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Browsing by Author Peter, M.

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  • Exploiting indoor mobile laser scanner trajectories for semantic interpretation of point clouds

    • Authors: Peter, M.; Nikoohemat, S.;  Advisor: -;  Participants: - (2017)

  • The use of Indoor Mobile Laser Scanners (IMLS) for data collection in indoor environments has been increasing in the recent years. These systems, unlike Terrestrial Laser Scanners (TLS), collect data along a trajectory instead of at discrete scanner positions. In this research, we propose several methods to exploit the trajectories of IMLS systems for the interpretation of point clouds. By means of occlusion reasoning and use of trajectory as a set of scanner positions, we are capable of detecting openings in cluttered indoor environments. In order to provide information about both the partitioning of the space and the navigable space, we use the voxel concept for point clouds. Furthe...
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  • Line segmentation of 2D laser scanner point clouds for indoor slam based on a range of residuals

    • Authors: Jafri, S. R. U. N; Peter, M.;  Advisor: -;  Participants: - (2017)

  • Indoor mobile laser scanning (IMLS) based on the Simultaneous Localization and Mapping (SLAM) principle proves to be the preferred method to acquire data of indoor environments at a large scale. In previous work, we proposed a backpack IMLS system containing three 2D laser scanners and an according SLAM approach. The feature-based SLAM approach solves all six degrees of freedom simultaneously and builds on the association of lines to planes. Because of the iterative character of the SLAM process, the quality and reliability of the segmentation of linear segments in the scanlines plays a crucial role in the quality of the derived poses and consequently the point clouds. The orientation...
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  • Modelling of indoor environments using lindenmayer systems

    • Authors: Koeva, M.; Peter, M.;  Advisor: -;  Participants: - (2017)

  • In large parts of sub Saharan Africa it remains an ongoing challenging to map millions of unrecognized land rights. Existing approaches for recognizing these rights have proven inappropriate in many cases. A new generation of tools needs to be developed to support faster, cheaper, easier, and more responsible land rights mapping. This is the main goal of its4land, an European Commission Horizon 2020 project that aims to develop innovative tools inspired by the continuum of land rights, fit-for-purpose land administration, and cadastral intelligence. its4land is using strategic collaboration between the EU and East Africa to deliver innovative, scalable, and transferrable ICT solutions...
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  • Modelling of indoor environments using lindenmayer systems

    • Authors: Peter, M.;  Advisor: -;  Participants: - (2017)

  • Documentation of the “as-built” state of building interiors has gained a lot of interest in the recent years. Various data acquisition methods exist, e.g. the extraction from photographed evacuation plans using image processing or, most prominently, indoor mobile laser scanning. Due to clutter or data gaps as well as errors during data acquisition and processing, automatic reconstruction of CAD/BIM-like models from these data sources is not a trivial task. Thus it is often tried to support reconstruction by general rules for the perpendicularity and parallelism which are predominant in man-made structures. Indoor environments of large, public buildings, however, often also follow high...