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Titre : Range imaging : investigation, calibration and development Type de document : Thèse/HDR Auteurs : Timo Kahlmann, Auteur Editeur : Zurich : Institut für Geodäsie und Photogrammetrie IGP - ETH Année de publication : 2008 Collection : IGP Mitteilungen, ISSN 0252-9335 num. 097 Importance : 142 p. Format : 21 x 30 cm ISBN/ISSN/EAN : 978-3-906467-72-6 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Acquisition d'image(s) et de donnée(s)
[Termes IGN] acquisition d'images
[Termes IGN] angle d'incidence
[Termes IGN] caméra numérique
[Termes IGN] capteur imageur
[Termes IGN] données localisées 3D
[Termes IGN] étalonnage de chambre métrique
[Termes IGN] mesurage de distances
[Termes IGN] métrologieIndex. décimale : 35.11 Géométrie et qualité des prises de vues Résumé : (Auteur) In recent years, numerous sensor systems for the capturing of three-dimensional environments and objects have become available. Besides laser scanners and geodetic total stations, stereo vision and triangulation-based systems have to be exemplarily named here. Especially laser scanners have beco-me state-of-the-art regarding speed and accuracy with respect to their ability to acquire objects up to a size of several tens of meters. A main drawback of laser scanners is their sequential mode of operation. They measure point by point. A few years ago, a new technology was developed to full functionality which is able to capture the environment simultaneously with a high resolution. So-called range imaging (RIM) or flash ladar cameras, which are based on digital imaging technology, merged with the ability to measure the distance to the corresponding object point in each pixel. Distance measurement is either based on the direct or indirect Time-of-Flight principle. Due to its parallel acquisition with up to video frame rate, RIM cameras are even able to capture moving objects. With respect to the optical dependencies, 3-D coordinates of the captured scene are derived. The nominal precision of the distance measurement is a few millimeters. RIM could become the technology of choice for many applications if the properties and characteristics become stable and predictable. Automotive, robotics, and safety systems can be named, for example. Significant deviations between nominal and measured coordinates occur in a range of several centimeters. Only intensive investigations can help to reach the theoretical limitations here.
This thesis deals with several aspects which affect the measurements of RIM cameras. First, a short introduction into the basic technologies that are associated with RIM is presented. Besides imaging and distance measurement methods, two basic principles of RIM are distinguished. Furthermore, the focus is laid on the specific limitations. During this work three different cameras have become available: the SwissRanger SR-2 and the SR-3000 from CSEM / MESA Imaging (Switzerland) and later on the 3k-S from PMDtec (Germany). These three cameras are based on the indirect Time-of-Flight principle and are equipped with different sophisticated features. Besides integrated calibration and correction functionality, the suppression of background illumination is one of the main features. However, these cameras are only intended to be highly developed demonstrators. An adaption to the specific application areas, like automotive or robotics, leads to specialized properties according to the desired claims.
The analysis of the existing camera types helps to understand the technology more closely. The raw data of the analyzed cameras is not more accurate than a few centimeters. In order to investigate the properties of the available cameras, special experimental setups had to be developed. The main part of this work deals with the investigation and calibration of the components of RIM cameras. The geometrical deviations of the optical system are addressed by means of a photogrammetric camera calibration. The distance measurement system is analyzed with respect to the deviations and statistics. Thus, limitations of both precision and accuracy are indicated. Besides the influences of the scattering effect, integration time, emitting system, and angle of incidence, target reflectivity, external and internal temperature, and finally linearity and fixed-pattern noise are discussed. Further on, an approach for a system calibration process is presented. Due to the complexity of the influencing parameters, a complete correction of the measurement data with respect to the diverse influencing parameters has not been reached. But the highly systematic dependencies promise sophisticated calibration routines in the future. This work contributes to the understanding of the sensors.
Nevertheless, the investigated influences of temperature on the distance measurement accuracy, which is indicated as a measure for the deviation between true and nominal value, have been significantly reduced by an uncoupling of the distance measurement and the external and internal temperature by means of a relative measurement setup. The introduction of an internal reference light path helps to reduce the temperature's influence on the distance data to a large degree. The experimental setup and the proof of the functionality complete this work.
