Using mobile multi-camera unit for real-time 3D motion estimation and map building of indoor environment [Elektronische Ressource] / von Chayakorn Netramai

Using Mobile Multi-Camera Unit for Real-Time3D Motion Estimation and Map Building ofIndoor EnvironmentVom Fachbereich Elektrotechnik und Informatik derUniversitat Siegen¨zur Erlangung des akademischen GradesDoktor der Ingenieurwissenschaften(Dr.-Ing.)genehmigte DissertationvonM.Sc. Chayakorn Netramai1. Gutachter: Prof. Dr.-Ing. Hubert Roth2. Gutachter: Prof. Dr.-Ing. Anatoliy SachenkoVorsitzender: Prof. Dr.-Ing. habil. Otmar LoffeldTag der mundlichen Prufung: 21.01.2011¨ ¨To my loving family.AcknowledgementsFirst of all, I would like to thank my supervisors. I am deeply gratefulto Professor Hubert Roth, head of the Institute of Automatic ControlEngineering, University of Siegen, who gave me the opportunity to dothis thesis work and for his valuable advice and guidance during thislong study. I am also very grateful to Professor Anatoliy Sachenko,head of the Department of Information Computing Systems and Con-trol, TernopilNationalEconomicUniversity, forhiswillingnesstotakeme under his guidance and for all his valuable comments.I would like to express my deep appreciation to Professor OtmarLoffeld and Dr. Stefan Knedlik from the International PostgraduateProgramme Multi Sensorics, University of Siegen, for their supportand guidance during the past few years at the university of Siegen.I am grateful to Professor Alois Knoll, Dr. Christian Verbeek andDr.