Visual SLAM from image sequences acquired by unmanned aerial vehicles [Elektronische Ressource] / von Richard Steffen

Institut fur Geodasie und GeoinformationBereich PhotogrammetrieD 98Visual SLAM from image sequences acquired byunmanned aerial vehiclesInaugural-DissertationzurErlangung des GradesDoktor-Ingenieur(Dr.-Ing.)derHohen Landwirtschaftlichen FakultatderRheinischen Friedrich-Wilhelms-Universitatzu Bonnvorgelegt am 27. Juli 2009 vonRichard Ste enaus Schwerin2Referent: Prof. Dr. Wolfgang F orstnerKorreferent: Prof. Dr. Wolf-Dieter SchuhTag der mundlic hen Prufung: 20.11.2009Erscheinungsjahr: 2009Gedruckt bei: Diese Dissertation ist auf dem Hochschulschriften-server der ULB Bonnhttp://hss.ulb.uni-bonn.de/diss onlineelektronisch publiziert.3Never try, never know ...4This dissertation is dedicated to my parents and to my sister. Thank you for givingme the strength and hope. Foremost, this work would not have been possible without Prof.Wolfgang F orstner. It was the best decision in my life to join your research group. Thank youfor your excellent advise, patience and all your support. I will never forget this time. A specialthanks goes to my colleagues at the Department of Photogrammetry for all the productivediscussions. The genial work atmosphere was one of the reasons that made this thesis asuccess. In particular, I thank Hanns-Florian Schuster, Mark Luxen, Christian Beder andJochen Meidow for giving me the opportunity to learn from you. A special thanks to Heidifor checking the English spellings.