The results of the numerous investigations will help to increase the accuracy of RIM cameras, especially vital for several applications, in need of improved accuracies. It has been shown that the theoretical limits lie within reach with help of suitably sophisticated calibration procedures.Note de contenu : 1 Introduction
1.1 Motivation
1.1.1 Application: Tracking of People in Indoor Environments
1.1.2 Application: Automotive
1.2 Aims of This Thesis
1.3 Structure
2 3-D Range Imaging Camera Technology
2.1 Distance Measurement
2.1.1 Time-of-Flight Distance Measurement
2.1.2 Phase-Difference Distance Measurement
2.1.2.1 Working Principle
2.1.2.2 Characteristics and Limitations
2.2 Imaging Technology
2.2.1 Charge Collection
2.2.2 Charge Transfer and Quantification
2.3 Range Imaging Sensors and Realizations
2.3.1 Combined CCD/CMOS Technology
2.3.2 Photonic Mixer Device (PMD) in CMOS Technology
2.3.3 Arrays of Single Photon Avalanche Diodes in CMOS Technology
2.3.4 Shuttered Time-of-Flight
2.4 3-D Coordinate Measurement Principle
3 Investigation and Calibration
3.1 Definitions
3.2 Photogrammetric Camera Calibration
3.2.1 SR-2
3.2.2 SR-3000
3.3 Distance Measurement
3.3.1 Scattering
3.3.2 Integration Time
3.3.3 Statistics
3.3.4 Emitting System (LEDs)
3.3.5 Target Reflectivity
3.3.6 Angle of Incidence
3.3.7 Temperature
3.3.8 Distance / Linearity
3.3.9 Fixed-Pattern Noise
3.3.10 Mixed Pixel
3.4 Integral RIM Camera Calibration
3.5 Conclusion
4 Implementation of an Internal Reference
4.1 Theory
4.2 Implementation: ETH Solution
4.3 Validation
4.3.1 Warm Up
4.3.2 External Temperature
4.3.2.1 Experiment 1: Temperature Variation and Long-Term Acclimatization
4.3.2.2 Experiment 2: Extreme Temperatures
4.3.2.3 Experiment 3: Two External Distances
4.4 Conclusion and Outlook
5 Conclusions
5.1 Summary
5.2 Outlook
Appendix
A SwissRanger SR-2 Specifications
B SwissRanger SR-3000 Specifications
C Photogrammetric Calibration Results for the SR-3000 Provided by Australia
D Distance Histograms SR-2 and SR-3000
E Warmup Sequences SR-2 and SR-3000Numéro de notice : 15458 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Thèse étrangère DOI : 10.3929/ethz-a-005465562 En ligne : http://dx.doi.org/10.3929/ethz-a-005465562 Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=62724 Réservation
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Titre : Sensor web enablement : Seminar day of the Neteherlands Geodetic Commission, 1st February 2007, Utrecht Type de document : Actes de congrès Auteurs : M. Grothe, Éditeur scientifique ; J. Kooijman, Éditeur scientifique Editeur : Delft : Netherlands Geodetic Commission NGC Année de publication : 2008 Collection : Netherlands Geodetic Commission Green series num. 45 Conférence : NGC 2007, Seminar day of the Netherlands Geodetic Commission, Sensor web enablement 01/02/2007 Utrecht Pays-Bas Importance : 77 p. Format : 17 x 24 cm ISBN/ISSN/EAN : 978-90-6132-305-1 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Télématique
[Termes IGN] aide à la décision
[Termes IGN] capteur (télédétection)
[Termes IGN] données localisées
[Termes IGN] positionnement dynamique
[Termes IGN] positionnement statique
[Termes IGN] Sensor Web Enablement
[Termes IGN] service web
[Termes IGN] temps réelRésumé : (Editeur) The seminar 'Sensor Web Enablement' of the Netherlands Geodetic Commission was devoted to the creation of awareness of the Sensor Web and the OGC sensor web interoperability standards. The seminar aimed to improve the understanding of SWE; concepts and applications, but also future trends and scenarios on location and sensor services. We hope that the seminar has resulted in lasting new contacts between all people in the Netherlands with an interest in sensors, location and sensor services, sensor networks and in particular the SWE standards.
