Environment- and self-modeling through camera-based pose estimation:
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Abschlussarbeit Buch |
| Sprache: | English |
| Veröffentlicht: |
Düren
Shaker Verlag
2019
|
| Ausgabe: | 1. Auflage |
| Schriftenreihe: | Progress in Robotics/Fortschritte der Robotik
Band 2 |
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | XVIII, 213 Seiten Illustrationen, Diagramme 21 cm x 14.8 cm, 347 g |
| ISBN: | 9783844070484 3844070486 |
Internformat
MARC
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| 100 | 1 | |a Nißler, Christian |d 1985- |e Verfasser |0 (DE-588)1202738133 |4 aut | |
| 245 | 1 | 0 | |a Environment- and self-modeling through camera-based pose estimation |c Christian Nißler |
| 250 | |a 1. Auflage | ||
| 264 | 1 | |a Düren |b Shaker Verlag |c 2019 | |
| 300 | |a XVIII, 213 Seiten |b Illustrationen, Diagramme |c 21 cm x 14.8 cm, 347 g | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 490 | 1 | |a Progress in Robotics/Fortschritte der Robotik |v Band 2 | |
| 502 | |b Dissertation |c Technische Universität Chemnitz |d 2019 | ||
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Datensatz im Suchindex
| _version_ | 1804180823903043584 |
|---|---|
| adam_text | CONTENTS
ACRONYMS
XV
NOMENCLATURE
XVII
1
INTRODUCTION
1
1.1
BACKGROUND
.........................................................................................
1
1.2
THESIS
OVERVIEW
................................................................................
4
1.3
CONTRIBUTIONS
......................................................................................
6
2
THEORETICAL
BACKGROUND
9
2.1
MODELED
ENVIRONMENT
........................................................................
9
2.1.1
2D
IMAGE
TRANSFORMATIONS
....................................................
10
2.1.2
THE
PERSPECTIVE
FROM
N
POINTS
PROBLEM
...............................
11
2.1.3
KEYPOINTS
................................................................................
14
2.1.4
POSE
ESTIMATION
BASED
ON
3D
MODELS
..................................
24
2.1.5
POSE
ESTIMATION
BASED
ON
MACHINE
LEARNING
.....................
27
2.2
ENVIRONMENT
MODELING
........................................................................
29
2.2.1
ENVIRONMENT
MODELING
BASED
ON
2D
DATA
...........................
29
2.2.2
ENVIRONMENT
MODELING
BASED
ON
3D
DATA
...........................
29
2.3
SELF
MODELING
......................................................................................
34
2.3.1
CAMERA
MODEL
........................................................................
34
2.3.2
CAMERA
CALIBRATION
...............................................................
37
3
MODELED
ENVIRONMENTS
43
3.1
INTRODUCTION
.........................................................................................
43
3.2
RELATED
WORK
.......................................................................................
44
3.2.1
OPTIMIZATION
OVER
TIME
.........................................................
44
3.2.2
OPTIMIZATION
OVER
MULTIPLE
MARKERS
....................................
45
3.3
METHODS
................................................................................................
46
3.3.1
OPTIMIZATION
OVER
TIME
.........................................................
46
3.3.2
OPTIMIZATION
OVER
MULTIPLE
MARKERS
....................................
48
3.4
EXPERIMENTS
..........................................................................................
50
3.5
DISCUSSION
............................................................................................
56
4
MARKER-BASED
ENVIRONMENT
MODELING
AND
POSE
ESTIMATION
61
4.1
INTRODUCTION
.........................................................................................
61
XI
CONTENTS
4.2
RELATED
WORK
.......................................................................................
62
4.2.1
BINGHAM
DISTRIBUTION
............................................................
63
4.2.2
PRINCIPAL
COMPONENT
ANALYSIS
.............................................
64
4.3
METHODS
................................................................................................
66
4.3.1
GRAPH
OPTIMIZATION
...............................................................
66
4.3.2
TRAJECTORY
CLUSTERING
............................................................
68
4.4
EXPERIMENTS
..........................................................................................
71
4.5
DISCUSSION
.............................................................................................
76
5
DEPTH-BASED
ENVIRONMENT
MODELING
AND
POSE
ESTIMATION
79
5.1
INTRODUCTION
..........................................................................................
79
5.2
RELATED
WORK
.......................................................................................
81
5.3
METHODS
................................................................................................
82
5.3.1
PREPROCESSING
........................................................
83
5.3.2
RANSAC
PHASE
.....................................................................
84
5.3.3
ORDER
OPTIMIZATION
PHASE
......................................................
88
5.3.4
EXPECTATION-MAXIMIZATION
PHASE
..........................................
88
5.4
EXPERIMENTS
..........................................................................................
89
5.5
DISCUSSION
.............................................................................................
91
6
SELF
MODELING
99
6.1
INTRODUCTION
..........................................................................................
