Object localization using stereo vision:
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Abschlussarbeit Buch |
| Sprache: | English |
| Veröffentlicht: |
Aachen
Shaker
2011
|
| Schriftenreihe: | Publication series of the Institute of Automation, University of Bremen
Series 7 ; 2 |
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | IV, 99 S. Ill., graph. Darst. 21 cm |
| ISBN: | 9783832297657 |
Internformat
MARC
| LEADER | 00000nam a2200000 cb4500 | ||
|---|---|---|---|
| 001 | BV039531108 | ||
| 003 | DE-604 | ||
| 005 | 20111116 | ||
| 007 | t | ||
| 008 | 110817s2011 ad|| m||| 00||| eng d | ||
| 015 | |a 11,N06 |2 dnb | ||
| 015 | |a 11,A13 |2 dnb | ||
| 016 | 7 | |a 1009852949 |2 DE-101 | |
| 020 | |a 9783832297657 |c kart. : EUR 45.80 (DE), EUR 45.80 (AT), sfr 91.60 (freier Pr.) |9 978-3-8322-9765-7 | ||
| 024 | 3 | |a 9783832297657 | |
| 035 | |a (OCoLC)740905520 | ||
| 035 | |a (DE-599)DNB1009852949 | ||
| 040 | |a DE-604 |b ger |e rakddb | ||
| 041 | 0 | |a eng | |
| 049 | |a DE-29T |a DE-384 | ||
| 082 | 0 | |a 629.892637 |2 22/ger | |
| 084 | |a ST 330 |0 (DE-625)143663: |2 rvk | ||
| 084 | |a ZQ 6270 |0 (DE-625)158185: |2 rvk | ||
| 084 | |a 621.3 |2 sdnb | ||
| 084 | |a 004 |2 sdnb | ||
| 100 | 1 | |a Vuppala, Sai Krishna |e Verfasser |4 aut | |
| 245 | 1 | 0 | |a Object localization using stereo vision |c Sai Krishna Vuppala |
| 264 | 1 | |a Aachen |b Shaker |c 2011 | |
| 300 | |a IV, 99 S. |b Ill., graph. Darst. |c 21 cm | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 490 | 1 | |a Publication series of the Institute of Automation, University of Bremen : Series 7 |v 2 | |
| 502 | |a Zugl.: Bremen, Univ., Diss., 2010 | ||
| 650 | 0 | 7 | |a Dreidimensionale Rekonstruktion |0 (DE-588)4150634-0 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Korrespondenzproblem |g Bildverarbeitung |0 (DE-588)4748544-9 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Objektverfolgung |0 (DE-588)4311226-2 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Objekterkennung |0 (DE-588)4314334-9 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Lokalisierung |g Robotik |0 (DE-588)7569134-6 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Stereokamera |0 (DE-588)4530270-4 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Dreidimensionales maschinelles Sehen |0 (DE-588)4137757-6 |2 gnd |9 rswk-swf |
| 655 | 7 | |0 (DE-588)4113937-9 |a Hochschulschrift |2 gnd-content | |
| 689 | 0 | 0 | |a Dreidimensionales maschinelles Sehen |0 (DE-588)4137757-6 |D s |
| 689 | 0 | 1 | |a Stereokamera |0 (DE-588)4530270-4 |D s |
| 689 | 0 | 2 | |a Objekterkennung |0 (DE-588)4314334-9 |D s |
| 689 | 0 | 3 | |a Objektverfolgung |0 (DE-588)4311226-2 |D s |
| 689 | 0 | 4 | |a Lokalisierung |g Robotik |0 (DE-588)7569134-6 |D s |
| 689 | 0 | 5 | |a Dreidimensionale Rekonstruktion |0 (DE-588)4150634-0 |D s |
| 689 | 0 | 6 | |a Korrespondenzproblem |g Bildverarbeitung |0 (DE-588)4748544-9 |D s |
| 689 | 0 | |5 DE-604 | |
| 830 | 0 | |a Publication series of the Institute of Automation, University of Bremen |v Series 7 ; 2 |w (DE-604)BV035111170 |9 2 | |
| 856 | 4 | 2 | |m DNB Datenaustausch |q application/pdf |u http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=024383387&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |3 Inhaltsverzeichnis |
| 999 | |a oai:aleph.bib-bvb.de:BVB01-024383387 | ||
Datensatz im Suchindex
| _version_ | 1804148343219159040 |
|---|---|
| adam_text | IMAGE 1
CONTENTS
INTRODUCTION................ ...................... .............
