Documentation and mapping with 3D point cloud processing: = Dokumentation und Kartierung mittels 3D-Punktwolkenverarbeitung
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Abschlussarbeit Buch |
| Sprache: | English |
| Veröffentlicht: |
Würzburg
Julius-Maximilians-Universität Würzburg, Chair of Computer Science VII, Robotics and Telematics
February 2017
|
| Schriftenreihe: | Würzburger Forschungsberichte in Robotik und Telematik
Band 12 |
| Schlagworte: | |
| Online-Zugang: | Volltext Inhaltsverzeichnis |
| Beschreibung: | Bibliography Seite 167-186 |
| Beschreibung: | ix, 186 Seiten Illustrationen, Diagramme |
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| 245 | 1 | 0 | |a Documentation and mapping with 3D point cloud processing |b = Dokumentation und Kartierung mittels 3D-Punktwolkenverarbeitung |c by Hamidreza Houshiar |
| 246 | 1 | 1 | |a Dokumentation und Kartierung mittels 3D-Punktwolkenverarbeitung |
| 264 | 1 | |a Würzburg |b Julius-Maximilians-Universität Würzburg, Chair of Computer Science VII, Robotics and Telematics |c February 2017 | |
| 300 | |a ix, 186 Seiten |b Illustrationen, Diagramme | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
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| 490 | 1 | |a Würzburger Forschungsberichte in Robotik und Telematik |v Band 12 | |
| 500 | |a Bibliography Seite 167-186 | ||
| 502 | |b Dissertation |c Julius-Maximilians-Universität Würzburg |d 2017 | ||
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Datensatz im Suchindex
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| adam_text |
C ONTENTS
1 IN TRO D U CTIO N 1
1.1 RELATED W O RK
.
2
1.2 LIST OF PREVIOUS P U B LIC A TIO N
S.
4
1.3 OUTLINE
.
5
2 P O IN T C LOUD R EP RESEN TA TIO N 7
2.1 DATA A
CQUISITION.
7
2.2 DATA R
EPRESENTATION.
9
2.3 PANORAMA PROJECTION METHODS
.
11
2.3.1 EQUIRECT
ANGULAR.
12
2.3.2 C Y LIN D RIC A
L.-
.
13
2.3.3 MERCATOR
.
16
2.3.4 RECTILINEAR
.
16
2.3.5 P A N N IN
I.
20
2.3.6
STEREOGRAPHIC.
22
2.3.7 2-A X I S
.
24
2.3.8 ALBERS EQUAL-AREA CONIC
.
26
2.3.9 EQUAL-AREA
CYLINDRICAL.
28
2.3.10 LAMBERT AZIMUTHAL
EQUAL-AREA.
29
2.4 PANORAMA MAP M
ETHODS.
31
2.5 S U M M A RY
.
32
3 P O IN T C LOUD R E G ISTRA TIO N 33
3.1 TECHNICAL B ACK G RO U N D
.
34
3.1.1 FEATURELESS R EG ISTRATIO N
.
34
3.1.2 FEATURE-BASED R E G ISTRA TIO N
.
35
3.2 2D FEATURES FOR 3D POINT C LO U D S
.
37
3.2.1 SCALE INVARIANT FEATURE TRANSFORM (S IF T
). 38
3.2.2 SPEED-UP ROBUST FEATURES (SU R
F). 39
3.2.3 FEATURES FROM ACCELERATED SEGMENT TEST (F A S T
). 40
3.2.4 ORIENTED FAST AND ROTATED BRIEF (O R B )
.
40
3.2.5 CENTER SURROUND EXTREMAS (CENSURE) . 42
3.3 FEATURE FILTRATION M E TH O D S
.
42
3.4 2D FEATURE MATCHING M E TH O D S
.
43
3.5 COARSE
REGISTRATION.
43
3.6 GLOBALLY CONSISTENT SCAN M
ATCHING.
45
3.7 CASE STUDIES
.
45
3.7.1 INTERFAITH HOUSE (INDOOR EN V IRO N M EN
T). 48
3.7.2 BREMEN CITY (OUTDOOR ENVIRONMENT)
. 49
3.7.3 CAMPUS OF JACOBS UNIVERSITY (OUTDOOR ENVIRONM
ENT). 54
3.7.4 THE RESIDENCE PALACE IN WUERZBURG GERMANY (INDOOR ENVIRONMENT) .
57
3.8 S U M M A RY
.
