Lecture Notes in Control and Information Sciences, 2009
The robot localization problem represents a key aspect in making a robot really autonomous. The p... more The robot localization problem represents a key aspect in making a robot really autonomous. The position of the robot has to be estimated accurately based on the information about the surrounding world obtained from the sensors. The current trend in this field [3] is to fuse relative and absolute measurements together. The aim of this is to provide a better position estimation of the robot location based on the differing nature of the data from different kinds of sensors. In order to fuse information from different sources, Kalman filtering is used, which is one of the most widely applied methods [2]. This approach formulates the localization problem as a state-estimation one.
The paper introduces some key interdisciplinary questions concerning
the development of optical m... more The paper introduces some key interdisciplinary questions concerning the development of optical measuring techniques and electronic imaging applied to documentation and presentation of artefacts, as identified through the work of Colour and Space in Cultural Heritage (www.COSCH.info), a transdomain European Action (TD1201) in the area of Materials, Physics and Nanosciences (MPNS) supported, since 2013, by the European Cooperation in Science and Technology http://www.cost.eu/domains_actions/mpns/Actions/ TD1201. Some 125 international researchers and professionals participate in * Corresponding author. 12 F. Boochs et al. COSCH activities which have been organised around six main subjects: (1) spectral object documentation; (2) spatial object documentation; (3) algorithms and procedures; (4) analysis and restoration of cultural heritage surfaces and objects; (5) visualisation of cultural heritage objects and its dissemination; and (6) the semantic development of the COSCH Knowledge Representation. The Authors outline and illustrate the approaches adopted by COSCH. They indicate future work that is needed to resolve the identified scientific, technical and semantic questions, as well as challenges of interdisciplinary communication, to ensure a wider adoption of specialist technologies and enhanced standards in 3D documentation of material cultural heritage — being a basis for its understanding, conservation, restoration, long-term preservation, study, presentation and wide dissemination. Keywords: cultural heritage, 3D
This paper presents a novel approach for the extrinsic parameter
estimation of omnidirectional ca... more This paper presents a novel approach for the extrinsic parameter estimation of omnidirectional cameras with respect to a 3D Lidar coordinate frame. The method works without specific setup and calibration targets, using only a pair of 2D-3D data. Pose estimation is formulated as a 2D-3D nonlinear shape registration task which is solved without point correspondences or complex similarity metrics. It relies on a set of corresponding regions, and pose parameters are obtained by solving a small system of nonlinear equations. The efficiency and robustness of the proposed method was confirmed on both synthetic and real data in urban environment.
This paper presents a unified approach for the relative pose
estimation of a spectral camera - 3D... more This paper presents a unified approach for the relative pose estimation of a spectral camera - 3D Lidar pair without the use of any special calibration pattern or explicit point correspondence. The method works without specific setup and calibration targets, using only a pair of 2D-3D data. Pose estimation is formulated as a 2D-3D nonlinear shape registration task which is solved without point correspondences or com- plex similarity metrics. The registration is then traced back to the solu- tion of a non-linear system of equations which directly provides the cal- ibration parameters between the bases of the two sensors. The method has been extended both for perspective and omnidirectional central cam- eras and was tested on a large set of synthetic lidar-camera image pairs as well as on real data acquired in outdoor environment.
This paper presents a work-in-progress aimed at constructing 3D environment maps for navigation p... more This paper presents a work-in-progress aimed at constructing 3D environment maps for navigation purposes using mobile robots. The developed 3D laser ranger custom hardware setup is able to scan both indoor and outdoor scenes. For the map registration a nonlinear variant of the iterative closest point (ICP) algorithm was used with initial alignment from the odometry information. Given the increasing interest in 3D navigation for the mobile robots, our aim was to use the created maps for both indoor and outdoor navigation purposes. The elevation maps built from the merged scans were tested for a wide range of data sets including terrain, urban and office environments.
This paper presents a feature based registration algorithm in order to create 3D maps for navigat... more This paper presents a feature based registration algorithm in order to create 3D maps for navigation purposes using mobile robots. The developed custom 3D laser ranger is able to scan both indoor and outdoor scenes. For the map registration a nonlinear variant of the iterative closest point (ICP) algorithm was used with initial alignment from the correspondence given by a set of features from the scenes. Given the increasing interest in 3D navigation for the mobile robots, our aim was to use the created maps for both indoor and outdoor navigation purposes. The elevation maps built from the merged scans were tested for a wide range of data sets including terrain, urban and office environments.