.........1
1.1 MOTIVATION 2
1.2 RELATED WORK 4
1.3 THESIS ORGANIZATION 6
3D OBJECT RECONSTRUCTION APPROACH IN FRIEND 7
2. 1 RECOGNITION OF MANIPULATION OBJECTS 7
2.1.1 SEGMENTATION 8
2.1.2 FEATURE EXTRACTION. 8
2.1.3 OBJECT RECOGNITION 9
2.2 CAMERA CALIBRATION 10
2.2.1 CAMERA MODEL 10
2.2.2 CALCULATION OF CAMERA MATRIX (P) 14
2.3 EPIPOLAR GEOMETRY 16
2.3.1 FUNDAMENTAL MATRIX 17
2.3.2 STEREO IMAGE RECTIFICATION 18
2.4 STEREO MATCHING 20
2.4.1 CONSTRAINTS NEEDED FOR FINDING THE STEREO CORRESPONDENCES 21
2.4.2 STEREO MATCHING ALGORITHMS 24
2.5 3D RECONSTRUCTION 26
2.5.1 STEREO TRIANGULATION 26
2.5.2 DEPTH CALCULATION USING DISPARITY MAP 28
2.6 OBJECT LOCALIZATION IN 3D 30
2.6.1 LOCALIZATION OF AN OBJECT USING 3 OBJECT POINTS 30
SELECTION OF STEREO FEATURE CORRESPONDENCES 32
3.1 RESOLUTIONS BETWEEN 3D AND 2D 33
3.2 ANALYSIS OF FALSE STEREO CORRESPONDENCES 34
3.3 SELECTION OF STEREO FEATURE CORRESPONDENCES FOR THE OBJECTS WITHOUT
SURFACE TEXTURE 39
FINDING STEREO CORRESPONDENCES 45
4.1 HOMOGRAPHY BASED STEREO CORRESPONDENCE CALCULATION 45
4.2 FINDING STEREO CORRESPONDENCES USING DISPARITY MAP 47
4.3 CONSTRAINED APPROACHES FOR 3D POINT RECONSTRUCTION 49
4.3.1 CALCULATION OF UNKNOWN COORDINATES USING SINGLE CAMERA 49
4.3.2 CALCULATION OF UNKNOWN COORDINATES USING STEREO CAMERA SYSTEM 51
4.4 COMPARISON OF THE RESULTS 54
OBJECT POSE ESTIMATION USING TWO OBJECT POINTS 57
5.1 TRACKING 3D OBJECT POSE USING TWO OBJECT POINTS 58
5.1.1 OBJECT ROTATION AROUND AN AXIS 59
5.1.2 CALCULATION OF ROTATION ANGLE 61
5.1.3 POSITION OF ANY OBJECT POINT IN REFERENCE COORDINATE SYSTEM 63
5.1.4 SELECTION OF 3D OBJECT POINTS FOR THE CALCULATION OF OBJECT POSE
64
5.2 EXPERIMENTAL RESULTS 65
3D OBJECT RECONSTRUCTION IN FRIEND SYSTEM 69
6.1 FRAMEWORK FOR THE STEREO VISION BASED OBJECT MANIPULATION TASK
EXECUTION 69 6.2 3D RECONSTRUCTION OF BOTTLE 74
6.2.1 SELECTION OF FEATURE POINT FOR ESTIMATING THE POSITION OF THE
BOTTLE. 74 6.2.2 BOTTLE POSE ESTIMATION 79
6.3 3D RECONSTRUCTION OF MEAL TRAY 81
6.3.1 SELECTION OF FEATURE POINTS FOR POSE ESTIMATION OF MEAL TRAY. 83
6.3.2 MEAL TRAY POSE ESTIMATION : 84
FRIEND SYSTEM PRESENTATION 89
BIBLIOGRAFISCHE INFORMATIONEN HTTP://D-NB.INFO/1009852949
DIGITALISIERT DURCH
IMAGE 2
7.1 PRESENTATIONS 89
7.2 IMPLEMENTATION 90
8 CONCLUSION 94
BIBLIOGRAPHY _ *_ 96
ANNEX A: CALCULATION OF UNKNOWN 3D COORDINATES USING SINGLE CAMERA ..98
|
| any_adam_object | 1 |
| author | Vuppala, Sai Krishna |
| author_facet | Vuppala, Sai Krishna |
| author_role | aut |
| author_sort | Vuppala, Sai Krishna |
| author_variant | s k v sk skv |
| building | Verbundindex |
| bvnumber | BV039531108 |
| classification_rvk | ST 330 ZQ 6270 |
| ctrlnum | (OCoLC)740905520 (DE-599)DNB1009852949 |
| 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 Elektrotechnik / Elektronik / Nachrichtentechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Thesis Book |
| fullrecord | <?xml version="1.0" encoding="UTF-8"?><collection xmlns="http://www.loc.gov/MARC21/slim"><record><leader>02683nam a2200601 cb4500</leader><controlfield tag="001">BV039531108</controlfield><controlfield tag="003">DE-604</controlfield><controlfield tag="005">20111116 </controlfield><controlfield tag="007">t</controlfield><controlfield tag="008">110817s2011 ad|| m||| 00||| eng d</controlfield><datafield tag="015" ind1=" " ind2=" "><subfield code="a">11,N06</subfield><subfield code="2">dnb</subfield></datafield><datafield tag="015" ind1=" " ind2=" "><subfield code="a">11,A13</subfield><subfield code="2">dnb</subfield></datafield><datafield tag="016" ind1="7" ind2=" "><subfield code="a">1009852949</subfield><subfield code="2">DE-101</subfield></datafield><datafield tag="020" ind1=" " ind2=" "><subfield code="a">9783832297657</subfield><subfield code="c">kart. : EUR 45.80 (DE), EUR 45.80 (AT), sfr 91.60 (freier Pr.)