99
6.2
RELATED
WORK
.......................................................................................
100
6.2.1
HAND-EYE
CALIBRATION
............................................................
100
6.2.2
CAMERA-CAMERA
CALIBRATION
...................................................
102
6.3
METHODS
................................................................................................
102
6.3.1
HAND-EYE
CALIBRATION
............................................................
105
6.3.2
CAMERA-CAMERA
CALIBRATION
...................................................
107
6.3.3
ENHANCING
SELF
MODELING
BY
ENVIRONMENT
MODELING
....
109
6.4
EXPERIMENTS
..........................................................................................
113
6.5
DISCUSSION
.............................................................................................
118
7
APPLICATION
TO
MOBILE
ROBOTICS
121
7.1
INTRODUCTION
..........................................................................................
121
7.2
METHODS
................................................................................................
122
7.3
EXPERIMENTS
..........................................................................................
125
7.4
DISCUSSION
.............................................................................................
135
XII
CONTENTS
8
APPLICATION
TO
HUMAN-MACHINE
INTERACTION
AND
PROSTHETIC
CONTROL
137
8.1
INTRODUCTION
.........................................................................................
137
8.2
RELATED
WORK
......................................................................................
138
8.3
METHODS
...............................................................................................
139
8.3.1
REGRESSION-BASED
METHODS
..................................................
139
8.3.2
CLASSIFICATION-BASED
APPROACH
................................................
142
8.4
EXPERIMENTS
.........................................................................................
144
8.4.1
REGRESSION-BASED
APPROACH
...................................................
145
8.4.2
CLASSIFICATION-BASED
APPROACH
................................................
151
8.5
DISCUSSION
............................................................................................
152
9
CONCLUSION
AND
OUTLOOK
159
9.1
CONCLUSION
.........................................................................................
159
9.2
OUTLOOK
...............................................................................................
161
9.2.1
IMPROVING
SELF
MODELING
BY
LINEAR
MOTION
.............................
161
9.2.2
IMPROVING
SELF
MODELING
BY
DEPTH
DATA
...............................
161
9.2.3
ENHANCING
DEEP
LEARNING
METHODS
FOR
PROSTHETIC
CONTROL
.
162
A
MATHEMATICAL
BASICS
165
A.L
SINGULAR
VALUE
DECOMPOSITION
...........................................................
165
A.
2
HOMOGENEOUS
COORDINATES
.................................................................
165
A.
3
METHOD
OF
LEAST
SQUARES
....................................................................
167
A.
3.1
LINEAR
METHOD
OF
LEAST
SQUARES
..........................................
168
A.
3.2
NONLINEAR
LEAST
SQUARES
.........................................................
170
B
INTRODUCTION
TO
CONVOLUTIONAL
NEURAL
NETWORKS
175
B.
L
NEURAL
NETWORKS
................................................................................
175
B.2
CONVOLUTION
.........................................................................................
175
B.3
DETECTOR
STAGE
...................................................................................
176
B.4
POOLING
...............................................................................................
176
B.5
FULLY
CONNECTED
LAYER
.......................................................................
177
B.6
CNN
ARCHITECTURE
.............................................................................
177
C
OWN
PUBLICATIONS
179
BIBLIOGRAPHY
183
LIST
OF
FIGURES
207
LIST
OF
TABLES
211
KILL
CONTENTS
LIST
OF
ALGORITHMS
213
XIV
|
| any_adam_object | 1 |
| author | Nißler, Christian 1985- |
| author_GND | (DE-588)1202738133 |
| author_facet | Nißler, Christian 1985- |
| author_role | aut |
| author_sort | Nißler, Christian 1985- |
| author_variant | c n cn |
| building | Verbundindex |
| bvnumber | BV046332252 |
| classification_rvk | ZQ 6230 |
| ctrlnum | (OCoLC)1128105317 (DE-599)DNB1199380393 |
| discipline | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| edition | 1. Auflage |
| format | Thesis Book |
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| genre | (DE-588)4113937-9 Hochschulschrift gnd-content |
