- Page 1: Towards Autonomous Navigation for R
- Page 5 and 6: Preface This thesis is based on my
- Page 7: • Kaustubh Pathak, Andreas Birk,
- Page 10 and 11: CONTENTS 4 Near Field 3D Navigation
- Page 12 and 13: LIST OF FIGURES 3.6 The data return
- Page 14 and 15: 14 LIST OF FIGURES
- Page 16 and 17: 16 LIST OF TABLES
- Page 18 and 19: 18 LIST OF ALGORITHMS
- Page 20 and 21: Introduction all of the few detecte
- Page 22 and 23: Introduction Figure 1.2: RUGBOT AT
- Page 24 and 25: Introduction a 3D Hough transform a
- Page 26 and 27: Introduction ing pseudo-random numb
- Page 28 and 29: 3D Sensing Table 2.1: SPECIFICATION
- Page 30 and 31: 3D Sensing φ B A τ 1 τ 2 τ 3 τ
- Page 32 and 33: 3D Sensing (a) Normal image (b) Swi
- Page 34 and 35: 3D Sensing gration time determines
- Page 36 and 37: 3D Sensing (a) When using a short e
- Page 38 and 39: 3D Sensing Table 2.3: REFLECTIVITY
- Page 40 and 41: 3D Sensing (a) Range image of a non
- Page 42 and 43: 3D Sensing taken into account. Thes
- Page 44 and 45: 3D Sensing (a) Rack and door (b) Co
- Page 46 and 47: 3D Sensing (a) Close boxes (b) Dark
- Page 48 and 49: 3D Sensing (a) Full image (b) Inten
- Page 50 and 51: 50 3D Sensing
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Datasets (a) Planar: a box (b) Plan
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Datasets Figure 3.4: Photos from th
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Datasets 3.2.1 Lab The first datase
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Datasets (a) Outside view of a hous
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Datasets (a) Bottom up view showing
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Datasets Table 3.1: NUMBER OF POINT
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64 Datasets
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Near Field 3D Navigation with the H
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Near Field 3D Navigation with the H
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Near Field 3D Navigation with the H
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Near Field 3D Navigation with the H
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Near Field 3D Navigation with the H
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Near Field 3D Navigation with the H
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78 Near Field 3D Navigation with th
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Patch Map Data-Structure polygon in
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Patch Map Data-Structure on it (e.g
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Patch Map Data-Structure Algorithm
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Patch Map Data-Structure (a) Huge e
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Patch Map Data-Structure Figure 5.6
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Patch Map Data-Structure Algorithm
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Patch Map Data-Structure (a) Triang
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Patch Map Data-Structure Figure 5.1
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Patch Map Data-Structure Figure 5.1
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5.4 Patch Maps 5.4.1 Patch Map Capa
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5.4 Patch Maps while the upper thre
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5.4 Patch Maps kD-tree, the point c
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5.5 Algorithms on patch maps Algori
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5.5 Algorithms on patch maps 5.5.2
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5.5 Algorithms on patch maps time [
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5.5 Algorithms on patch maps steep/
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Chapter 6 3D Roadmaps for Unmanned
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6.1 Experiments Data structure and
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6.2 Results (a) Volume explored on
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6.2 Results Map Volume [m 3 ] not i
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6.2 Results 100 planes hybrid pc tr
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6.2 Results Figure 6.6: A visualiza
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6.2 Results 100 pc trimesh hybrid p
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6.2 Results Figure 6.10: WITHOUT US
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6.2 Results 0.0001 pc planes 0.001
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Chapter 7 Conclusion Autonomous nav
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Appendix A Addenda & Errata These a
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References For the readers’ (and
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[Chen et al., 2006] Chen, Y., Wu, K
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[Ho et al., 2001] Ho, S., Sarma, S.
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[Matthies et al., 2002] Matthies, L
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[Pathak et al., 2010a] Pathak, K.,
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[Silveira et al., 2006] Silveira, G
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[Zufferey and Floreano, 2005] Zuffe