This paper is intended to give a short overview about the NEPSAC nonlinear predictive control app... more This paper is intended to give a short overview about the NEPSAC nonlinear predictive control approach. In the first part there are presented the theoretical aspects of the control design procedure, and then in the next section are shown the results for the designed algorithm for a real life experiment. There are also compared the results with other type of controllers like the MPC or PID controller.
Among renewable energies the solution of utilizing wind energy conversion systems is now in a gro... more Among renewable energies the solution of utilizing wind energy conversion systems is now in a growing trend. A valid choice for operation of such systems may be the use of the induction machine. This study presents modeling and simulation of a stand-alone induction drive with application to a small wind turbine generator system. The model of the induction machine is written in terms of fluxes as state variables and is used to design an estimator model that can provide the correct feedback signals for the vector control of a wind energy conversion system. The estimation of magnetic flux and electromagnetic torque is based on stator currents and stator voltages. Simulation results are provided indicating good estimator design and operation.
This paper presents the details of several mobile robot experiment designs including indoor, outd... more This paper presents the details of several mobile robot experiment designs including indoor, outdoor and urban variants. The aim of the paper is to give insights to setting up these tracking experiments covering both the software and hardware components as well as the application details. Beside these aspects the references to the perception, tracking and estimation parts are also pointed out for a wheel based mobile robots, bicycles and auto vehicles in various scenarios covering both indoor and outdoor variants.
This paper gives an insight in the preliminary results of an ongoing work about heterogeneous poi... more This paper gives an insight in the preliminary results of an ongoing work about heterogeneous point feature estimation acquired from different type of sensors including structured light camera, stereo camera and a custom 3D laser range finder. The main goal of the paper is to compare the performance of the different type of local descriptors for indoor office environment. Several type of 3D features were evaluated on different datasets including the output of an enhanced stereo image processing algorithm too. From the extracted features the correspondences were determined between two different recording positions for each type of sensor. These correspondences were filtered and the final benchmarking of the extracted feature correspondences were compared for the different data sets. Further on, there is proposed an open access dataset for public evaluation of the proposed algorithms.
This paper presents a non-contact 3D environments mapping technique using mobile robots with diff... more This paper presents a non-contact 3D environments mapping technique using mobile robots with different perception devices such as stereo camera, structural light camera or custom made 3D laser scanner. The custom developed non-contact scanning device is suitable for making building surveillance both in small and large scales. These measurements can be further used for urban region planning as well as for navigation purposes for autonomous agents such as mobile vehicles.. The large maps can be built from successive scan merging in an iterative manner. For such an approach is essential the initial matching between two measurements, which in our proposed method was performed using special extracted features from the measured data sets. The registered maps can be further used for perceptual purposes, including object segmentation or planning maps for the mobile agents. For both types of applications, there are given experimental results obtained from the proposed registration and segmentation algorithms.
This paper presents a feature-based registration for 3D environments using mobile robots. The dev... more This paper presents a feature-based registration for 3D environments using mobile robots. The developed 3D laser scanner with custom hardware setup is able to scan both indoor and outdoor. For the map registration a nonlinear variant of the Iterative Closest Point (ICP) algorithm was used with initial alignment from the correspondences given by the features of the scenes. The initial alignment was determined using a set of key-points and the features of the keypoints in order to reduce the computational time and to ensure a robust estimation. Considering the increasing interest in 3D navigation for mobile robots, our aim was to use the created maps for both indoor and outdoor navigation purposes. Several maps were built by merging point clouds while our method was tested for a wide range of datasets including urban and office environments.
The localization problem in indoor environment based on LIDAR measurements is analyzed in this pa... more The localization problem in indoor environment based on LIDAR measurements is analyzed in this paper. Practical aspects of the localization are discussed including the implementations of the state estimation and registration algorithms. The localization framework developed is sufficient generic to be used in a variety of other autonomous vehicles. The results of the proposed navigation algorithms demonstrate a reliable and accurate position estimation for autonomous vehicles operating in a variety of environments.
