von Lösecke, Alexandra (2015) Next-Best-View Planning for Exploration and Autonomous Object Modelling in Static Environments with Irregular Depth Noise using Interval Probabilities. DLR-Interner Bericht. DLR-IB 572-2015/29. Masterarbeit. Technische Universität München. 66 S.
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Kurzfassung
This thesis examines Next-Best-View planning for exploration and autonomous 3D-modelling in static environments with depth noise using Interval Probabilities. An autonomous exploration algorithm is extended to cope better with depth noise from non-diffusely reflecting environments. The measured data is interpreted by a novel voxel space update which combines a state-of-the-art Bayes Update on three dimensional occupancy maps with the concept of Interval Probabilities. Thereby an additional informational level of uncertainty is introduced. An adapted next-best-view criterion, which calculates the maximum entropy of each volume element, aids the exploration process. Experiments are conducted in a simulation to examine how to take advantage of the possibilities of Interval Probabilities. The results are compared to an implementation of the Bayes Update at the DLR-RMC. The method is then transferred to object modelling. A robotic industrial arm named KUKA KR16 is used to conduct further experiments to verify whether the results from the simulation are applicable to real-life environments. It is concluded that the novel update is especially advantageous in dealing with specular reflections.
elib-URL des Eintrags: | https://elib.dlr.de/101448/ | ||||||||
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Dokumentart: | Berichtsreihe (DLR-Interner Bericht, Masterarbeit) | ||||||||
Titel: | Next-Best-View Planning for Exploration and Autonomous Object Modelling in Static Environments with Irregular Depth Noise using Interval Probabilities | ||||||||
Autoren: |
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Datum: | 18 November 2015 | ||||||||
Referierte Publikation: | Nein | ||||||||
Open Access: | Ja | ||||||||
Seitenanzahl: | 66 | ||||||||
Status: | veröffentlicht | ||||||||
Stichwörter: | Exploration, Next Best View Planning, Interval Probabilities, Dempster Shafer, Lower Previsions, Mapping | ||||||||
Institution: | Technische Universität München | ||||||||
Abteilung: | Chair of Media Technology | ||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||
HGF - Programm: | Raumfahrt | ||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Vorhaben Multisensorielle Weltmodellierung (alt) | ||||||||
Standort: | Oberpfaffenhofen | ||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Perzeption und Kognition Institut für Robotik und Mechatronik (ab 2013) | ||||||||
Hinterlegt von: | Rink, Christian | ||||||||
Hinterlegt am: | 04 Jan 2016 11:26 | ||||||||
Letzte Änderung: | 31 Jul 2019 19:58 |
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