osnaDocs: Omnidirectional Optical Flow and Visual Motion Detection for Autonomous Robot Navigation

Omnidirectional Optical Flow and Visual Motion Detection for Autonomous Robot Navigation

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https://osnadocs.ub.uni-osnabrueck.de/handle/urn:nbn:de:gbv:700-2007120719

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DC Field	Value	Language
dc.contributor.advisor	Prof. Dr. Joachim Hertzberg
dc.creator	Stratmann, Irem
dc.date.accessioned	2010-01-30T14:52:49Z
dc.date.available	2010-01-30T14:52:49Z
dc.date.issued	2007-12-06T17:37:15Z
dc.date.submitted	2007-12-06T17:37:15Z
dc.identifier.uri	https://osnadocs.ub.uni-osnabrueck.de/handle/urn:nbn:de:gbv:700-2007120719	-
dc.description.abstract	Autonomous robot navigation in dynamic environments requires robust detection of egomotion and independent motion. This thesis introduces a novel solution to the problem of visual independent motion detection by interpreting the topological features of omnidirectional dense optical flow field and determining the background - egomotion direction. The thesis solves the problem of visual independent motion detection in four interdependent subtasks. Independent Motion Detection can only be accomplished if the egomotion detection yields a relevant background motion model. Therefore, the problem of Egomotion Detection is solved first by exploiting the topological structures of the global omnidirectional optical flow fields. The estimation of the optical flow field is the prerequisite of the Egomotion-Detection task. Since the omnidirectional projection introduces non-affine deformations on the image plane, the known optical flow calculation methods have to be modified to yield accurate results. This modification is introduced here as another subtask, Omnidirectional Optical Flow Estimation. The experiments concerning the 3D omnidirectional scene capturing are grouped under the fourth subtask 3D Omni-Image Processing.	eng
dc.language.iso	eng
dc.subject	Visual Motion Tracking
dc.subject	Optical Flow
dc.subject	Omnidirectional Vision
dc.subject	Independent Motion Detection
dc.subject.ddc	004 - Informatik	ger
dc.title	Omnidirectional Optical Flow and Visual Motion Detection for Autonomous Robot Navigation	eng
dc.type	Dissertation oder Habilitation [doctoralThesis]	-
thesis.location	Osnabrück	-
thesis.institution	Universität	-
thesis.type	Dissertation [thesis.doctoral]	-
thesis.date	2007-10-16T12:00:00Z	-
elib.elibid	727	-
elib.marc.edt	jost	-
elib.dct.accessRights	a	-
elib.dct.created	2007-12-04T14:19:55Z	-
elib.dct.modified	2007-12-06T17:37:15Z	-
dc.contributor.referee	Prof. Dr. Rudolf Schwarte
dc.subject.dnb	28 - Informatik, Datenverarbeitung	ger
dc.subject.ccs	1.4.8	eng
vCard.ORG	FB6	ger
Appears in Collections:	FB06 - E-Dissertationen

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