The contributions in the seminar proceedings reflect both the future perspective on the position and value of sensors and sensor technology, the conceptual framework of processing sensor data, as well as the ins and outs of the Sensor Web Enablement family of sensor standards, it's test beds and applications, but also issues and items for discussion. This publication is a reflection of the different seminar contributions.
The first paper 'Location Awareness 2020. A foresight study on auto-identification and location in year 2020, and the implications for mobility' by Euro Beinat (SPINLab Vrije Universiteit Amsterdam and Salzburg University) and John Steenbruggen (Rijkswaterstaat) introduces a way to explore the future of the application of sensors and sensor networks. The authors have developed scenarios for location awareness and sensor services in 2020 with an emphasis on transportation and mobility. This paper outlines the relevant drivers and trends for the adoption of sensor services and sensor networks for future location awareness, as well as barriers for the adoption. In the paper some of the recent results that have been obtained from the Location Awareness 2020 study conducted for the innovation program on Transportation and Water management in the Netherlands (in contract of Rijkswaterstaat) are presented. The authors conclude that interoperability will be the kernel of successful adoptions of location and sensor technologies in transportation.
Zoltan Papp and Henk Hakkesteegt from TNO Science and Industry address the issue to make sensors and sensor web networks more applicable in practice, namely the handling of sensor web data from interpretation to monitoring, control, maintenance and decision making. Their paper investigates how the potential of data richness can be fully utilized. More specifically, it attempts to answer questions around the integration of sensor networks and sensor web into the data interpretation process. They illustrate that the data interpretation process has to be adjusted in order to accommodate the advantageous features of the sensor web based observations. Without these adjustments the sensor web is still useful, but cannot deliver its promises. They advocate the use of SWE and illustrate this in a water management example. At the same time, they come up with some drawbacks and issues that need further attention.
In the next paper, Alexander Walkowski (Westfälische Wilhelms-Universität Münster) introduces the main concepts and ideas of the Sensor Web Enablement initiative. One of the main objectives of SWE is finding all sensors available via the world wide web. Walkowski advocates the advantages of the standardization of access to sensors and sensor data by SWE. The SWE framework is outlined from the information model perspective and services model perspective. A use case scenario illustrates the possibilities of SWE. It is concluded that after the long period of evolution and testing, it is the time to start applications based on the SWE framework.
In their paper 'A testbed for SWE technology' Rowena Smilie, Yves Coene (both Spacebel), Philippe Merigot, Didier Giacobbo (both Spotimage), Steven Smolders and Caroline Heylen (both GIM) outline the use SWE technology in a number of projects of the European Space Agency (ESA). They illustrate the maturity of the used SWE concepts in several testbed projects of ESA and OGC, like the Observations and Measurements standard of the SWE information model and the application of the SWE Sensor Observation Service and Planning Service. All projects are related to the ESA Services Support Environment (SSE). Issues faced in these projects with the application of SWE concepts are raised by the authors, e.g. missing SOAP bindings in the SWE service specifications. Furthermore, future work on application of SWE within SSE is elaborated on.
Another example of the use of SWE is given by Jan Jellema (TNO) and Peter Gijsbers (WL | Delft Hydraulics) in their paper 'Sensor Networks, basis for the Dutch Geo-infrastructure'. The paper gives a short overview of a recent started project on application of Sensor Web Enablement framework for water management. This project is the sensor innovation project under of 'Space for Geo-information' program in the Netherlands. The goal of the project, conducted by a consortium of major scientific institutes and sensor suppliers, is to explore SWE concept and test it's advantages and disadvantages.