</subfield><subfield code="9">978-3-8322-9765-7</subfield></datafield><datafield tag="024" ind1="3" ind2=" "><subfield code="a">9783832297657</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(OCoLC)740905520</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-599)DNB1009852949</subfield></datafield><datafield tag="040" ind1=" " ind2=" "><subfield code="a">DE-604</subfield><subfield code="b">ger</subfield><subfield code="e">rakddb</subfield></datafield><datafield tag="041" ind1="0" ind2=" "><subfield code="a">eng</subfield></datafield><datafield tag="049" ind1=" " ind2=" "><subfield code="a">DE-29T</subfield><subfield code="a">DE-384</subfield></datafield><datafield tag="082" ind1="0" ind2=" "><subfield code="a">629.892637</subfield><subfield code="2">22/ger</subfield></datafield><datafield tag="084" ind1=" " ind2=" "><subfield code="a">ST 330</subfield><subfield code="0">(DE-625)143663:</subfield><subfield code="2">rvk</subfield></datafield><datafield tag="084" ind1=" " ind2=" "><subfield code="a">ZQ 6270</subfield><subfield code="0">(DE-625)158185:</subfield><subfield code="2">rvk</subfield></datafield><datafield tag="084" ind1=" " ind2=" "><subfield code="a">621.3</subfield><subfield code="2">sdnb</subfield></datafield><datafield tag="084" ind1=" " ind2=" "><subfield code="a">004</subfield><subfield code="2">sdnb</subfield></datafield><datafield tag="100" ind1="1" ind2=" "><subfield code="a">Vuppala, Sai Krishna</subfield><subfield code="e">Verfasser</subfield><subfield code="4">aut</subfield></datafield><datafield tag="245" ind1="1" ind2="0"><subfield code="a">Object localization using stereo vision</subfield><subfield code="c">Sai Krishna Vuppala</subfield></datafield><datafield tag="264" ind1=" " ind2="1"><subfield code="a">Aachen</subfield><subfield code="b">Shaker</subfield><subfield code="c">2011</subfield></datafield><datafield tag="300" ind1=" " ind2=" "><subfield code="a">IV, 99 S.</subfield><subfield code="b">Ill., graph. Darst.</subfield><subfield code="c">21 cm</subfield></datafield><datafield tag="336" ind1=" " ind2=" "><subfield code="b">txt</subfield><subfield code="2">rdacontent</subfield></datafield><datafield tag="337" ind1=" " ind2=" "><subfield code="b">n</subfield><subfield code="2">rdamedia</subfield></datafield><datafield tag="338" ind1=" " ind2=" "><subfield code="b">nc</subfield><subfield code="2">rdacarrier</subfield></datafield><datafield tag="490" ind1="1" ind2=" "><subfield code="a">Publication series of the Institute of Automation, University of Bremen : Series 7</subfield><subfield code="v">2</subfield></datafield><datafield tag="502" ind1=" " ind2=" "><subfield code="a">Zugl.: Bremen, Univ., Diss., 2010</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Dreidimensionale Rekonstruktion</subfield><subfield code="0">(DE-588)4150634-0</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Korrespondenzproblem</subfield><subfield code="g">Bildverarbeitung</subfield><subfield code="0">(DE-588)4748544-9</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Objektverfolgung</subfield><subfield