This paper presents a case study on design, development and implementation of a custom operation ... more This paper presents a case study on design, development and implementation of a custom operation training system (OTS). The challenge in the studied floating production storage and offloading (FPSO) process was to find an appropriate design between a simple simulation model and a sophisticated virtual process for the operator training and automation design validation. The adopted solution ensured a high fidelity modeling of the real process and a low development time for the simulator by using a commercial software framework with custom developed modeling objects. Such custom models include the separation process, the gas compression process, and production water treatment among others. For the separator module the model was derived from theoretical perspectives and integrated in the process simulator. The simulator ensured a successful training of the process system engineers before the process start up, including special scenario testing, tuning, and optimization of the production.
Making sense out of human indoor environments is an essential feature for robots. In this paper w... more Making sense out of human indoor environments is an essential feature for robots. In this paper we present a system for the classification of components inside these environments, starting from our robotic platform to a simple yet robust labeling process. Our method starts by acquiring multiple point clouds which are then registered into one single dataset. An estimation of principle axes is performed and the planar surfaces are segmented out. Further on, quadrilateral-like shapes are estimated for each detected plane, by making use of edges. And finally, since our classification approach relies on physical features, the method analyses the relationship between the previously mentioned shapes, as well as their physical sizes. To validate our approach, we tested the method on different datasets, which were recorded inside our office environment.
This paper dwells upon the promising 3D technology for mobile robots and automation industry. The... more This paper dwells upon the promising 3D technology for mobile robots and automation industry. The first part of the paper describes the design details of our own 3D Time of Flight (TOF) scanning system based on 2D laser range finder. The second part presents a specific segmentation technique for 3D outdoor urban environments by the common detection of plane models. In a few words, the technique separates the raw data into sparse and dense points, followed by the segmentation of the dense points into urban background and foreground objects. In the end we present some experimental results of real-world data-sets taken from the repository 1,2 of the Leibniz University in Hannover, Germany.
A novel method is proposed for the calibration of a camera -3D lidar pair without the use of any ... more A novel method is proposed for the calibration of a camera -3D lidar pair without the use of any special calibration pattern or point correspondences. The proposed method has no specific assumption about the data source: plain depth information is expected from the lidar scan and a simple perspective camera is used for the 2D images. The calibration is solved as a 2D-3D registration problem using a minimum of one (for extrinsic) or two (for intrinsicextrinsic) planar regions visible in both cameras. The registration is then traced back to the solution of a non-linear system of equations which directly provides the calibration parameters between the bases of the two sensors. The method has been tested on a large set of synthetic lidarcamera image pairs as well as on real data acquired in outdoor environment.
This paper presents a case study on design, development and implementation of a custom operation ... more This paper presents a case study on design, development and implementation of a custom operation training system (OTS). The challenge in the studied floating production storage and offloading (FPSO) process was to find an appropriate design between a simple simulation model and a sophisticated virtual process for the operator training and automation design validation. The adopted solution ensured a high fidelity modeling of the real process and a low development time for the simulator by using a commercial software framework with custom developed modeling objects. Such custom models include the separation process, the gas compression process, and production water treatment among others. For the separator module the model was derived from theoretical perspectives and integrated in the process simulator. The simulator ensured a successful training of the process system engineers before the process start up, including special scenario testing, tuning, and optimization of the production.
This paper dwells upon the promising 3D technology for mobile robots and automation industry. The... more This paper dwells upon the promising 3D technology for mobile robots and automation industry. The first part of the paper describes the design details of our own 3D Time of Flight (TOF) scanning system based on 2D laser range finder. The second part presents a specific segmentation technique for 3D outdoor urban environments by the common detection of plane models. In a few words, the technique separates the raw data into sparse and dense points, followed by the segmentation of the dense points into urban background and foreground objects. In the end we present some experimental results of real-world data-sets taken from the repository 1,2 of the Leibniz University in Hannover, Germany.
