Der Onlineshop für Ingenieure.
| Reihe: | Fortschritt-Berichte | ||||
| Sachgebiet: | Informatik/Kommunikationstechnik | ||||
| Band Nr.: | 798 | ||||
| Titel: | 3D Time-of-Flight Ranging for Robotic Perception in Dynamic Environments |
||||
| Ort: | Nürnberg | ||||
| Jahr: | 2009 | ||||
| Text: | This thesis investigates the applicability of Time-of-Flight cameras in the context of autonomous robotics. The dealing with environment dynamics, while performing electro-optical range measurements, is a problem statement comprising the consideration of ego- and object motion, changes in illumination, a high dynamic range in object reflectivity and dynamics with respect to the working range. Many robotic applications can benefit from robust 3D measurements available in real-time, e.g., 3D mapping or manipulation tasks. Time-of-Flight cameras might constitute a key enabling technology for those applications. A detailed analysis is provided in terms of improving accuracy, precision and robustness of related devices. Camera control and calibration is addressed as well as the need for filtering, both necessary to establish the profitable use in autonomous robotics. This is demonstrated by means of applying range image registration and segmentation techniques in order to perform ego- and independent object motion estimation. Related techniques are extended with respect to sensor modalities. |
||||
| Autor: | M.Eng. Stefan May | ||||
| 158 Seiten | |||||
| 93 Abbildungen | 15 Tabellen | ||||
| ISBN: | 978-3-18-379810-0 | ISSN: 0178-9627 | |||
| Preis: | EUR 49,00 | ||||
| Preis für VDI-Mitglieder: | EUR 44,10 | ||||
| lieferbar | |||||
| Inhaltsverzeichnis | |||||
|
|||||
Seite drucken
Seite versenden
zurück
zum Seitenanfang
RSS