SebastianMarsch

Chair for Computer Aided Medical Procedures & Augmented Reality
Lehrstuhl für Informatikanwendungen in der Medizin & Augmented Reality

Sebastian Marsch

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Sebastian Marsch

Chair for Computer Aided Medical Procedures & Augmented Reality
Fakultät für Informatik Technische Universität München
Boltzmannstr. 3
85748 Garching b. München

e-mail: sebastian.marsch@googlemail.com

skype: My status

Master Thesis

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Fusion of Time-of-Flight Plane Features with Point Features for Camera-Pose Tracking

The objective of this master thesis is to estimate the pose change of a time of flight (TOF) camera between consecutive frames in all six degrees of freedom. To gain visual high-resolution information of the scene, the TOF camera is combined with an RGB camera. The proposed algorithm fuses 3D geometric and 2D visual features. Planar surfaces are extracted directly from the 3D point cloud while SURF is applied to the 2D projections of these surfaces. Feature positions and plane equations are both used to estimate all six degrees of freedom of the camera motion. The algorithm outperforms fast coarse pose registrations, that do not combine the 3D geometry with visual projections in accuracy while it is suitable for online processing. Fine registrations, that use the complete point cloud are more precise but also much more time consuming.

Supervisor: Prof. Gudrun Klinker, Ph.D.

Advisor: Dipl.-Inf. Christian Waechter

Date: September 15, 2011

Full text: pdf


UsersForm
Title: Master
Firstname: Sebastian
Middlename:  
Lastname: Marsch
Picture:  
Birthday: 18.05.1982
Nationality: Germany
Languages: English, German
Groups:  
Expertise: Registration/Visualization, Segmentation, Computer Vision, Industrial Augmented Reality, Sensing, Ubiquitous Tracking (Sensor Fusion), 3D Information Presentation, 3D Interaction, System Architectures for Ubiquitous Augmented Reality
Position: Master Thesis
Status: Alumni
Emailbefore: sebastian.marsch
Emailafter: googlemail.com
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Defensedate: 14 October 2011
Thesistitle: Fusion of Time-of-Flight Plane Features with Point Features for Camera-Pose Tracking
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Edit | Attach | Refresh | Diffs | More | Revision r1.11 - 26 Feb 2012 - 00:28 - SebastianMarsch

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