Siegen, University, Diss., 2001. / Text engl.

Thesis--Bochum. Ruhr-Universität. / In Periodical Room.

Stuttgart, Univ., Diss., 2000.

Zugl.: Siegen, Univ., Diss., 2007

Zugl.: Duisburg, Essen, Univ., Diss., 2009

Universiẗat, Diss., 2002--Bremen.

Cycling in Germany- and also in many countries in Europe and all over the world-has become more relevant in recent years especially due to the corona pandemic. People have been afraid using public transport and tend to use individual means of transport more intensive. Many cities across Europe supported cycling and pop-up cycle lanes were marked on streets with yellow lines in order to give cyclists more space for safe and comfortable riding. Cities like Brussels, Vienna or Berlin implemented these kinds of ''unconventional' infrastructure in 2020 during tbe first Corona lockdowns. Though, evaluations have shown that the use of these pop-up lanes led to increasing numbers of users on these tracks, these tracks were marked only on a marginal share of the streets in contrast to the whole cycling network of a city. Other indicators depicting that cycling is advancing are the numbers of sales and the increased willingness to pay for a new bicycle. In Germany, the average price over all sold bicycles in 2021 was about €1,400 EUR. Compared to 2019 (€929 per bike) this is an increase ofabout 50%. This increase of sales numbers of e-bikes explains this increase. In 2021 about two million e-bikes were sold in Germany in contrast to 2. 7 million conventional bikes. The overall market value of sold bicycles in Germany was 6.56 billion euros which is an increase by 60% in comparison to 2011. Nevertheless, a recent Germany-wide survey with over 11,000 participants shows that 91 % of tbe cyclists feel unsafe in Gennan traffic. 69% state that the keeping too little distance between other traffic participants is one of the reasons that people feel unsafe in traffic. The survey also reveals that the feeling of safety would increase by building more bicycle infrastructure (81%) and a clear separation between motorized and nonmotorized traffic (62%). [from Introduction]

Der vorliegende Beitrag beschäftigt sich mit Untersuchungen zur Entfernungsmessung terrestrischer Long-Range Laserscanner. Für diese Studie wurden dem Institut für Markscheidewesen und Geodäsie dankenswerter Weise von der Firma RIEGL ein Laserscanner VZ-4000 zur Verfügung gestellt. In diesem Beitrag werden der Versuchsaufbau erläutert und erste Ergebnisse des Soll-Ist-Vergleiches gezeigt. Die unterschiedlichen Einflussgrößen, wie Temperatur und Luftdruck, die bei Messungen auf große Entfernungen eine Rolle spielen, werden angesprochen. / This paper deals with actual researches for measuring distances of terrestrial long-range Laser scanners. The Institute for Mine Surveying and Geodesy had a laser scanner VZ-4000 by the company RIEGL easy and unconventional provided. The paper presents the experimental setup and the results of the target-actual comparison. Several influences, for example temperature and atmospheric pressure, are considered for long-range measurements.

Der vorliegende Beitrag beschäftigt sich mit Untersuchungen zur Entfernungsmessung terrestrischer Long-Range Laserscanner. Für diese Studie wurden dem Institut für Markscheidewesen und Geodäsie dankenswerter Weise von der Firma RIEGL ein Laserscanner VZ-4000 zur Verfügung gestellt. In diesem Beitrag werden der Versuchsaufbau erläutert und erste Ergebnisse des Soll-Ist-Vergleiches gezeigt. Die unterschiedlichen Einflussgrößen, wie Temperatur und Luftdruck, die bei Messungen auf große Entfernungen eine Rolle spielen, werden angesprochen. / This paper deals with actual researches for measuring distances of terrestrial long-range Laser scanners. The Institute for Mine Surveying and Geodesy had a laser scanner VZ-4000 by the company RIEGL easy and unconventional provided. The paper presents the experimental setup and the results of the target-actual comparison. Several influences, for example temperature and atmospheric pressure, are considered for long-range measurements.

