Towards visual-inertial SLAM for mobile augmented reality:
Saved in:
| Main Author: | |
|---|---|
| Format: | Thesis Book |
| Language: | English |
| Published: |
München
Verl. Dr. Hut
2009
|
| Edition: | 1. Aufl. |
| Series: | Informatik
|
| Subjects: | |
| Online Access: | Inhaltsverzeichnis |
| Physical Description: | XII, 176 S. Ill., graph. Darst. 21 cm, 291 gr. |
| ISBN: | 9783868530483 |
Staff View
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Record in the Search Index
| _version_ | 1804139202975105024 |
|---|---|
| adam_text | CONTENTS 1 INTRODUCTION 1 1.1 MOTIVATION 3 1.2 PROBLEM FORMULATION AND
APPROACH 5 1.3 CONTRIBUTIONS 5 1.4 THESIS OUTLINE 8 2 BACKGROUND 9 2.1
CAMERAS 9 2.1.1 CAMERA GEOMETRY 10 2.1.1.1 NORMALISED PINHOLE CAMERA
MODEL 10 2.1.1.2 DISTORTION 11 2.1.1.3 INTRINSIC CAMERA PARAMETERS 12
2.1.1.4 EXTRINSIC CAMERA PARAMETERS 13 2.1.1.5 FROM WORLD TO PIXEL
COORDINATES 14 2.1.2 CAMERA CALIBRATION 15 2.1.3 GEOMETRIE CONSTRAINTS
16 2.1.3.1 COLLINEARITY CONSTRAINT 16 2.1.3.2 EPIPOLAR CONSTRAINT 17
2.1.4 CAMERA MEASUREMENTS 18 2.1.4.1 FEATURE MATCHING 20 2.1.4.2 FEATURE
TRACKING 20 2.2 CAMERA IMU SYSTEMS 21 2.2.1 INERTIAL SENSORS 21 2.2.1.1
GYROSCOPES 22 2.2.1.2 ACCELEROMETERS 22 BIBLIOGRAFISCHE INFORMATIONEN
HTTP://D-NB.INFO/994105584 DIGITALISIERT DURCH CONTENTS 2.2.1.3
STRAPDOWN INERTIAL NAVIGATION 23 2.2.2 COMBINING CAMERAS AND INERTIAL
SENSORS 23 2.2.2.1 HAND-EYE CALIBRATION 26 2.2.2.2 DIRECTIONOFGRAVITY 26
2.2.2.3 METRICSCALE 27 2.2.2.4 RELATIVE ORIENTATION 27 2.3 COMPUTER
VISION TECHNIQUES 27 2.3.1 CAMERA POSE ESTIMATION 27 2.3.1.1 ESTIMATION
FROM 2D/3D CORRESPONDENCES 28 2.3.1.2 ESTIMATION FROM 2D/2D
CORRESPONDENCES 29 2.3.2 TRIANGULATION 30 2.3.3 RANDOM SAMPLING
CONSENSUS 30 2.3.4 STRUCTURE FROM MOTION 31 2.3.5 MODEL-BASED CAMERA
TRACKING 32 2.4 RECURSIVE FILTERING TECHNIQUES 32 2.4.1 STATE-SPACE
MODELS 33 2.4.1.1 NONLINEAR MODEL 33 2.4.1.2 LINEAR GAUSSIAN MODEL 34
2.4.1.3 NONLINEAR MODEL WITH LINEAR GAUSSIAN SUBSTRUCTURE . ... 34 2.4.2
FILTERING METHODS 35 2.4.2.1 PARTICLE FILTER 35 2.4.2.2 EXTENDED KAIMAN
FILTER 37 2.4.2.3 MARGINALISED PARTICLE FILTER 38 2.4.3 SLAM AND
LOCALISATION 40 2.4.3.1 EKF-LOCALISATION 42 2.4.3.2 EKF-SLAM 43 2.4.3.3
FASTSLAM 43 2.4.3.4 MPF-SLAM 44 MODEL-BASED VISUAL-INERTIAL TRACKING 47
3.1 APPROACH 48 3.2 SYSTEM INITIALISATION 50 3.2.1 MANUAL 50 3.2.2
SEMI-AUTOMATIC 50 3.2.3 FULLY AUTOMATIC 50 3.3 TOP DOWN IMAGE PROCESSING
51 3.3.1 ITERATIVE PATCH REGISTRATION 53 3.3.2 FEATURE MANAGEMENT 55
3.3.3 RESULTS 56 3.4 SENSOR FUSION 56 3.4. XI 3.4.1.1 GYRO MODEL 58
3.4.1.2 GRAVITY MODEL 59 3.4.1.3 ACCELERATION MODEL 60 3.4.1.4
ACCELERATION INPUT MODEL 60 3.4.2 OUTLIER REJECTION 61 3.4.3 DIVERGENCE
MONITORING 62 3.5 OFFLINE PREPARATION 63 3.5.1 CAMIMU 63 3.5.2 INPUT
DATA 63 3.6 EXPERIMENTAL SETUP AND RESULTS 64 3.6.1 TESTCASE: DESKTOP 66
3.6.2 TEST CASE: ROOM 72 3.6.3 TEST CASE: FOYER 75 3.7 CONCLUSION 78
VISUAL SLAM 79 4.1 APPROACH 80 4.2 3D GEOMETRY ESTIMATION 83 4.2.1
ROBUST FEATURE TRIANGULATION 84 4.2.2 ROBUST FEATURE REFINEMENT 87 4.2.3
ROBUST POSE ESTIMATION 87 4.2.3.1 ESTIMATION FROM 2D/3D CORRESPONDENCES
