Rapid histogram-based scene interpretation in three-dimensional surface point clouds [Elektronische Ressource] / Eric Wahl

Technische Universitat¤ Munchen¤Lehrstuhl fur¤ DatenverarbeitungRapid Histogram-based Scene Interpretation inThree-dimensional Surface Point CloudsEric WahlVollstandiger¤ Abdruck der von der Fakultat¤ fur¤ Elektrotechnik und Informationstechnikder Technischen Universitat¤ Munchen¤ zur Erlangung des akademischen Grads einesDoktors rer. nat.genehmigten Dissertation.Vorsitzender: Univ.-Prof. Dr.-Ing. G. Farber¤Prufer¤ der Dissertation:1. Univ.-Prof. Dr.-Ing. K. Diepold2. Hon.-Prof. Dr.-Ing. G. HirzingerDie Dissertation wurde am 04.10.2006 bei der Technischen Universitat¤ Munchen¤eingereicht und durch die Fakultat¤ fur¤ Elektrotechnik und Informationstechnik am14.05.2007 angenommen.2AcknowledgmentsThis thesis summarizes the investigations of three and a half years. Although, it wasmy part to guide this process and to draw the nal conclusions, it would have neverbeen possible without a lot of help and fortunate conditions.First of all I would like to thank Prof. Gerd Hirzinger for giving me the chance towork in a highly inspiring environment, namely the Institute of Robotics and Mecha-tronics of the German Aerospace Center (DLR). At this institute I had the opportunityto collaborate with many wonderful colleagues. Furthermore, he gave me the latitudeto develop and realize my ideas.Second, I want to thank my doctoral advisor Prof. Klaus Diepold. He was veryhelpful in guiding and motivating me when I was unsure of the direction of my research.