3D time of flight ranging for robotic perception in dynamic environments:
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Abschlussarbeit Buch |
| Sprache: | English |
| Veröffentlicht: |
Düsseldorf
VDI-Verl.
2009
|
| Ausgabe: | Als Ms. gedr. |
| Schriftenreihe: | Fortschritt-Berichte VDI : Reihe 10, Informatik, Kommunikation
798 |
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | X, 148 S. Ill., graph. Darst. 21 cm |
| ISBN: | 9783183798100 |
Internformat
MARC
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| 245 | 1 | 0 | |a 3D time of flight ranging for robotic perception in dynamic environments |c Stefan May |
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| 250 | |a Als Ms. gedr. | ||
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| 502 | |a Zugl. : Diss. | ||
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| 999 | |a oai:aleph.bib-bvb.de:BVB01-018336869 | ||
Datensatz im Suchindex
| _version_ | 1804140307210567680 |
|---|---|
| adam_text | Titel: 3D time of flight ranging for robotic perception in dynamic environments
Autor: May, Stefan
Jahr: 2009
Contents
Nomenclature VIII
1 Introduction 1
1.1 Objectives and Contributions 5
1.2 Structure ofthe thesis 7
2 Electro-Optical Range Measurement 8
2.1 Range Mea.surement Principles 8
2.1.1 Triangulation 8
2.1.2 Interferometry 11
2.1.3 Time-of-Flight 11
2.1.4 Image transformations 12
2.2 3D Sensors 17
2.2.1 Stereo Camera« 17
2.2.2 3D Laser Range F inders 18
2.2.3 Time-of-Flight Camera-s 25
3 Related Work 27
3.1 Range Image Registration 27
3.2 MonoSLAM 29
3.3 Time-of-Flight Ranging 31
4 3D Time-of-Flight Ranging 35
4.1 Measurement Principle 35
4.2 Error Model 37
4.2.1 Non-Systematic Errors 37
4.2.2 Systematic Errors 40
4.3 Time-of-Flight Camera Control 42
4.3.1 Modulation frequenoy 42
4.3.2 Integration Time Exposure 43
4.4 Calibration 45
4.4.1 Depth correction model 45
4.5 Filtering 48
4.5.1 Accuracy / Amplitude Filtering 4S
4.5.2 Jump Edge Filtering 50
4.G Expected Innovations in Future 53
4.7 Assets of the Direc-t Perception of 3D Data 55
5 Motion Estimation 57
5.1 Ego Motion Estimation 57
5.1.1 Range Image Registration 58
5.1.2 Feature based SLAM 64
5.1.3 Effieient Seeond-order Method Visual Tracking 67
5.2 Independent Object Motion Estimation 68
5.2.1 Brightness Constraint Optical Flow Estimation 69
5.2.2 Range Flow Estimation 70
5.3 Joint Space-Time-Range Segmentation 73
5.3.1 Mean Shift Approach 74
5.3.2 Application to ToF Camera Data 80
6 Experiments and Results 82
C.l Precise Surface Reconstruction 82
6.1.1 Evaluation 83
6.1.2 Concluding Remarks 84
C.2 3D Mapping of a Laboratory Environment 85
6.2.1 Evaluation Measures 86
6.2.2 Integration Time Exposure 88
6.2.3 Evaluation of Calibration 89
6.2.4 Evaluation of Registration Approaches 91
6.2.5 Effieient Second-order Method Visual Traeking 97
6.2.6 Concluding Remarks 98
6.3 3D Mapping of Larger Environments 99
6.3.1 Evaluation 99
6.3.2 Concluding Remarks 101
6.4 Independent Object Motion Estimation 102
6.4.1 Concluding Remarks 107
7 Summary and Outlook 109
7.1 Future Work 110
A Motion Sensing with Fixation 111
A.l Motion Parallax 112
A.2 Differential Motion Parallax 114
A.2.1 Level Sets 116
A.2.2 Locus of Zero Flow 117
A.2.3 Volume of Interest 117
A.3 Experiments 120
A.3.1 Optic.al Flow Computation 120
A.3.2 Performance 121
B A Generic ICP Implementation 123
C Parallel Computation 128
C.l Parallel Programming 129
C.l.l OpenMP and Intel Integrated Performance Primitives .... 130
C.l.2 General-Purpose Computation on Graphics Devices 130
C.2 GPU-accelerated Visual Attention 131
C.3 Outlook: GPU-accelerated ICP Algorithm 136
|
| any_adam_object | 1 |
| author | May, Stefan |