88 4.2.3.2 REFINEMENT ADDING EPIPOLAR CONSTRAINTS 90 4.3 FEATURE QUALITY
AND SELECTION 90 4.4 EXPERIMENTAL SETUP AND RESULTS 91 4.4.1 TESTCASE:
ROOM 91 4.4.2 TEST CASE: SIMULATION 96 4.4.3 TEST CASE: LOOP 100 4.5
CONCLUSION 102 TOWARDS VISUAL-INERTIAL SLAM 105 5.1 REAL-TIME
VISUAL-INERTIAL POSE ESTIMATION USING MPF 108 5.1.1 STATE-SPACE MODEL
108 5.1.2 ENHANCEDMPF 111 5.1.2.1 AUTOMATIC MODEL-SWITCHING AND IMPROVED
ORIENTATION PRO- POSALS 111 5.1.2.2 ADAPTIVE PROCESS NOISE 114 5.1.2.3
MIXTURE PROPOSAL 114 5.1.2.4 FINAL ALGORITHM 115 5.1.3 EXPERIMENTAL
SETUP AND RESULTS 115 5.1.3.1 COMPARISON TO EKF 117 5.1.3. XII CONTENTS
5.1.3.3 COMPARISON TO COMPLEX MPF 122 5.1.4 SUMMARY 125 5.2 PER-PARTICLE
FEATURE ESTIMATION 125 5.2.1 INVERSE DEPTH MEASUREMENT MODEL 126 5.2.1.1
FEATURE INITIALISATION 128 5.2.1.2 FEATURE ESTIMATION 128 5.2.1.3
LIKELIHOOD 129 5.2.2 EXPERIMENTAL SETUP AND RESULTS 129 5.2.2.1 FEATURE
INITIALISATION AND ESTIMATION 130 5.2.2.2 REPRESENTATION OF UNCERTAINTY
133 5.2.2.3 CAMERA POSE ESTIMATION 135 5.2.3 SUMMARY 138 5.3 CONCLUSION
138 6 CONCLUDING REMARKS 139 6.1 CONCLUSION 139 6.2 FUTURE WORK 140 A
NOTATION 145 A.L ABBREVIATIONS AND ACRONYMS 145 A.2 SYMBOLS AND
MATHEMATICAL NOTATION 146 B TRANSFORMATIONS AND KINEMATICS 149 B.L
REPRESENTATION OF ROTATION 149 B.2 ROTATION DERIVATIVE 151 B.3 ANGULAR
VELOCITIES AND UNIT QUATERNIONS 152 LISTOFFIGNRES 155 LISTOFTABLES 159
BIBLIOGRAPHY 161
|
| any_adam_object | 1 |
| author | Bleser, Gabriele |
| author_facet | Bleser, Gabriele |
| author_role | aut |
| author_sort | Bleser, Gabriele |
| author_variant | g b gb |
| building | Verbundindex |
| bvnumber | BV035556057 |
| classification_tum | DAT 760d ELT 759d DAT 260d FEI 601d |
| ctrlnum | (OCoLC)455571123 (DE-599)DNB994105584 |
| dewey-full | 621.3993 006.37 |
| dewey-hundreds | 600 - Technology (Applied sciences) 000 - Computer science, information, general works |
| dewey-ones | 621 - Applied physics 006 - Special computer methods |
| dewey-raw | 621.3993 006.37 |
| dewey-search | 621.3993 006.37 |
| dewey-sort | 3621.3993 |
| dewey-tens | 620 - Engineering and allied operations 000 - Computer science, information, general works |
| discipline | Maschinenbau / Maschinenwesen Informatik Elektrotechnik Elektrotechnik / Elektronik / Nachrichtentechnik Feinwerktechnik |
| edition | 1. Aufl. |
| format | Thesis Book |
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| indexdate | 2024-07-09T21:40:21Z |
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| isbn | 9783868530483 |
| language | English |
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| physical | XII, 176 S. Ill., graph. Darst. 21 cm, 291 gr. |
| publishDate | 2009 |
| publishDateSearch | 2009 |
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| publisher | Verl. Dr. Hut |
| record_format | marc |
| series2 | Informatik |