| genre_facet | Hochschulschrift |
| id | DE-604.BV046332252 |
| illustrated | Illustrated |
| indexdate | 2024-07-10T08:41:53Z |
| institution | BVB |
| institution_GND | (DE-588)1064118135 |
| isbn | 9783844070484 3844070486 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-031709079 |
| oclc_num | 1128105317 |
| open_access_boolean | |
| owner | DE-83 |
| owner_facet | DE-83 |
| physical | XVIII, 213 Seiten Illustrationen, Diagramme 21 cm x 14.8 cm, 347 g |
| publishDate | 2019 |
| publishDateSearch | 2019 |
| publishDateSort | 2019 |
| publisher | Shaker Verlag |
| record_format | marc |
| series | Progress in Robotics/Fortschritte der Robotik |
| series2 | Progress in Robotics/Fortschritte der Robotik |
| spelling | Nißler, Christian 1985- Verfasser (DE-588)1202738133 aut Environment- and self-modeling through camera-based pose estimation Christian Nißler 1. Auflage Düren Shaker Verlag 2019 XVIII, 213 Seiten Illustrationen, Diagramme 21 cm x 14.8 cm, 347 g txt rdacontent n rdamedia nc rdacarrier Progress in Robotics/Fortschritte der Robotik Band 2 Dissertation Technische Universität Chemnitz 2019 Kalibrieren Messtechnik (DE-588)4198763-9 gnd rswk-swf Roboterhand (DE-588)4236800-5 gnd rswk-swf Pose (DE-588)4486507-7 gnd rswk-swf SLAM-Verfahren (DE-588)7842968-7 gnd rswk-swf Kamera (DE-588)4366655-3 gnd rswk-swf Tiefenerkennung (DE-588)4690004-4 gnd rswk-swf Robotik (DE-588)4261462-4 gnd rswk-swf Umweltmodell Informatik (DE-588)4250471-5 gnd rswk-swf Optischer Sensor (DE-588)4075677-4 gnd rswk-swf Mensch-Maschine-Kommunikation (DE-588)4125909-9 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Mensch-Maschine-Kommunikation (DE-588)4125909-9 s Robotik (DE-588)4261462-4 s Kamera (DE-588)4366655-3 s Optischer Sensor (DE-588)4075677-4 s Tiefenerkennung (DE-588)4690004-4 s Pose (DE-588)4486507-7 s Umweltmodell Informatik (DE-588)4250471-5 s SLAM-Verfahren (DE-588)7842968-7 s Kalibrieren Messtechnik (DE-588)4198763-9 s Roboterhand (DE-588)4236800-5 s DE-604 Shaker Verlag (DE-588)1064118135 pbl Chemnitz (DE-588)4029702-0 gnd uvp Progress in Robotics/Fortschritte der Robotik Band 2 (DE-604)BV046343819 2 DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=031709079&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Nißler, Christian 1985- Environment- and self-modeling through camera-based pose estimation Progress in Robotics/Fortschritte der Robotik Kalibrieren Messtechnik (DE-588)4198763-9 gnd Roboterhand (DE-588)4236800-5 gnd Pose (DE-588)4486507-7 gnd SLAM-Verfahren (DE-588)7842968-7 gnd Kamera (DE-588)4366655-3 gnd Tiefenerkennung (DE-588)4690004-4 gnd Robotik (DE-588)4261462-4 gnd Umweltmodell Informatik (DE-588)4250471-5 gnd Optischer Sensor (DE-588)4075677-4 gnd Mensch-Maschine-Kommunikation (DE-588)4125909-9 gnd |
| subject_GND | (DE-588)4198763-9 (DE-588)4236800-5 (DE-588)4486507-7 (DE-588)7842968-7 (DE-588)4366655-3 (DE-588)4690004-4 (DE-588)4261462-4 (DE-588)4250471-5 (DE-588)4075677-4 (DE-588)4125909-9 (DE-588)4113937-9 |
| title | Environment- and self-modeling through camera-based pose estimation |
| title_auth | Environment- and self-modeling through camera-based pose estimation |
| title_exact_search | Environment- and self-modeling through camera-based pose estimation |
| title_full | Environment- and self-modeling through camera-based pose estimation Christian Nißler |
| title_fullStr | Environment- and self-modeling through camera-based pose estimation Christian Nißler |
| title_full_unstemmed | Environment- and self-modeling through camera-based pose estimation Christian Nißler |
| title_short | Environment- and self-modeling through camera-based pose estimation |
| title_sort | environment and self modeling through camera based pose estimation |
| topic | Kalibrieren Messtechnik (DE-588)4198763-9 gnd Roboterhand (DE-588)4236800-5 gnd Pose (DE-588)4486507-7 gnd SLAM-Verfahren (DE-588)7842968-7 gnd Kamera (DE-588)4366655-3 gnd Tiefenerkennung (DE-588)4690004-4 gnd Robotik (DE-588)4261462-4 gnd Umweltmodell Informatik (DE-588)4250471-5 gnd Optischer Sensor (DE-588)4075677-4 gnd Mensch-Maschine-Kommunikation (DE-588)4125909-9 gnd |
| topic_facet | Kalibrieren Messtechnik Roboterhand Pose SLAM-Verfahren Kamera Tiefenerkennung Robotik Umweltmodell Informatik Optischer Sensor Mensch-Maschine-Kommunikation Hochschulschrift |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=031709079&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| volume_link | (DE-604)BV046343819 |
| work_keys_str_mv | AT nißlerchristian environmentandselfmodelingthroughcamerabasedposeestimation AT shakerverlag environmentandselfmodelingthroughcamerabasedposeestimation |