Lecture Notes in Control and Information Sciences, 2009
The robot localization problem represents a key aspect in making a robot really autonomous. The p... more The robot localization problem represents a key aspect in making a robot really autonomous. The position of the robot has to be estimated accurately based on the information about the surrounding world obtained from the sensors. The current trend in this field [3] is to fuse relative and absolute measurements together. The aim of this is to provide a better position estimation of the robot location based on the differing nature of the data from different kinds of sensors. In order to fuse information from different sources, Kalman filtering is used, which is one of the most widely applied methods [2]. This approach formulates the localization problem as a state-estimation one.
The paper introduces some key interdisciplinary questions concerning
the development of optical m... more The paper introduces some key interdisciplinary questions concerning the development of optical measuring techniques and electronic imaging applied to documentation and presentation of artefacts, as identified through the work of Colour and Space in Cultural Heritage (www.COSCH.info), a transdomain European Action (TD1201) in the area of Materials, Physics and Nanosciences (MPNS) supported, since 2013, by the European Cooperation in Science and Technology http://www.cost.eu/domains_actions/mpns/Actions/ TD1201. Some 125 international researchers and professionals participate in * Corresponding author. 12 F. Boochs et al. COSCH activities which have been organised around six main subjects: (1) spectral object documentation; (2) spatial object documentation; (3) algorithms and procedures; (4) analysis and restoration of cultural heritage surfaces and objects; (5) visualisation of cultural heritage objects and its dissemination; and (6) the semantic development of the COSCH Knowledge Representation. The Authors outline and illustrate the approaches adopted by COSCH. They indicate future work that is needed to resolve the identified scientific, technical and semantic questions, as well as challenges of interdisciplinary communication, to ensure a wider adoption of specialist technologies and enhanced standards in 3D documentation of material cultural heritage — being a basis for its understanding, conservation, restoration, long-term preservation, study, presentation and wide dissemination. Keywords: cultural heritage, 3D
This paper presents a novel approach for the extrinsic parameter
estimation of omnidirectional ca... more This paper presents a novel approach for the extrinsic parameter estimation of omnidirectional cameras with respect to a 3D Lidar coordinate frame. The method works without specific setup and calibration targets, using only a pair of 2D-3D data. Pose estimation is formulated as a 2D-3D nonlinear shape registration task which is solved without point correspondences or complex similarity metrics. It relies on a set of corresponding regions, and pose parameters are obtained by solving a small system of nonlinear equations. The efficiency and robustness of the proposed method was confirmed on both synthetic and real data in urban environment.
This paper presents a unified approach for the relative pose
estimation of a spectral camera - 3D... more This paper presents a unified approach for the relative pose estimation of a spectral camera - 3D Lidar pair without the use of any special calibration pattern or explicit point correspondence. The method works without specific setup and calibration targets, using only a pair of 2D-3D data. Pose estimation is formulated as a 2D-3D nonlinear shape registration task which is solved without point correspondences or com- plex similarity metrics. The registration is then traced back to the solu- tion of a non-linear system of equations which directly provides the cal- ibration parameters between the bases of the two sensors. The method has been extended both for perspective and omnidirectional central cam- eras and was tested on a large set of synthetic lidar-camera image pairs as well as on real data acquired in outdoor environment.
This paper presents a work-in-progress aimed at constructing 3D environment maps for navigation p... more This paper presents a work-in-progress aimed at constructing 3D environment maps for navigation purposes using mobile robots. The developed 3D laser ranger custom hardware setup is able to scan both indoor and outdoor scenes. For the map registration a nonlinear variant of the iterative closest point (ICP) algorithm was used with initial alignment from the odometry information. Given the increasing interest in 3D navigation for the mobile robots, our aim was to use the created maps for both indoor and outdoor navigation purposes. The elevation maps built from the merged scans were tested for a wide range of data sets including terrain, urban and office environments.
This paper presents a feature based registration algorithm in order to create 3D maps for navigat... more This paper presents a feature based registration algorithm in order to create 3D maps for navigation purposes using mobile robots. The developed custom 3D laser ranger is able to scan both indoor and outdoor scenes. For the map registration a nonlinear variant of the iterative closest point (ICP) algorithm was used with initial alignment from the correspondence given by a set of features from the scenes. Given the increasing interest in 3D navigation for the mobile robots, our aim was to use the created maps for both indoor and outdoor navigation purposes. The elevation maps built from the merged scans were tested for a wide range of data sets including terrain, urban and office environments.