code="0">(DE-588)4311226-2</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Objekterkennung</subfield><subfield code="0">(DE-588)4314334-9</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Lokalisierung</subfield><subfield code="g">Robotik</subfield><subfield code="0">(DE-588)7569134-6</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Stereokamera</subfield><subfield code="0">(DE-588)4530270-4</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Dreidimensionales maschinelles Sehen</subfield><subfield code="0">(DE-588)4137757-6</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="655" ind1=" " ind2="7"><subfield code="0">(DE-588)4113937-9</subfield><subfield code="a">Hochschulschrift</subfield><subfield code="2">gnd-content</subfield></datafield><datafield tag="689" ind1="0" ind2="0"><subfield code="a">Dreidimensionales maschinelles Sehen</subfield><subfield code="0">(DE-588)4137757-6</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="0" ind2="1"><subfield code="a">Stereokamera</subfield><subfield code="0">(DE-588)4530270-4</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="0" ind2="2"><subfield code="a">Objekterkennung</subfield><subfield code="0">(DE-588)4314334-9</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="0" ind2="3"><subfield code="a">Objektverfolgung</subfield><subfield code="0">(DE-588)4311226-2</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="0" ind2="4"><subfield code="a">Lokalisierung</subfield><subfield code="g">Robotik</subfield><subfield code="0">(DE-588)7569134-6</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="0" ind2="5"><subfield code="a">Dreidimensionale Rekonstruktion</subfield><subfield code="0">(DE-588)4150634-0</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="0" ind2="6"><subfield code="a">Korrespondenzproblem</subfield><subfield code="g">Bildverarbeitung</subfield><subfield code="0">(DE-588)4748544-9</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="0" ind2=" "><subfield code="5">DE-604</subfield></datafield><datafield tag="830" ind1=" " ind2="0"><subfield code="a">Publication series of the Institute of Automation, University of Bremen</subfield><subfield code="v">Series 7 ; 2</subfield><subfield code="w">(DE-604)BV035111170</subfield><subfield code="9">2</subfield></datafield><datafield tag="856" ind1="4" ind2="2"><subfield code="m">DNB Datenaustausch</subfield><subfield code="q">application/pdf</subfield><subfield code="u">http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=024383387&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA</subfield><subfield code="3">Inhaltsverzeichnis</subfield></datafield><datafield tag="999" ind1=" " ind2=" "><subfield code="a">oai:aleph.bib-bvb.de:BVB01-024383387</subfield></datafield></record></collection> |
| genre | (DE-588)4113937-9 Hochschulschrift gnd-content |
| genre_facet | Hochschulschrift |
| id | DE-604.BV039531108 |
| illustrated | Illustrated |
| indexdate | 2024-07-10T00:05:37Z |
| institution | BVB |
| isbn | 9783832297657 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-024383387 |
| oclc_num | 740905520 |
| open_access_boolean | |
| owner | DE-29T DE-384 |
| owner_facet | DE-29T DE-384 |
| physical | IV, 99 S. Ill., graph. Darst. 21 cm |
| publishDate | 2011 |
| publishDateSearch | 2011 |
| publishDateSort | 2011 |
| publisher | Shaker |
| record_format | marc |
