
ROTATION
.
56
2.5.7
BEARING
DIRECTION
.
56
2.5.8
RESULTS
.
58
2.6
SUMMARY
.
59
3
NAVIGATION
WITH
PANAMA
61
3.1
NAVIGATION
METHOD
.
62
3.1.1
SELECTION
CRITERIA
.
64
3.1.2
DIVIDING
THE
IMAGE
SEQUENCE
.
65
3.1.3
DIVISION
CRITERION
.
67
3.1.4
TOPOLOGICAL
MAP
.
68
3.1.5
HARDWARE-SPECIFIC
ARRANGEMENTS
.
72
3.2
CONTROLLING
A
HOLONOMIC
ROBOT
.
72
3.2.1
THE
ROBOT
.
72
3.2.2
THE
SURROUNDINGS
.
75
3.2.3
HARDWARE-SPECIFIC
ARRANGEMENTS
.
75
3.2.4
OBSTACLE
AVOIDANCE
.
80
3.2.5
EXPERIMENTS
AND
RESULTS
.
82
3.3
CONTROLLING
A
WHEELCHAIR
.
83
3.3.1
THE
WHEELCHAIR
.
83
3.3.2
SENSOR
FOR
TAKING
PANORAMIC
IMAGES
.
86
3.3.3
HARDWARE-SPECIFIC
ARRANGEMENTS
.
89
3.3.4
OBSTACLE
AVOIDANCE
.
95
3.3.5
EXPERIMENTS
AND
RESULTS
.
97
3.4
SUMMARY
.
101
4
SELF-LOCALIZATION
WITH
PANAMA
103
4.1
DETERMINATION
OF
THE
I/J/-POSITION
.
104
4.2
CALCULATION
OF
THE
ROTATION
.
108
4.3
EXPERIMENTS
AND
RESULTS
.
109
4.4
SUMMARY
.
ILL
CONTENTS
III
5
NAVIGATION
WITH
ARTIFICIAL
ROUTEMARKS
113
5.1
SENSOR
CONTROL
SUBSYSTEMS
.
114
5.2
LOCAL
OBSTACLE
MAP
.
115
5.3
BASIC
BEHAVIORS
.
116
5.3.1
CENTER
BETWEEN
WALLS
.
117
5.3.2
FOLLOW
LEFT/RIGHT
WALL
.
117
5.3.3
TURN
INTO
LEFT/RIGHT
DOOR
.
119
5.3.4
FOLLOW
A
DIRECTION
WHILE
DRIVING
FORWARDS/BACKWARDS
.
119
5.3.5
STOP
.
119
5.4
ROUTEMARK
DETECTION
.
120
5.5
ROUTE
NAVIGATION
.
121
5.5.1
ROUTEMARK
MAP
.
122
5.5.2
MULTIPLE
ROUTEMARKS
.
122
5.5.3
ERRORS
.
123
5.5.4
BACKTRACKING
.
125
5.6
RESULTS
.
125
5.7
SUMMARY
.
126
6
CONCLUSIONS
129
6.1
SUMMARY
.
129
6.2
COMPARISON
TO
RELATED
WORK
.
131
6.2.1
SCENE-BASED
HOMING
.
131
6.2.2
ROUTE
NAVIGATION
WITH
ERROR
RECOVERY
.
135
6.3
FUTURE
PERSPECTIVES
.
135
A
ARCHITECTURE
OF
THE
WHEELCHAIR
137
A.L
CAN-BUS
NODES
.
137
A.
2
PROTOCOL
.
138
A.
3
SAFETY
.
139
A.
4
SOFTWARE
ON
THE
PC
.
139
A.4.1
OPERATING
SYSTEM
.
139
A.4.2
ARCHITECTURE
.
140
A.
4.3
CLASSES
.
140
NAA
DEBUGGING
.
144
B
NOTATION
145 |
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| discipline | Informatik |
| edition | Als Ms. gedr. |
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| genre | (DE-588)4113937-9 Hochschulschrift gnd-content |
| genre_facet | Hochschulschrift |
| id | DE-604.BV012120920 |
| illustrated | Illustrated |
| indexdate | 2024-08-01T10:51:14Z |
| institution | BVB |
| isbn | 3826540700 |
| language | German |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-008208485 |
| oclc_num | 75895674 |
| open_access_boolean | |
| owner | DE-863 DE-BY-FWS DE-11 |
| owner_facet | DE-863 DE-BY-FWS DE-11 |
| physical | III, 159 S. Ill., graph. Darst. |
| publishDate | 1998 |
| publishDateSearch | 1998 |
| publishDateSort | 1998 |
| publisher | Shaker |
| record_format | marc |
| series | BISS monographs |
| series2 | BISS monographs |
| spellingShingle | Röfer, Thomas Panoramic image processing and route navigation BISS monographs Räumliches Wissen (DE-588)4311916-5 gnd Optischer Sensor (DE-588)4075677-4 gnd Autonomer Roboter (DE-588)4304075-5 gnd Navigation (DE-588)4041457-7 gnd Umweltmodell Informatik (DE-588)4250471-5 gnd Maschinelles Sehen (DE-588)4129594-8 gnd |
| subject_GND | (DE-588)4311916-5 (DE-588)4075677-4 (DE-588)4304075-5 (DE-588)4041457-7 (DE-588)4250471-5 (DE-588)4129594-8 (DE-588)4113937-9 |
| title | Panoramic image processing and route navigation |
| title_auth | Panoramic image processing and route navigation |
| title_exact_search | Panoramic image processing and route navigation |
| title_full | Panoramic image processing and route navigation Thomas Röfer |
| title_fullStr | Panoramic image processing and route navigation Thomas Röfer |
| title_full_unstemmed | Panoramic image processing and route navigation Thomas Röfer |
| title_short | Panoramic image processing and route navigation |
| title_sort | panoramic image processing and route navigation |
| topic | Räumliches Wissen (DE-588)4311916-5 gnd Optischer Sensor (DE-588)4075677-4 gnd Autonomer Roboter (DE-588)4304075-5 gnd Navigation (DE-588)4041457-7 gnd Umweltmodell Informatik (DE-588)4250471-5 gnd Maschinelles Sehen (DE-588)4129594-8 gnd |
| topic_facet | Räumliches Wissen Optischer Sensor Autonomer Roboter Navigation Umweltmodell Informatik Maschinelles Sehen Hochschulschrift |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=008208485&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| volume_link | (DE-604)BV012498787 |
| work_keys_str_mv | AT roferthomas panoramicimageprocessingandroutenavigation |
Inhaltsverzeichnis
THWS Würzburg Magazin
| Signatur: |
1911 1999:0615 |
|---|---|
| Exemplar 1 | ausleihbar Verfügbar Bestellen |