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Next-Best-View Planning for Exploration and Autonomous Object Modelling in Static Environments with Irregular Depth Noise using Interval Probabilities

von Lösecke, Alexandra (2015) Next-Best-View Planning for Exploration and Autonomous Object Modelling in Static Environments with Irregular Depth Noise using Interval Probabilities. Master's. DLR-Interner Bericht. DLR-IB 572-2015/29, 66 S.

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Abstract

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.

Item URL in elib:https://elib.dlr.de/101448/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Next-Best-View Planning for Exploration and Autonomous Object Modelling in Static Environments with Irregular Depth Noise using Interval Probabilities
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
von Lösecke, Alexandraalexandra.loesecke (at) dlr.deUNSPECIFIED
Date:18 November 2015
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Number of Pages:66
Status:Published
Keywords:Exploration, Next Best View Planning, Interval Probabilities, Dempster Shafer, Lower Previsions, Mapping
Institution:Technische Universität München
Department:Chair of Media Technology
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Institute of Robotics and Mechatronics (since 2013)
Deposited By: Rink, Christian
Deposited On:04 Jan 2016 11:26
Last Modified:31 Jul 2019 19:58

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