Auswahl der wissenschaftlichen Literatur zum Thema „3D deskriptory“

This diploma thesis is focused on time-development analysis of treated lesion in CT data. The theoretical part of the thesis deals with the anatomy, physiology, and pathophysiology of the spine and vertebral bodies. It further describes diagnostic and therapeutic options for the detection and treatment of spinal lesions. It contains an overview of the current state of usage of time-development analysis in oncology. The problems of the available databases are discussed and new databases are created for subsequent analysis. Futhermore, the methodology of time-development analysis according to the shape characterization and the size of the vertebral involvement is proposed. The proposed methodological approaches to feature extraction are applied to the created databases. Their choice and suitability is discussed, including their potential for possible usege in clinical practice of monitoring the development and derivation of characteristic dependences of features on the patient's prognosis.

This diploma thesis deals with the problem of mobile robot localisation in the environment based on current 2D and 3D sensor data and previous records. Work is focused on detecting previously visited places by robot. The implemented system is suitable for loop detection, using the Gestalt 3D descriptors. The output of the system provides corresponding positions on which the robot was already located. The functionality of the system has been tested and evaluated on LiDAR data.

This thesis deals with model-based approach to 3D tracking from monocular video. The 3D model pose dynamically estimated through minimization of objective function by particle filter. Objective function is based on rendered scene to real video similarity.

This thesis focuses on robotic 3D vision for application in Bin Picking. The new method based on Conformal Geometric Algebra (CGA) is proposed and tested for identification of spheres in Pointclouds created with 3D scanner. The speed, precision and scalability of this method is compared to traditional descriptors based method. It is proved that CGA maintains the same precision as the traditional method in much shorter time. The CGA based approach seems promising for the use in the future of robotic 3D vision for identification and localization of spheres.

The aim of this master’s thesis is to describe the Robotic Vision for Bin Picking usage and creating an application for the realization of this task. This application will be able to distinguish several objects based on data from a camera with deep perception and should find the location of object, recognize it and determine its location and orientation. Bin Picking is one of the biggest challenges in today's automation.