62
4 P O IN T C LOUD R E D U CTIO N 63
4.1 OCTREE R
EDUCTION.
63
4.2 PANORAMA R
EDUCTION.
66
4.3 CASE S T U D Y
.
67
4.4 S U M M A RY
.
72
5 P O IN T C LOUD C OM P RESSION 75
5.1 LIDAR DATA COMPRESSION M ETH O D
S.
76
5.2 CONVENTIONAL IMAGE COMPRESSION METHODS FOR POINT CLOUD COMPRESSION
.
77
5.3 RANGE ENCODING AND POINT CLOUD C OM PRESSION
.
79
5.3.1 RANGE TO COLOR MAP E N C O D IN G
.
79
5.3.2 RANGE TO GREY SCALE E N C O D IN G
.
81
5.3.3 PANORAMA C OM
PRESSION.
82
5.4 FILTRATION METHOD FOR RECOVERED RANGE V A LU E
S. 83
5.5 CASE S T U D Y
.
84
5.6 S U M M A RY
.
90
6 A P P LICATION : P O IN T C LOUD P RO C ESSIN G IN A RCH EOLOGY 93
6.1 CONVENTIONAL
ARCHEOLOGY.
94
6.2 MODERN
ARCHEOLOGY.
95
6.3 FRAMEWORK
.
97
6.3.1 DATA A
CQUISITION.
99
6.3.2 DATA P RO C E S S
.100
6.3.3 DIGITAL
DOCUMENTATION.
100
6.3.4 D A TA B A S E
.100
6.3.5 DATA
ANALYSIS.101
6.3.6 P U B LIC A TIO N
.102
6.4 THE COMPUTER AIDED SYSTEM FOR LABELLING ARCHEOLOGICAL EXCAVATIONS IN
3D . . . 102
6.4.1 IMPORTING D A TA
.
104
6.4.2 V ISU ALISATIO N
.
104
6.4.3 SEMANTIC M A P P IN G
.
105
6.4.4 EXPORTING D A TA
.
107
6.5 CASE S T U D Y
.108
6.6 S U M M A RY
.113
7 A P P LICATION : TOWARDS A F ULLY A U TON OM OU S IN DOOR M OB ILE M
AP P IN G S Y STEM 115
7.1 MOBILE ROBOTICS
.116
7.2 WHEEL BASED MOBILE R O B O
TS.
116
7.2.1 DIFFERENTIAL DRIVE ROBOT K IN EM
ATICS.
119
7.3 MOBILE ROBOT PERCEPTION
.
122
7.3.1 WHEEL/MOTOR ENCODER S
ENSOR.
123
7.3.2 2D/3D RANGE SENSOR
.
124
7.4 LOCALISATION AND M AP P IN G
.
124
7.4.1 M
APPING.
126
7.4.2
LOCALISATION.
128
7.4.3 SIMULTANEOUS LOCALISATION AND M
APPING. 129
7.5 SENSOR PLACEMENT P LA N N IN G
.
130
7.5.1 HOLE D E TE C TIO N
.
132
7.5.2 FLOOR D
ETECTION.
136
7.5.3 NEXT BEST V IEW
.
138
7.6 ROBOT MOTION P LA N N IN G
.
140
7.6.1 PATH P LA N N IN G
.
141
7.6.2 PATH FOLLOW
ING.
144
7.6.3 OBSTACLE
AVOIDANCE.
145
7.7 CASE STUDIES
.