The last paper 'Research topics for SWE' is by the editors Michel Grothe (Rijkswaterstaat) and Jan Kooijman (TNO). This short paper reflects the discussions and brainstorm during the seminar. The input of the seminar participants is used here to sum up the research topics for Sensor Web Enablement.Note de contenu : - Editorial / Michel Grothe and Jan Kooijman
- Location Awareness 2020. A foresight study on auto-identification and location in year 2020, and the implications for mobility / Euro Beinat and John Steenbruggen
- Sensor Web, Sensor Networks: New possibilities and new challenges / Zoltan Papp and Henk Hakkesteegt
- Sensor Web Enablement – An overview / Alexander C. Walkowski
- A testbed for SWE technology / Rowena Smilie, Yves Coene, Philippe Merigot, Didier Giacobbo, Steven Smolders and Caroline Heylen
- Sensor Networks, basis for the Dutch Geo-infrastructure / Jan Jellema and Peter Gijsbers
- Research topics for the Sensor Web / Michel Grothe and Jan KooijmanNuméro de notice : 15405 Affiliation des auteurs : non IGN Autre URL associée : téléchargement Thématique : INFORMATIQUE Nature : Actes DOI : sans En ligne : https://www.ncgeo.nl/index.php/en/publicatiesgb/green-series/item/2364-gs-45-mic [...] Format de la ressource électronique : URL Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=34764 Réservation
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Titre : SIG 2008, conférence francophone ESRI : cédérom des actes Type de document : Actes de congrès Auteurs : Anonyme, Auteur Editeur : Meudon : ESRI France Année de publication : 2008 Conférence : SIG 2008, conférence francophone ESRI 01/10/2008 02/10/2008 Versailles France Langues : Français (fre) Descripteur : [Vedettes matières IGN] Systèmes d'information géographique
[Termes IGN] collectivité territoriale
[Termes IGN] données localisées
[Termes IGN] système d'information géographiqueIndex. décimale : MULTIM Cédéroms et DVD rangés en armoire grise près de l'accueil Résumé : (Editeur) Vous trouverez dans ce cédérom, la majorité des communications utilisateurs présentées dans le cadre de SIG 2007, la conférence francophone ESRI ainsi que les informations sur les partenaires de la conférence. [...] Pour visionner ces pages, vous devez disposer d'un navigateur internet. Ces présentations sont optimisées pour Internet Explorer. Numéro de notice : 17838 Affiliation des auteurs : non IGN Thématique : GEOMATIQUE/INFORMATIQUE Nature : Actes DOI : sans Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=64128 Réservation
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Code-barres Cote Support Localisation Section Disponibilité 17838-01 MULTIM Cédérom Centre de documentation Indéterminé Disponible Support à la cartographie diachronique des groupes élitaires dans la ville de Bruxelles / P. Collin (2008)
Titre : Support à la cartographie diachronique des groupes élitaires dans la ville de Bruxelles Type de document : Mémoire Auteurs : P. Collin, Auteur Editeur : Champs-sur-Marne : Ecole nationale des sciences géographiques ENSG Année de publication : 2008 Importance : 52 p. Format : 21 x 30 cm Note générale : Bibliographie
Rapport de projet pluridisciplinaire, cycle des ingénieurs diplômés de l'ENSG 2ème année (IT2)Langues : Français (fre) Descripteur : [Vedettes matières IGN] Applications SIG
[Termes IGN] analyse diachronique
[Termes IGN] analyse spatiale
[Termes IGN] ArcGIS
[Termes IGN] Bruxelles
[Termes IGN] données maillées
[Termes IGN] données vectorielles
[Termes IGN] numérisation de carte
[Termes IGN] occupation du sol
[Termes IGN] réseau routierIndex. décimale : PROJET Mémoires : Rapports de projet - stage des ingénieurs de 2e année Résumé : (Auteur) Le projet pluridisciplinaire s'est déroulé au sein de l'Institut de Gestion de l'Environnement et d'Aménagement du Territoire de l'Université Libre de Bruxelles. Il s'inscrit dans un projet plus large, le projet ARC « Les élites dans la ville » qui a pour objectif de déterminer le rôle joué par les groupes élitaires dans l'aménagement de la ville de Bruxelles depuis le 18ème siècle. L'objectif du stage est de fournir à l'équipe du projet ARC des fonds de plans vectoriels du réseau viaire de la région bruxelloise depuis 1860 qui serviront de support à la localisation des groupes élitaires sur la période 