Inhalt

•  
   Abstract
•  
   Acknowledgements
•  
   Table of Symbols
•  
  Introduction
•  
   Autonomous Navigation
•  
  Visual Navigation
•  
   Visual Localization
•  
   Visual Homing
•  
   Route Following
•  
   Visual Compass
•  
   Biologically Inspired Visual Navigation
•  
   Omnidirectional Camera Sensors
•  
   Outline
•  
  Multispectral Skyline Extraction
•  
  Introduction
•  
   Navigational Abilities of Social Insects
•  
   Skyline as Landmark Cue
•  
   Perception of Light
•  
   Global and Local Classification Methods
•  
   Related Work
•  
   Contributions
•  
  Materials and Methods
•  
   Experimental Setup
•  
   Calibration
•  
   Data Collection
•  
   HDR Imaging
•  
   Creation of Data Samples
•  
   Data Visualization
•  
   Classification Rate
•  
   Data Classification
•  
   Overview: Tested Separation Techniques
•  
  Results
•  
   Collected Data
•  
   Global Separation Techniques
•  
   Local Separation Techniques
•  
   Comparison between Global and Local Separation Techniques
•  
   Statistical Tests
•  
   Records of Ground Objects
•  
   Panoramic Images
•  
  Discussion
•  
   Skyline Extraction
•  
   Panoramic Images
•  
   Color Contrast Mechanisms in Insects
•  
   Future Work
•  
   Conclusion
•  
  Spherical Harmonics: Theory & Software Implementation
•  
   Introduction
•  
   Motivation
•  
  Rotation Group SO(3)
•  
   Elementary Rotation Matrices
•  
   Tilt Matrices
•  
   Distance Measure for Rotation Matrices
•  
   Fourier-Transform and Spectra
•  
  Fourier Analysis on SO(3)
•  
   Wigner-D matrices
•  
   Clebsch-Gordan Matrices
•  
   Spherical Harmonics
•  
   Alternative Formulation of Spherical Harmonics
•  
   Point-Wise Products
•  
   Real Spherical Harmonics
•  
   Recurrence Relations
•  
   Symmetries
•  
   Rotations
•  
   Translations
•  
   Approximation of Translation Matrices
•  
   Z-Axis Translation Matrices
•  
   Interpreting Translations
•  
   Slices
•  
  Distance Measures for Spherical Harmonics
•  
   Integral Squared Error
•  
   Amplitude Spectrum
•  
   Bispectrum
•  
   Distance Measures for Real Spherical Harmonics
•  
   Implementation Details
•  
   Sampling Points
•  
   Fast Fourier Transform
•  
   Non-Spherical Input
•  
  Further Improvements
•  
   Noise
•  
   Image Preprocessing
•  
   Tangent Distance
•  
  Localization
•  
   Introduction
•  
   Experimental Setups
•  
  Method
•  
   Skyline Extraction
•  
   Scene Descriptors
•  
   Sequence SLAM
•  
   FABMAP
•  
   Datasets
•  
  Results
•  
   Precision versus Recall Plots
•  
   City Dataset with Tilt Variation
•  
   BMX Track Dataset
•  
   Disposal Site Dataset
•  
   Tilt-Invariance versus Sequence Length
•  
   Comparison of the Amplitude Spectrum and Bispectrum
•  
   Discussion
•  
   Conclusion
•  
  Holistic Visual 3D Compass
•  
   Introduction
•  
  Visual 3D Compass
•  
   Exhaustive Search
•  
   Rotation Parameterization
•  
   Fast Z/Y-Axis Rotations
•  
   Coarse-to-Fine Search
•  
   Global Illumination Invariance
•  
   Linearization of the Compass Search
•  
   Search Spaces
•  
   Parameter Sets
•  
   Experiments
•  
   Vanishing Points, Optical Flow, and Feature-Based Methods
•  
  Results
•  
   Single-Database Tests
•  
   Cross-Database Tests
•  
   Influence of Camera Translation
•  
   Feature-Based Methods on Raw Images
•  
   Discussion
•  
   Conclusion
•  
  3D-Warping
•  
   Introduction
•  
   Introduction to Warping
•  
   3D-Warping
•  
   Experiments
•  
   Parameter Sets
•  
   Results
•  
   Discussion
•  
   Conclusion
•  
  Overall Summary, Discussion, and Future Work
•  
  Summary
•  
   Skyline Segmentation
•  
   Spherical Harmonics
•  
   Localization
•  
   Holistic Visual 3D-Compass
•  
   3D-Warping
•  
  Discussion
•  
   Alternative Approaches for Skyline Extraction
•  
   Biological Plausibility
•  
   How Low Can You Go?
•  
   A Special Case: Movement in the Plane
•  
  Future Work
•  
   Multi-Snapshot Model
•  
   Robot Experiments: Proof of Concept
•  
   Robot Experiments: Lawn-Mowing
•  
   Conclusion
•  
  Proofs
•  
   Calculation Rules for Direct Sums and Kronecker Products
•  
   Clebsch-Gordan Matrix Ordering
•  
   Real Point-Wise Product
•  
   Symmetry Theorem
•  
   Rotation Theorems
•  
   Z-Axis Rotations
•  
   Y-Axis Rotations
•  
   X-Axis Rotations
•  
   Rotations of 90deg
•  
   Translations
•  
   Bispectrum for Real Spherical Harmonics
•  
  UVG: Details
•  
   HDR Algorithm Modifications
•  
   Efficiency on Generalized Data Sets
•  
   Numeric Stability
•  
  Spherical Harmonics & Applications
•  
   Code: Computation of Clebsch-Gordan Matrices
•  
   Detailed Results: Visual 3D Compass
•  
   Code: 3D-Warping
•  
  Full-Spherical Panoramic Image Databases
•  
   Experimental Setup
•  
   Database Descriptions