| spelling | Bleser, Gabriele Verfasser aut Towards visual-inertial SLAM for mobile augmented reality von Gabriele Bleser 1. Aufl. München Verl. Dr. Hut 2009 XII, 176 S. Ill., graph. Darst. 21 cm, 291 gr. txt rdacontent n rdamedia nc rdacarrier Informatik Zugl.: Kaiserslautern, Techn. Univ., Diss., 2009 Erweiterte Realität <Informatik> - Echtzeitbildverarbeitung - Kamera - Zielverfolgung - Merkmalsextraktion - Registrierung <Bildverarbeitung> Merkmalsextraktion (DE-588)4314440-8 gnd rswk-swf Kamera (DE-588)4366655-3 gnd rswk-swf Erweiterte Realität Informatik (DE-588)4715802-5 gnd rswk-swf Echtzeitbildverarbeitung (DE-588)4150999-7 gnd rswk-swf Zielverfolgung (DE-588)4190799-1 gnd rswk-swf Registrierung Bildverarbeitung (DE-588)4778903-7 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Erweiterte Realität Informatik (DE-588)4715802-5 s Echtzeitbildverarbeitung (DE-588)4150999-7 s Kamera (DE-588)4366655-3 s Zielverfolgung (DE-588)4190799-1 s Merkmalsextraktion (DE-588)4314440-8 s Registrierung Bildverarbeitung (DE-588)4778903-7 s DE-604 DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=017611871&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Bleser, Gabriele Towards visual-inertial SLAM for mobile augmented reality Erweiterte Realität <Informatik> - Echtzeitbildverarbeitung - Kamera - Zielverfolgung - Merkmalsextraktion - Registrierung <Bildverarbeitung> Merkmalsextraktion (DE-588)4314440-8 gnd Kamera (DE-588)4366655-3 gnd Erweiterte Realität Informatik (DE-588)4715802-5 gnd Echtzeitbildverarbeitung (DE-588)4150999-7 gnd Zielverfolgung (DE-588)4190799-1 gnd Registrierung Bildverarbeitung (DE-588)4778903-7 gnd |
| subject_GND | (DE-588)4314440-8 (DE-588)4366655-3 (DE-588)4715802-5 (DE-588)4150999-7 (DE-588)4190799-1 (DE-588)4778903-7 (DE-588)4113937-9 |
| title | Towards visual-inertial SLAM for mobile augmented reality |
| title_auth | Towards visual-inertial SLAM for mobile augmented reality |
| title_exact_search | Towards visual-inertial SLAM for mobile augmented reality |
| title_full | Towards visual-inertial SLAM for mobile augmented reality von Gabriele Bleser |
| title_fullStr | Towards visual-inertial SLAM for mobile augmented reality von Gabriele Bleser |
| title_full_unstemmed | Towards visual-inertial SLAM for mobile augmented reality von Gabriele Bleser |
| title_short | Towards visual-inertial SLAM for mobile augmented reality |
| title_sort | towards visual inertial slam for mobile augmented reality |
| topic | Erweiterte Realität <Informatik> - Echtzeitbildverarbeitung - Kamera - Zielverfolgung - Merkmalsextraktion - Registrierung <Bildverarbeitung> Merkmalsextraktion (DE-588)4314440-8 gnd Kamera (DE-588)4366655-3 gnd Erweiterte Realität Informatik (DE-588)4715802-5 gnd Echtzeitbildverarbeitung (DE-588)4150999-7 gnd Zielverfolgung (DE-588)4190799-1 gnd Registrierung Bildverarbeitung (DE-588)4778903-7 gnd |
| topic_facet | Erweiterte Realität <Informatik> - Echtzeitbildverarbeitung - Kamera - Zielverfolgung - Merkmalsextraktion - Registrierung <Bildverarbeitung> Merkmalsextraktion Kamera Erweiterte Realität Informatik Echtzeitbildverarbeitung Zielverfolgung Registrierung Bildverarbeitung Hochschulschrift |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=017611871&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
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