Netramai, Chayakorn: Using mobile multi-camera unit for real-time 3D motion estimation and map building of indoor environment. 2011
Inhalt
- Acknowledgements
- Zusammenfassung
- Abstract
- Table of Contents
- List of Figures
- List of Tables
- List of Symbols and Acronyms
- 1 Introduction
- 2 3D Visual Sensors
- 2.1 Introduction
- 2.2 3D Visual Sensors
- 2.3 Single-Beam Laser Range Finder
- 2.4 PMD Camera
- 2.5 Stereo Camera
- 2.6 Comparison of 3D Visual Sensors
- 2.7 Selection of the 3D Visual Sensor for the Multi-Camera Unit
- 2.8 Conclusion
- 3 The Multi-Camera Unit
- 3.1 Introduction
- 3.2 The Multi-Camera Unit
- 3.3 Hardware Description
- 3.4 Software Description
- 3.5 Elimination of Motion Ambiguity using Multi-Camera Systems
- 3.6 Multi-Camera Hardware Simulation
- 3.7 Multi-Camera Hardware Calibration
- 3.8 Conclusion
- 4 Real-time 3D Motion Estimation using MCU
- 4.1 Introduction
- 4.2 Feature Detection
- 4.3 Feature Matching
- 4.3.1 Checking the Feature Point Displacement
- 4.3.2 Feature Matching using Normalized Cross Correlation
- 4.3.3 Outlier Detection
- 4.4 3D Motion Detection using 2D Features
- 4.5 Six Degree of Freedom Motion Estimation
- 4.5.1 Initialization of Motion Parameters using the * RANSAC Algorithm
- 4.5.2 Estimation of Motion Parameters using the * ICP Algorithm
- 4.6 Conclusion
- 5 Real-time 3D Map Building using the MCU
- 5.1 Introduction
- 5.2 Real-time 3D Map Building using a Probabilistic Approach
- 5.3 FastSLAM
- 5.4 MCU System Equations
- 5.5 FastSLAM Implementation
- 5.6 Simulation of the FastSLAM System
- 5.7 Real-time 3D Photorealistic Map Building using 3D Images
- 5.8 Conclusion
- 6 Experiments and Results
- 6.1 Introduction
- 6.2 Experiment Setup
- 6.3 Experiment I: 3D Motion Estimation
- 6.3.1 Small Rotation
- 6.3.2 Small Translation
- 6.3.3 Large Rotation
- 6.3.4 Large Translation
- 6.3.5 The 2-shape Trajectory
- 6.3.6 Additional Trajectories
- 6.4 Experiment II: 3D Photorealistic Map Building
- 6.4.1 A 3D photorealistic map from the 2-shape trajectory.
- 6.4.2 A 3D photorealistic map from the 90 degrees rotation.
- 6.4.3 A 3D photorealistic map from the trapezoidal trajectory.
- 6.5 Conclusion
- 7 Conclusions
- Appendices
- A Hardware Drawing
- A.1 Mechanical Drawing of the STH-MDCS Stereo Camera
- A.2 Mechanical Drawing of the Multi-Camera Unit
- B Error Characteristics of the Stereo Camera
- References