Download PDF by Stefan Eggenberg, Adrian Möhl: Flora Vegetativa: Ein Bestimmungsbuch für Pflanzen der

By Stefan Eggenberg, Adrian Möhl

ISBN-10: 3258071799

ISBN-13: 9783258071794

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With its 360 degree field of view, only the LIDAR is able to sense the right branch, whereas vision might fail sometimes. This is because of the limited field of view of the visual sensor and the fact that if there was no tentacle selected leading into the branch there will be no gaze control for visually focussing the branch. Thus, MuCAR-3 will go straight on and miss the branch even if non-visible tentacles are not rated as completely non drivable (see Sec. 2). Nevertheless there are by far more advantages then disadvantages using the described fusion process.

Object recognition frameworks using such features usually operate on a set of computed feature correspondences, either by simply counting feature correspondences or by also exploiting the spatial relationships of the feature points, as proposed in [10]. Operating on the 2D localization result of such a framework, the common approach for 6-DoF pose estimation of objects computes the rotation and translation of the object in 3D space on the basis of 2D-3D point correspondences. The traditional method for this is the POSIT algorithm [7].

4. A. Wedel, U. Franke, J. Klappstein, T. Brox, and D. Cremers. Realtime Depth Estimation and Obstacle Detection from Monocular Video. DAGM, pages 475–484, 2006. 5. E. Einhorn, Ch. -J. -M. Gross. A Hybrid Kalman Filter Based Algorithm for Real-time Visual Obstacle Detection. In ECMR, pages 156–161, 2007. 6. J. D. D. Molton, and O. Stasse. MonoSLAM: Real-Time Single Camera SLAM. IEEE Trans. on PAMI, 29(6):1052–1067, 2007. 7. J. J. Davison, and J. Montiel. Inverse Depth Parametrization for Monocular SLAM.

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Flora Vegetativa: Ein Bestimmungsbuch für Pflanzen der Schweiz im blütenlosen Zustand by Stefan Eggenberg, Adrian Möhl


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