TY - CHAP A1 - Rodehorst, Volker ED - Gürlebeck, Klaus ED - Lahmer, Tom T1 - EVALUATION OF THE METRIC TRIFOCAL TENSOR FOR RELATIVE THREE-VIEW ORIENTATION T2 - Digital Proceedings, International Conference on the Applications of Computer Science and Mathematics in Architecture and Civil Engineering : July 20 - 22 2015, Bauhaus-University Weimar N2 - In photogrammetry and computer vision the trifocal tensor is used to describe the geometric relation between projections of points in three views. In this paper we analyze the stability and accuracy of the metric trifocal tensor for calibrated cameras. Since a minimal parameterization of the metric trifocal tensor is challenging, the additional constraints of the interior orientation are applied to the well-known projective 6-point and 7-point algorithms for three images. The experimental results show that the linear 7-point algorithm fails for some noise-free degenerated cases, whereas the minimal 6-point algorithm seems to be competitive even with realistic noise. KW - Angewandte Informatik KW - Angewandte Mathematik KW - Building Information Modeling KW - Computerunterstütztes Verfahren KW - Data, information and knowledge modeling in civil engineering; Function theoretic methods and PDE in engineering sciences; Mathematical methods for (robotics and) computer vision; Numerical modeling in engineering; Optimization in engineering applications Y1 - 2015 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:gbv:wim2-20170314-28178 SN - 1611-4086 ER - TY - CHAP A1 - Paul, Debus A1 - Rodehorst, Volker ED - Santos, Toledo T1 - Multi-Scale Flight Path Planning for UAS Building Inspection T2 - Proceedings of the 18th International Conference on Computing in Civil and Building Engineering N2 - Unmanned aircraft systems (UAS) show large potential for the construction industry. Their use in condition assessment has increased significantly, due to technological and computational progress. UAS play a crucial role in developing a digital maintenance strategy for infrastructure, saving cost and effort, while increasing safety and reliability. Part of that strategy are automated visual UAS inspections of the building’s condition. The resulting images can automatically be analyzed to identify and localize damages to the structure that have to be monitored. Further interest in parts of a structure can arise from events like accidents or collisions. Areas of low interest exist, where low resolution monitoring is sufficient. From different requirements for resolution, different levels of detail can be derived. They require special image acquisition parameters that differ mainly in the distance between camera and structure. Areas with a higher level of detail require a smaller distance to the object, producing more images. This work proposes a multi-scale flight path planning procedure, enabling higher resolution requirements for areas of special interest, while reducing the number of required images to a minimum. Careful selection of the camera positions maintains the complete coverage of the structure, while achieving the required resolution in all areas. The result is an efficient UAS inspection, reducing effort for the maintenance of infrastructure. KW - Drohne KW - Monitoring KW - Drohne KW - Flight path planning KW - UAS Y1 - 2020 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:gbv:wim2-20201009-42053 UR - https://www.springer.com/gp/book/9783030512941 N1 - This is the pre-peer reviewed version of the article , presented at the 18th International Conference on Computing in Civil and Building Engineering (ICCBE), Sao Paulo, Brazil, August 18-20, 2020. VL - 2020 PB - Springer ER - TY - CHAP A1 - Kersten, Jens A1 - Rodehorst, Volker ED - Gürlebeck, Klaus ED - Lahmer, Tom T1 - TOWARDS STEREO VISION- AND LASER SCANNER-BASED UAS POSE ESTIMATION T2 - Digital Proceedings, International Conference on the Applications of Computer Science and Mathematics in Architecture and Civil Engineering : July 20 - 22 2015, Bauhaus-University Weimar N2 - A central issue for the autonomous navigation of mobile robots is to map unknown environments while simultaneously estimating its position within this map. This chicken-eggproblem is known as simultaneous localization and mapping (SLAM). Asctec’s quadrotor Pelican is a powerful and flexible research UAS (unmanned aircraft system) which enables the development of new real-time on-board algorithms for SLAM as well as autonomous navigation. The relative UAS pose estimation for SLAM, usually based on low-cost sensors like inertial measurement units (IMU) and barometers, is known to be affected by high drift rates. In order to significantly reduce these effects, we incorporate additional independent pose estimation techniques using exteroceptive sensors. In this article we present first pose estimation results using a stereo camera setup as well as a laser range finder, individually. Even though these methods fail in few certain configurations we demonstrate their effectiveness and value for the reduction of IMU drift rates and give an outlook for further works towards SLAM. KW - Angewandte Informatik KW - Angewandte Mathematik KW - Building Information Modeling KW - Computerunterstütztes Verfahren KW - Data, information and knowledge modeling in civil engineering; Function theoretic methods and PDE in engineering sciences; Mathematical methods for (robotics and) computer vision; Numerical modeling in engineering; Optimization in engineering applications Y1 - 2015 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:gbv:wim2-20170314-28072 SN - 1611-4086 ER - TY - JOUR A1 - Becher, Lia A1 - Völker, Conrad A1 - Rodehorst, Volker A1 - Kuhne, Michael T1 - Background-oriented schlieren technique for two-dimensional visualization of convective indoor air flows JF - Optics and Lasers in Engineering N2 - This article focuses on further developments of the background-oriented schlieren (BOS) technique to visualize convective indoor air flow, which is usually defined by very small density gradients. Since the light rays deflect when passing through fluids with different densities, BOS can detect the resulting refractive index gradients as integration along a line of sight. In this paper, the BOS technique is used to yield a two-dimensional visualization of small density gradients. The novelty of the described method is the implementation of a highly sensitive BOS setup to visualize the ascending thermal plume from a heated thermal manikin with temperature differences of minimum 1 K. To guarantee steady boundary conditions, the thermal manikin was seated in a climate laboratory. For the experimental investigations, a high-resolution DLSR camera was used capturing a large field of view with sufficient detail accuracy. Several parameters such as various backgrounds, focal lengths, room air temperatures, and distances between the object of investigation, camera, and structured background were tested to find the most suitable parameters to visualize convective indoor air flow. Besides these measurements, this paper presents the analyzing method using cross-correlation algorithms and finally the results of visualizing the convective indoor air flow with BOS. The highly sensitive BOS setup presented in this article complements the commonly used invasive methods that highly influence weak air flows. KW - Raumklima KW - Raumluftströmungen KW - Flow visualization KW - Convective indoor air flow KW - Background-oriented schlieren KW - Human thermal plume KW - Cross-correlation Y1 - 2020 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:gbv:wim2-20220810-46972 N1 - This article is published by Elsevier in Optics and Lasers in Engineering 134 (2020) 106282 and may be found at https://doi.org/10.1016/j.optlaseng.2020.106282 Copyright © 2020 Elsevier Ltd. All rights reserved. This article may be downloaded for personal use only. Any other use requires prior permission of the authors and Elsevier Ltd. VL - 2020 IS - Volume 134, article 106282 ER -