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Diplomarbeit Falko Kellner


Betreuer: Ingo Schiller

ToF-camera:

3D-ToF cameras emit modulated light and measure the reflectance of the emitted light at objects. The phase-shift between the emitted and the reflected light directly relates to the distance the modulated light covered. This is a relatively cheap method (compared for example to laser range scanners) to measure the 3D-geometry of an object/room/etc.

Mapbuilding with ToF-camera:

The ToF-camera is mounted to a pan-tilt-unit and moved around to scan the environment and build a model of the environment.
From the pan-tilt-unit the position of the ToF-camera is approximately known and a 3D-model can be stitched together.

Depthmap of a room made with PMD-camera and pan-tilt-unit
Depthmap of a room made with PMD-camera and pan-tilt-unit
Rig with cameras mounted to a pan-tilt-unit
Rig with cameras mounted to a pan-tilt-unit
Panorama made with PMD-camera and pan-tilt-unit
Panorama made with PMD-camera and pan-tilt-unit


Detection of Moving Objects with MoG (Mixture-of-Gaussians)

The generated model can subsequently be used to detect moving objects in the static scene. In this Diploma Thesis an algorithm has been developed which is able to detect changes in the intensity panorama and use this information to steer the Pan-Tilt-Unit.

Live image
Live image
Normalized image
Normalized image
detected object
detected object


With that the ToF-camera is moved in direction of the moving object and the movement is verified in the depth panorama.

Detected Object in 3DModel
Detected Object in 3DModel
Detected Object in 3DModel
Detected Object in 3DModel

Created by fkellner. Last Modification: Monday 08 of March, 2010 16:49:30 CET by ischiller.