147
7.8 S U M M A RY . 159
8 C ON CLU SION 161 |
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| id | DE-604.BV044255175 |
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| institution | BVB |
| language | English |
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| physical | ix, 186 Seiten Illustrationen, Diagramme |
| publishDate | 2017 |
| publishDateSearch | 2017 |
| publishDateSort | 2017 |
| publisher | Julius-Maximilians-Universität Würzburg, Chair of Computer Science VII, Robotics and Telematics |
| record_format | marc |
| series | Würzburger Forschungsberichte in Robotik und Telematik |
| series2 | Würzburger Forschungsberichte in Robotik und Telematik |
| spelling | Houshiar, Hamidreza ca. 21. Jh. Verfasser (DE-588)1131880080 aut Documentation and mapping with 3D point cloud processing = Dokumentation und Kartierung mittels 3D-Punktwolkenverarbeitung by Hamidreza Houshiar Dokumentation und Kartierung mittels 3D-Punktwolkenverarbeitung Würzburg Julius-Maximilians-Universität Würzburg, Chair of Computer Science VII, Robotics and Telematics February 2017 ix, 186 Seiten Illustrationen, Diagramme txt rdacontent n rdamedia nc rdacarrier Würzburger Forschungsberichte in Robotik und Telematik Band 12 Bibliography Seite 167-186 Dissertation Julius-Maximilians-Universität Würzburg 2017 Vermessung (DE-588)4063048-1 gnd rswk-swf Punktwolke (DE-588)4530310-1 gnd rswk-swf 3D-Grafik-Software (DE-588)4605743-2 gnd rswk-swf Residenz Würzburg Würzburg (DE-588)4192605-5 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content 3D-Grafik-Software (DE-588)4605743-2 s Punktwolke (DE-588)4530310-1 s DE-604 Residenz Würzburg Würzburg (DE-588)4192605-5 g Vermessung (DE-588)4063048-1 s b DE-604 Erscheint auch als Online-Ausgabe, PDF urn:nbn:de:bvb:20-opus-144493 978-3-945459-14-0 Würzburger Forschungsberichte in Robotik und Telematik Band 12 (DE-604)BV035653696 12 https://nbn-resolving.org/urn:nbn:de:bvb:20-opus-144493 Resolving-System kostenfrei Volltext DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=029660203&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Houshiar, Hamidreza ca. 21. Jh Documentation and mapping with 3D point cloud processing = Dokumentation und Kartierung mittels 3D-Punktwolkenverarbeitung Würzburger Forschungsberichte in Robotik und Telematik Vermessung (DE-588)4063048-1 gnd Punktwolke (DE-588)4530310-1 gnd 3D-Grafik-Software (DE-588)4605743-2 gnd |
| subject_GND | (DE-588)4063048-1 (DE-588)4530310-1 (DE-588)4605743-2 (DE-588)4192605-5 (DE-588)4113937-9 |
| title | Documentation and mapping with 3D point cloud processing = Dokumentation und Kartierung mittels 3D-Punktwolkenverarbeitung |
| title_alt | Dokumentation und Kartierung mittels 3D-Punktwolkenverarbeitung |
| title_auth | Documentation and mapping with 3D point cloud processing = Dokumentation und Kartierung mittels 3D-Punktwolkenverarbeitung |
| title_exact_search | Documentation and mapping with 3D point cloud processing = Dokumentation und Kartierung mittels 3D-Punktwolkenverarbeitung |
| title_full | Documentation and mapping with 3D point cloud processing = Dokumentation und Kartierung mittels 3D-Punktwolkenverarbeitung by Hamidreza Houshiar |
| title_fullStr | Documentation and mapping with 3D point cloud processing = Dokumentation und Kartierung mittels 3D-Punktwolkenverarbeitung by Hamidreza Houshiar |
| title_full_unstemmed | Documentation and mapping with 3D point cloud processing = Dokumentation und Kartierung mittels 3D-Punktwolkenverarbeitung by Hamidreza Houshiar |
| title_short | Documentation and mapping with 3D point cloud processing |
| title_sort | documentation and mapping with 3d point cloud processing dokumentation und kartierung mittels 3d punktwolkenverarbeitung |
| title_sub | = Dokumentation und Kartierung mittels 3D-Punktwolkenverarbeitung |
| topic | Vermessung (DE-588)4063048-1 gnd Punktwolke (DE-588)4530310-1 gnd 3D-Grafik-Software (DE-588)4605743-2 gnd |
| topic_facet | Vermessung Punktwolke 3D-Grafik-Software Residenz Würzburg Würzburg Hochschulschrift |
| url | https://nbn-resolving.org/urn:nbn:de:bvb:20-opus-144493 http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=029660203&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| volume_link | (DE-604)BV035653696 |
| work_keys_str_mv | AT houshiarhamidreza documentationandmappingwith3dpointcloudprocessingdokumentationundkartierungmittels3dpunktwolkenverarbeitung AT houshiarhamidreza dokumentationundkartierungmittels3dpunktwolkenverarbeitung |