This paper is intended to give a short overview about the NEPSAC nonlinear predictive control app... more This paper is intended to give a short overview about the NEPSAC nonlinear predictive control approach. In the first part there are presented the theoretical aspects of the control design procedure, and then in the next section are shown the results for the designed algorithm for a real life experiment. There are also compared the results with other type of controllers like the MPC or PID controller.
Among renewable energies the solution of utilizing wind energy conversion systems is now in a gro... more Among renewable energies the solution of utilizing wind energy conversion systems is now in a growing trend. A valid choice for operation of such systems may be the use of the induction machine. This study presents modeling and simulation of a stand-alone induction drive with application to a small wind turbine generator system. The model of the induction machine is written in terms of fluxes as state variables and is used to design an estimator model that can provide the correct feedback signals for the vector control of a wind energy conversion system. The estimation of magnetic flux and electromagnetic torque is based on stator currents and stator voltages. Simulation results are provided indicating good estimator design and operation.
This paper presents the details of several mobile robot experiment designs including indoor, outd... more This paper presents the details of several mobile robot experiment designs including indoor, outdoor and urban variants. The aim of the paper is to give insights to setting up these tracking experiments covering both the software and hardware components as well as the application details. Beside these aspects the references to the perception, tracking and estimation parts are also pointed out for a wheel based mobile robots, bicycles and auto vehicles in various scenarios covering both indoor and outdoor variants.
This paper gives an insight in the preliminary results of an ongoing work about heterogeneous poi... more This paper gives an insight in the preliminary results of an ongoing work about heterogeneous point feature estimation acquired from different type of sensors including structured light camera, stereo camera and a custom 3D laser range finder. The main goal of the paper is to compare the performance of the different type of local descriptors for indoor office environment. Several type of 3D features were evaluated on different datasets including the output of an enhanced stereo image processing algorithm too. From the extracted features the correspondences were determined between two different recording positions for each type of sensor. These correspondences were filtered and the final benchmarking of the extracted feature correspondences were compared for the different data sets. Further on, there is proposed an open access dataset for public evaluation of the proposed algorithms.
This paper presents a non-contact 3D environments mapping technique using mobile robots with diff... more This paper presents a non-contact 3D environments mapping technique using mobile robots with different perception devices such as stereo camera, structural light camera or custom made 3D laser scanner. The custom developed non-contact scanning device is suitable for making building surveillance both in small and large scales. These measurements can be further used for urban region planning as well as for navigation purposes for autonomous agents such as mobile vehicles.. The large maps can be built from successive scan merging in an iterative manner. For such an approach is essential the initial matching between two measurements, which in our proposed method was performed using special extracted features from the measured data sets. The registered maps can be further used for perceptual purposes, including object segmentation or planning maps for the mobile agents. For both types of applications, there are given experimental results obtained from the proposed registration and segmentation algorithms.
This paper presents a feature-based registration for 3D environments using mobile robots. The dev... more This paper presents a feature-based registration for 3D environments using mobile robots. The developed 3D laser scanner with custom hardware setup is able to scan both indoor and outdoor. For the map registration a nonlinear variant of the Iterative Closest Point (ICP) algorithm was used with initial alignment from the correspondences given by the features of the scenes. The initial alignment was determined using a set of key-points and the features of the keypoints in order to reduce the computational time and to ensure a robust estimation. Considering the increasing interest in 3D navigation for mobile robots, our aim was to use the created maps for both indoor and outdoor navigation purposes. Several maps were built by merging point clouds while our method was tested for a wide range of datasets including urban and office environments.
The localization problem in indoor environment based on LIDAR measurements is analyzed in this pa... more The localization problem in indoor environment based on LIDAR measurements is analyzed in this paper. Practical aspects of the localization are discussed including the implementations of the state estimation and registration algorithms. The localization framework developed is sufficient generic to be used in a variety of other autonomous vehicles. The results of the proposed navigation algorithms demonstrate a reliable and accurate position estimation for autonomous vehicles operating in a variety of environments.