1860 - 1997. Ces couches vectorielles sont construites par downdating de couches existantes. Une analyse temporelle des changements qui ont affecté le réseau viaire depuis 1860 est ensuite réalisée afin de donner à l'équipe du projet ARC une vision globale de l'évolution de l'aménagement du réseau. Cette analyse consiste en l'élaboration de cartes montrant la profondeur temporelle du réseau et les principales zones affectées par l'évolution du réseau. Enfin, la configuration spatiale du réseau au moyen d'outils de syntaxe spatiale est étudiée à chaque date. L'intégration globale de chaque tronçon est calculée et des cartes montrent l'évolution de la configuration spatiale du réseau viaire depuis 1860. Note de contenu : Introduction
1. Présentation du projet
1.1. Contexte
1.2. Objectifs
1.3. Données à disposition
1.4. Spécifications de l'étude
2. Numérisation des données
2.1. Structure des données
2.2. Downdating
2.3. La numérisation
2.4. Saisie des attributs
2.5. Résultats de la numérisation
2.6. Vérification des données
3. Analyse temporelle du réseau viaire
3.1. Restructuration des données
3.2. Evolution de chaque type de réseau
3.3. Profondeur temporelle du réseau
3.4. Carte des changements
3.5. Matrice des changements
4. Analyse spatiale du réseau
4.1. La syntaxe spatiale
4.2. Application au réseau viaire avec Mindwalk
Conclusion
Bibliographie
AnnexesNuméro de notice : 13671 Affiliation des auteurs : non IGN Thématique : GEOMATIQUE Nature : Mémoire de projet pluridisciplinaire Organisme de stage : Université Libre de Bruxelles, Institut de Gestion de l'Environnement et d'Aménagement du Territoire IGEAT Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=50090 Réservation
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Code-barres Cote Support Localisation Section Disponibilité 13671-02 PROJET Livre Centre de documentation Travaux d'élèves Disponible 13671-01 PROJET Livre Centre de documentation Travaux d'élèves Disponible Supporting the process of exploring and interpreting space-time multivariate patterns: the visual inquiry toolkit / J. Chen in Cartography and Geographic Information Science, vol 35 n° 1 (January 2008)
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Titre : Supporting the process of exploring and interpreting space-time multivariate patterns: the visual inquiry toolkit Type de document : Article/Communication Auteurs : J. Chen, Auteur ; Alan M. MacEachren, Auteur ; D. Guo, Auteur Année de publication : 2008 Article en page(s) : pp 33 - 50 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Systèmes d'information géographique
[Termes IGN] analyse de groupement
[Termes IGN] analyse visuelle
[Termes IGN] données spatiotemporelles
[Termes IGN] mise à l'échelle
[Termes IGN] reconnaissance de formes
[Termes IGN] visualisationRésumé : (Auteur) While many data sets carry geographic and temporal references, our ability to analyze these datasets lags behind our ability to collect them because of the challenges posed by both data complexity and tool scalability issues. This study develops a visual analytics approach that leverages human expertise with visual, computational, and cartographic methods to support the application of visual analytics to relatively large spatio-temporal, multivariate data sets. We develop and apply a variety of methods for data clustering, pattern searching, information visualization, and synthesis. By combining both human and machine strengths, this approach has a better chance to discover novel, relevant, and potentially useful information that is difficult to detect by any of the methods used in isolation. We demonstrate the effectiveness of the approach by applying the Visual Inquiry Toolkit we developed to analyze a data set containing geographically referenced, time-varying and multivariate data for U.S. technology industries. Copyright CaGISociety Numéro de notice : A2008-060 Affiliation des auteurs : non IGN Thématique : GEOMATIQUE/INFORMATIQUE Nature : Article DOI : 10.1559/152304008783475689 En ligne : https://doi.org/10.1559/152304008783475689 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=29055
in Cartography and Geographic Information Science > vol 35 n° 1 (January 2008) . - pp 33 - 50[article]Réservation
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