| author_facet | May, Stefan |
| author_role | aut |
| author_sort | May, Stefan |
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| building | Verbundindex |
| bvnumber | BV024120147 |
| classification_rvk | ST 308 |
| ctrlnum | (OCoLC)434520206 (DE-599)HBZHT016012128 |
| dewey-full | 629.892637 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.892637 |
| dewey-search | 629.892637 |
| dewey-sort | 3629.892637 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Informatik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| edition | Als Ms. gedr. |
| format | Thesis Book |
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| id | DE-604.BV024120147 |
| illustrated | Illustrated |
| indexdate | 2024-07-09T21:57:54Z |
| institution | BVB |
| isbn | 9783183798100 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-018336869 |
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| physical | X, 148 S. Ill., graph. Darst. 21 cm |
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| series2 | Fortschritt-Berichte VDI : Reihe 10, Informatik, Kommunikation |
| spelling | May, Stefan Verfasser aut 3D time of flight ranging for robotic perception in dynamic environments Stefan May time-of-flight Als Ms. gedr. Düsseldorf VDI-Verl. 2009 X, 148 S. Ill., graph. Darst. 21 cm txt rdacontent n rdamedia nc rdacarrier Fortschritt-Berichte VDI : Reihe 10, Informatik, Kommunikation 798 Zugl. : Diss. ToF-Kamera (DE-588)7669579-7 gnd rswk-swf Schätzung (DE-588)4193791-0 gnd rswk-swf Registrierung Bildverarbeitung (DE-588)4778903-7 gnd rswk-swf Autonomer Roboter (DE-588)4304075-5 gnd rswk-swf Bewegungsanalyse Technik (DE-588)4302721-0 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Autonomer Roboter (DE-588)4304075-5 s ToF-Kamera (DE-588)7669579-7 s Bewegungsanalyse Technik (DE-588)4302721-0 s Schätzung (DE-588)4193791-0 s Registrierung Bildverarbeitung (DE-588)4778903-7 s DE-604 Verein Deutscher Ingenieure Fortschritt-Berichte VDI Reihe 10 798 (DE-604)BV000897204 798 HBZ Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=018336869&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | May, Stefan 3D time of flight ranging for robotic perception in dynamic environments ToF-Kamera (DE-588)7669579-7 gnd Schätzung (DE-588)4193791-0 gnd Registrierung Bildverarbeitung (DE-588)4778903-7 gnd Autonomer Roboter (DE-588)4304075-5 gnd Bewegungsanalyse Technik (DE-588)4302721-0 gnd |
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| title | 3D time of flight ranging for robotic perception in dynamic environments |
| title_alt | time-of-flight |
| title_auth | 3D time of flight ranging for robotic perception in dynamic environments |
| title_exact_search | 3D time of flight ranging for robotic perception in dynamic environments |
| title_full | 3D time of flight ranging for robotic perception in dynamic environments Stefan May |
| title_fullStr | 3D time of flight ranging for robotic perception in dynamic environments Stefan May |
| title_full_unstemmed | 3D time of flight ranging for robotic perception in dynamic environments Stefan May |
| title_short | 3D time of flight ranging for robotic perception in dynamic environments |
| title_sort | 3d time of flight ranging for robotic perception in dynamic environments |
| topic | ToF-Kamera (DE-588)7669579-7 gnd Schätzung (DE-588)4193791-0 gnd Registrierung Bildverarbeitung (DE-588)4778903-7 gnd Autonomer Roboter (DE-588)4304075-5 gnd Bewegungsanalyse Technik (DE-588)4302721-0 gnd |
| topic_facet | ToF-Kamera Schätzung Registrierung Bildverarbeitung Autonomer Roboter Bewegungsanalyse Technik Hochschulschrift |
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