Methods of Point Cloud Alignment with Applications to 3D Indoor Mapping and Localization

Al-Nuaimi, Anas

Medientechnik (Prof. Steinbach)

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Original title:: Methods of Point Cloud Alignment with Applications to 3D Indoor Mapping and Localization
Translated title:: Methoden zum Ausrichten von Punktwolken mit Anwendungen in der 3D Kartierung und Ortsfindung im Innenbereich
Author:: Al-Nuaimi, Anas
Year:: 2017
Document type:: Dissertation
Faculty/School:: Fakultät für Elektrotechnik und Informationstechnik
Advisor:: Steinbach, Eckehard (Prof. Dr.)
Referee:: Steinbach, Eckehard (Prof. Dr.); Diepold, Klaus (Prof. Dr.)
Language:: en
Subject group:: ELT Elektrotechnik
Keywords:: Point Cloud, Point Cloud Alignment, 3D Registration, Scan Matching, Indoor Localization
Translated keywords:: Ausrichten von Punktwolken, 3D Registrierung, Indoor Navigation
TUM classification:: DAT 760d
Abstract:: 3D sensors capture scans in the shape of collections of 3D points (point clouds). 3D Alignment can be used to assemble multiple point clouds into more comprehensive 3D maps. Such 3D maps are essential to many emerging applications including robot navigation, autonomous systems, virtual and augmented reality and many more. The thesis deals with the topic of point cloud alignment from a theoretical as well as practical perspective. Special emphasis is placed on the applications of 3D mapping and indoor localization. «
3D sensors capture scans in the shape of collections of 3D points (point clouds). 3D Alignment can be used to assemble multiple point clouds into more comprehensive 3D maps. Such 3D maps are essential to many emerging applications including robot navigation, autonomous systems, virtual and augmented reality and many more. The thesis deals with the topic of point cloud alignment from a theoretical as well as practical perspective. Special emphasis is placed on the applications of 3D mapping and i... »
Translated abstract:: 3D Sensoren können Punktwolken von Umgebungen erfassen. Das Ausrichten von Punktwolken erlaubt es umfassende 3D Karten zusammenzubauen. Solche Karten sind von großer Bedeutung für viele zukunftsweisende Applikationen inkl. Roboternavigation, autonomer System sowie Augmented- und Virtualreality. Diese Arbeit befasst sich mit dem Ausrichten von Punktwolken auf theoretischer sowie praktischer Ebene. Dabei liegt der Fokus vor allem auf Anwendungen der 3D Kartierung und Ortsfindung im Innenbereich.
WWW:: https://mediatum.ub.tum.de/?id=1327421
Date of submission:: 04.10.2016
Oral examination:: 11.04.2017
File size:: 33067296 bytes
Pages:: 156
Urn (citeable URL):: https://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:91-diss-20170411-1327421-1-1
Last change:: 31.05.2017
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