The Professorship of Digital Signal Processing and Circuit Technology of Chemnitz University of Technology conducts research in the field of three-dimensional space measurement with optical sensors. In recent years this field has made major progress. For example innovative, active techniques such as the “structured light“-principle are able to measure even homogeneous surfaces and find its way into the consumer electronic market in terms of Microsoft’s Kinect® at the present time. Furthermore, high-resolution optical sensors establish powerful, passive stereo vision systems in the field of indoor surveillance. Thereby they induce new application domains such as security and assistance systems for domestic environments. However, the constraint field of view can be still considered as an essential characteristic of all these technologies. For instance, in order to measure a volume in size of a living space, two to three deployed 3D sensors have to be applied nowadays. This is due to the fact that the commonly utilized perspective projection principle constrains the visible area to a field of view of approximately 120°. On the contrary, novel fish-eye lenses allow the realization of omnidirectional projection models. Therewith, the visible field of view can be enlarged up to more than 180°. In combination with a 3D measurement approach, thus, the number of required sensors for entire room coverage can be reduced considerably. Motivated by the requirements of the field of indoor surveillance, the present work focuses on the combination of the established stereo vision principle and omnidirectional projection methods. The entire 3D measurement of a living space by means of one single sensor can be considered as major objective. As a starting point for this thesis chapter 1 discusses the underlying requirement, referring to various relevant fields of application. Based on this, the distinct purpose for the present work is stated. The necessary mathematical foundations of computer vision are reflected in Chapter 2 subsequently. Based on the geometry of the optical imaging process, the projection characteristics of relevant principles are discussed and a generic method for modeling fish-eye cameras is selected. Chapter 3 deals with the extraction of depth information using classical (perceptively imaging) binocular stereo vision configurations. In addition to a complete recap of the processing chain, especially occurring measurement uncertainties are investigated. In the following, Chapter 4 addresses special methods to convert different projection models. The example of mapping an omnidirectional to a perspective projection is employed, in order to develop a method for accelerating this process and, hereby, for reducing the computational load associated therewith. Any errors that occur, as well as the necessary adjustment of image resolution, are an integral part of the investigation. As a practical example, an application for person tracking is utilized in order to demonstrate to which extend the usage of “virtual views“ can increase the recognition rate for people detectors in the context of omnidirectional monitoring. Subsequently, an extensive search with respect to omnidirectional imaging stereo vision techniques is conducted in chapter 5. It turns out that the complete 3D capture of a room is achievable by the generation of a hemispherical depth map. Therefore, three cameras have to be combined in order to form a trinocular stereo vision system. As a basis for further research, a known trinocular stereo vision method is selected. Furthermore, it is hypothesized that, applying a modified geometric constellation of cameras, more precisely in the form of an equilateral triangle, and using an alternative method to determine the depth map, the performance can be increased considerably. A novel method is presented, which shall require fewer operations to calculate the distance information and which is to avoid a computational costly step for depth map fusion as necessary in the comparative method. In order to evaluate the presented approach as well as the hypotheses, a hemispherical depth map is generated in Chapter 6 by means of the new method. Simulation results, based on artificially generated 3D space information and realistic system parameters, are presented and subjected to a subsequent error estimate. A demonstrator for generating real measurement information is introduced in Chapter 7. In addition, the methods that are applied for calibrating the system intrinsically as well as extrinsically are explained. It turns out that the calibration procedure utilized cannot estimate the extrinsic parameters sufficiently. Initial measurements present a hemispherical depth map and thus con.rm the operativeness of the concept, but also identify the drawbacks of the calibration used. The current implementation of the algorithm shows almost real-time behaviour. Finally, Chapter 8 summarizes the results obtained along the studies and discusses them in the context of comparable binocular and trinocular stereo vision approaches. For example the results of the simulations carried out produced a saving of up to 30% in terms of stereo correspondence operations in comparison with a referred trinocular method. Furthermore, the concept introduced allows the avoidance of a weighted averaging step for depth map fusion based on precision values that have to be calculated costly. The achievable accuracy is still comparable for both trinocular approaches. In summary, it can be stated that, in the context of the present thesis, a measurement system has been developed, which has great potential for future application fields in industry, security in public spaces as well as home environments.