This paper presents a case study on design, development and implementation of a custom operation ... more This paper presents a case study on design, development and implementation of a custom operation training system (OTS). The challenge in the studied floating production storage and offloading (FPSO) process was to find an appropriate design between a simple simulation model and a sophisticated virtual process for the operator training and automation design validation. The adopted solution ensured a high fidelity modeling of the real process and a low development time for the simulator by using a commercial software framework with custom developed modeling objects. Such custom models include the separation process, the gas compression process, and production water treatment among others. For the separator module the model was derived from theoretical perspectives and integrated in the process simulator. The simulator ensured a successful training of the process system engineers before the process start up, including special scenario testing, tuning, and optimization of the production.
Making sense out of human indoor environments is an essential feature for robots. In this paper w... more Making sense out of human indoor environments is an essential feature for robots. In this paper we present a system for the classification of components inside these environments, starting from our robotic platform to a simple yet robust labeling process. Our method starts by acquiring multiple point clouds which are then registered into one single dataset. An estimation of principle axes is performed and the planar surfaces are segmented out. Further on, quadrilateral-like shapes are estimated for each detected plane, by making use of edges. And finally, since our classification approach relies on physical features, the method analyses the relationship between the previously mentioned shapes, as well as their physical sizes. To validate our approach, we tested the method on different datasets, which were recorded inside our office environment.
This paper dwells upon the promising 3D technology for mobile robots and automation industry. The... more This paper dwells upon the promising 3D technology for mobile robots and automation industry. The first part of the paper describes the design details of our own 3D Time of Flight (TOF) scanning system based on 2D laser range finder. The second part presents a specific segmentation technique for 3D outdoor urban environments by the common detection of plane models. In a few words, the technique separates the raw data into sparse and dense points, followed by the segmentation of the dense points into urban background and foreground objects. In the end we present some experimental results of real-world data-sets taken from the repository 1,2 of the Leibniz University in Hannover, Germany.
A novel method is proposed for the calibration of a camera -3D lidar pair without the use of any ... more A novel method is proposed for the calibration of a camera -3D lidar pair without the use of any special calibration pattern or point correspondences. The proposed method has no specific assumption about the data source: plain depth information is expected from the lidar scan and a simple perspective camera is used for the 2D images. The calibration is solved as a 2D-3D registration problem using a minimum of one (for extrinsic) or two (for intrinsicextrinsic) planar regions visible in both cameras. The registration is then traced back to the solution of a non-linear system of equations which directly provides the calibration parameters between the bases of the two sensors. The method has been tested on a large set of synthetic lidarcamera image pairs as well as on real data acquired in outdoor environment.
This paper presents a case study on design, development and implementation of a custom operation ... more This paper presents a case study on design, development and implementation of a custom operation training system (OTS). The challenge in the studied floating production storage and offloading (FPSO) process was to find an appropriate design between a simple simulation model and a sophisticated virtual process for the operator training and automation design validation. The adopted solution ensured a high fidelity modeling of the real process and a low development time for the simulator by using a commercial software framework with custom developed modeling objects. Such custom models include the separation process, the gas compression process, and production water treatment among others. For the separator module the model was derived from theoretical perspectives and integrated in the process simulator. The simulator ensured a successful training of the process system engineers before the process start up, including special scenario testing, tuning, and optimization of the production.
This paper dwells upon the promising 3D technology for mobile robots and automation industry. The... more This paper dwells upon the promising 3D technology for mobile robots and automation industry. The first part of the paper describes the design details of our own 3D Time of Flight (TOF) scanning system based on 2D laser range finder. The second part presents a specific segmentation technique for 3D outdoor urban environments by the common detection of plane models. In a few words, the technique separates the raw data into sparse and dense points, followed by the segmentation of the dense points into urban background and foreground objects. In the end we present some experimental results of real-world data-sets taken from the repository 1,2 of the Leibniz University in Hannover, Germany.
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Papers by Levente Tamas
the development of optical measuring techniques and electronic imaging
applied to documentation and presentation of artefacts, as identified through the
work of Colour and Space in Cultural Heritage (www.COSCH.info), a transdomain
European Action (TD1201) in the area of Materials, Physics and Nanosciences
(MPNS) supported, since 2013, by the European Cooperation in
Science and Technology http://www.cost.eu/domains_actions/mpns/Actions/
TD1201. Some 125 international researchers and professionals participate in
* Corresponding author.