| series | Publication series of the Institute of Automation, University of Bremen |
| series2 | Publication series of the Institute of Automation, University of Bremen : Series 7 |
| spelling | Vuppala, Sai Krishna Verfasser aut Object localization using stereo vision Sai Krishna Vuppala Aachen Shaker 2011 IV, 99 S. Ill., graph. Darst. 21 cm txt rdacontent n rdamedia nc rdacarrier Publication series of the Institute of Automation, University of Bremen : Series 7 2 Zugl.: Bremen, Univ., Diss., 2010 Dreidimensionale Rekonstruktion (DE-588)4150634-0 gnd rswk-swf Korrespondenzproblem Bildverarbeitung (DE-588)4748544-9 gnd rswk-swf Objektverfolgung (DE-588)4311226-2 gnd rswk-swf Objekterkennung (DE-588)4314334-9 gnd rswk-swf Lokalisierung Robotik (DE-588)7569134-6 gnd rswk-swf Stereokamera (DE-588)4530270-4 gnd rswk-swf Dreidimensionales maschinelles Sehen (DE-588)4137757-6 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Dreidimensionales maschinelles Sehen (DE-588)4137757-6 s Stereokamera (DE-588)4530270-4 s Objekterkennung (DE-588)4314334-9 s Objektverfolgung (DE-588)4311226-2 s Lokalisierung Robotik (DE-588)7569134-6 s Dreidimensionale Rekonstruktion (DE-588)4150634-0 s Korrespondenzproblem Bildverarbeitung (DE-588)4748544-9 s DE-604 Publication series of the Institute of Automation, University of Bremen Series 7 ; 2 (DE-604)BV035111170 2 DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=024383387&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Vuppala, Sai Krishna Object localization using stereo vision Publication series of the Institute of Automation, University of Bremen Dreidimensionale Rekonstruktion (DE-588)4150634-0 gnd Korrespondenzproblem Bildverarbeitung (DE-588)4748544-9 gnd Objektverfolgung (DE-588)4311226-2 gnd Objekterkennung (DE-588)4314334-9 gnd Lokalisierung Robotik (DE-588)7569134-6 gnd Stereokamera (DE-588)4530270-4 gnd Dreidimensionales maschinelles Sehen (DE-588)4137757-6 gnd |
| subject_GND | (DE-588)4150634-0 (DE-588)4748544-9 (DE-588)4311226-2 (DE-588)4314334-9 (DE-588)7569134-6 (DE-588)4530270-4 (DE-588)4137757-6 (DE-588)4113937-9 |
| title | Object localization using stereo vision |
| title_auth | Object localization using stereo vision |
| title_exact_search | Object localization using stereo vision |
| title_full | Object localization using stereo vision Sai Krishna Vuppala |
| title_fullStr | Object localization using stereo vision Sai Krishna Vuppala |
| title_full_unstemmed | Object localization using stereo vision Sai Krishna Vuppala |
| title_short | Object localization using stereo vision |
| title_sort | object localization using stereo vision |
| topic | Dreidimensionale Rekonstruktion (DE-588)4150634-0 gnd Korrespondenzproblem Bildverarbeitung (DE-588)4748544-9 gnd Objektverfolgung (DE-588)4311226-2 gnd Objekterkennung (DE-588)4314334-9 gnd Lokalisierung Robotik (DE-588)7569134-6 gnd Stereokamera (DE-588)4530270-4 gnd Dreidimensionales maschinelles Sehen (DE-588)4137757-6 gnd |
| topic_facet | Dreidimensionale Rekonstruktion Korrespondenzproblem Bildverarbeitung Objektverfolgung Objekterkennung Lokalisierung Robotik Stereokamera Dreidimensionales maschinelles Sehen Hochschulschrift |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=024383387&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| volume_link | (DE-604)BV035111170 |
| work_keys_str_mv | AT vuppalasaikrishna objectlocalizationusingstereovision |