12 F. Boochs et al.
COSCH activities which have been organised around six main subjects: (1)
spectral object documentation; (2) spatial object documentation; (3) algorithms
and procedures; (4) analysis and restoration of cultural heritage surfaces and objects;
(5) visualisation of cultural heritage objects and its dissemination; and (6)
the semantic development of the COSCH Knowledge Representation.
The Authors outline and illustrate the approaches adopted by COSCH. They
indicate future work that is needed to resolve the identified scientific, technical
and semantic questions, as well as challenges of interdisciplinary communication,
to ensure a wider adoption of specialist technologies and enhanced standards
in 3D documentation of material cultural heritage — being a basis for its
understanding, conservation, restoration, long-term preservation, study, presentation
and wide dissemination.
Keywords: cultural heritage, 3D
estimation of omnidirectional cameras with respect to a 3D Lidar coordinate
frame. The method works without specific setup and calibration
targets, using only a pair of 2D-3D data. Pose estimation is formulated
as a 2D-3D nonlinear shape registration task which is solved without
point correspondences or complex similarity metrics. It relies on a set
of corresponding regions, and pose parameters are obtained by solving
a small system of nonlinear equations. The efficiency and robustness of
the proposed method was confirmed on both synthetic and real data in
urban environment.
estimation of a spectral camera - 3D Lidar pair without the use of any
special calibration pattern or explicit point correspondence. The method
works without specific setup and calibration targets, using only a pair of
2D-3D data. Pose estimation is formulated as a 2D-3D nonlinear shape
registration task which is solved without point correspondences or com-
plex similarity metrics. The registration is then traced back to the solu-
tion of a non-linear system of equations which directly provides the cal-
ibration parameters between the bases of the two sensors. The method
has been extended both for perspective and omnidirectional central cam-
eras and was tested on a large set of synthetic lidar-camera image pairs
as well as on real data acquired in outdoor environment.
the development of optical measuring techniques and electronic imaging
applied to documentation and presentation of artefacts, as identified through the
work of Colour and Space in Cultural Heritage (www.COSCH.info), a transdomain
European Action (TD1201) in the area of Materials, Physics and Nanosciences
(MPNS) supported, since 2013, by the European Cooperation in
Science and Technology http://www.cost.eu/domains_actions/mpns/Actions/
TD1201. Some 125 international researchers and professionals participate in
* Corresponding author.
12 F. Boochs et al.
COSCH activities which have been organised around six main subjects: (1)
spectral object documentation; (2) spatial object documentation; (3) algorithms
and procedures; (4) analysis and restoration of cultural heritage surfaces and objects;
(5) visualisation of cultural heritage objects and its dissemination; and (6)
the semantic development of the COSCH Knowledge Representation.
The Authors outline and illustrate the approaches adopted by COSCH. They
indicate future work that is needed to resolve the identified scientific, technical
and semantic questions, as well as challenges of interdisciplinary communication,
to ensure a wider adoption of specialist technologies and enhanced standards
in 3D documentation of material cultural heritage — being a basis for its
understanding, conservation, restoration, long-term preservation, study, presentation
and wide dissemination.
Keywords: cultural heritage, 3D
estimation of omnidirectional cameras with respect to a 3D Lidar coordinate
frame. The method works without specific setup and calibration
targets, using only a pair of 2D-3D data. Pose estimation is formulated
as a 2D-3D nonlinear shape registration task which is solved without
point correspondences or complex similarity metrics. It relies on a set
of corresponding regions, and pose parameters are obtained by solving
a small system of nonlinear equations. The efficiency and robustness of
the proposed method was confirmed on both synthetic and real data in
urban environment.
estimation of a spectral camera - 3D Lidar pair without the use of any
special calibration pattern or explicit point correspondence. The method
works without specific setup and calibration targets, using only a pair of
2D-3D data. Pose estimation is formulated as a 2D-3D nonlinear shape
registration task which is solved without point correspondences or com-
plex similarity metrics. The registration is then traced back to the solu-
tion of a non-linear system of equations which directly provides the cal-
ibration parameters between the bases of the two sensors. The method
has been extended both for perspective and omnidirectional central cam-
eras and was tested on a large set of synthetic lidar-camera image pairs
as well as on real data acquired in outdoor environment.