tinytall studios
what will be the next idea…?
Bachelor of Science!
May 9th
Hi everybody!
You might have wondered why there hasn’t been an update on this website in a while… the reason is simple – I’ve been busy! :)
- midiARTIS helicopter
In October 2011 I started an internship at the German Aerospace Center (Deutsches Zentrum für Luft- und Raumfahrt) in Braunschweig, Germany, where I also wrote my Bachelor thesis.
Due to this high amount of work I barely found time for other projects. But right now, I can proudly say: I’ve done it! On April 27th I successfully presented my Bachelor thesis at the university and was rewarded with a grade I couldn’t be any more proud of… ;)
But probably you are more interested in the topic of my thesis and my work at the DLR. Working at the department for Unmanned Aircrafts at the Institute of Flight Systems, I had the opportunity to develop new technologies to assist an autonomous helicopter in object tracking and optical navigation using a stereo camera system.
The thesis provides an approach to reconstruct the three-dimensional position of tracked salient features in stereo camera images. This is achieved by finding the corresponding location of features in the right camera image by tracking chosen features using a Lucas-Kanade-tracker. The LK-tracker allows the algorithm to run on unfiltered and not rectified camera images. Merely ob the tracked features and matched corresponding points a lens distortion correction as well as a rectification using camera calibration parameters is applied to get accurate results.
Using the horizontal disparity between corresponding points in the two camera images the position in 3D Euclidean space can be reconstructed.
Given two corresponding sets of 3D points from two time steps, the relative camera motion and ergo the 6-DOF motion of the helicopter.
My Bachelor thesis is titled “3D-Objektverfolgung mit Stereokameras zur bildbasierten Navigation autonom fliegender Luftfahrzeuge” (3D object tracking using stereo cameras for optical navigation on autonomously flying aircrafts) and is available for download right here:
Florian Bäthge (2012) - "3D-Objektverfolgung mit Stereokameras zur bildbasierten Navigation autonom fliegender Luftfahrzeuge" (1.0) - (Downloads: 20 )
If you would like to cite the thesis, feel free to use this BibTeX entry:
@THESIS{baethge2012,
type = "Bachelor thesis"
author = "Florian Bäthge",
title = "3D-Objektverfolgung mit Stereokameras zur bildbasierten Navigation autonom fliegender Luftfahrzeuge",
school = "Otto-von-Guericke Universität Magdeburg / Deutsches Zentrum für Luft- und Raumfahrt (DLR)",
month = apr,
year = 2012,
keywords = "object tracking, stereo camera, optical navigation, stereo matching, relative motion estimation"
}
If you are interested in this topic and would like to get in contact, feel free to send me a message! I’d be glad to discuss my work with you!
Think.
-Florian-
visualizing off-screen objects on map data
Jul 31st
Hi everybody!
From now on you can find a new project in my portfolio – MapView! MapView is a software for visualizing off-screen objects on Google Maps map data. It has been developed by Judith Junge, Lisa Wertig and myself as part of our “information visualization” course at the Otto-von-Guericke University, Magdeburg.
MapView
MapView basically is an interactive viewer for visualizing geographical locations on a map and allows all necessary interaction and navigation. The program’s main goal was to visualize objects that are outside the currently visible map area, which is essential for navigation and becomes more and more important as screen sizes and devices shrink and handheld navigation devices such as smartphones gain popularity.
So please feel free to check out the project page and try the software! Also please feel free to comment and give feedback! We would love to hear your opinion! Thank you!
Think.
-Florian-
slight changes to ObjectTracker
Jul 30th
Hi everybody!
As there has been a new release of the OpenCV image processing library in July 2011 (the current version is 2.3), I finally managed to create a new version of ObjectTracker.
Though the new version of ObjectTracker doesn’t provide new features it provides support for a much bigger variety of USB cameras that work with the software. This has already been a problem for me when creating the initial version since I was not able to get video data from a USB connected external webcam. Instead, when trying to use a webcam that supports a high definition resolution (as of 720p or bigger), the user would only receive a black image. This results from the MJPEG compression which is used to tranfer data from the camera to the PC via USB.
The 2.3 version of OpenCV now enables getting video data that is compressed with MJPEG. Therefore I compiled a new binary that uses the recent version of OpenCV. I hope this might help some of you to use their external webcams for the software!
So please enjoy and let me know if you have any problems!
Think.
-Florian-
object tracking using particle filters
Jul 2nd
Hi everybody!
I just added a new project to the portfolio – ObjectTracker! As part of a software project for my “Applied Image Processing” course I developed a software that allows you to track moving objects in a video scene using particle filters! ObjectTracker can detect moving objects on a video scene using a running average background segmentation and allows you to track multiple objects individually using a particle filter for each moving object. To see what it looks like, just have a look at this video:
ObjectTracker – real-time object tracking of multiple objects using particle filters from Florian Bäthge on Vimeo.
If you would like to find out more or would like to download the software, just check out the projects page! If you like it, please leave a comment! Thank you!
Think.
-Florian-
a simple 2D math vector class
May 9th
Hi everybody!
I just felt the need to share with you a little class I wrote for handling 2D math vectors – Vec2D. It is nothing special, just a simple C++ class that allows you to work with two-dimensional mathematical vectors (or points if you want so). It supports all necessary basic operations you might need.
I recently created the class for a particle filter program I currently work on. Qt’s QVector2D was insufficient for me since it doesn’t support rotations or randomizing a vector with some random noise value, which both is essential to my project.
The class can be downloaded from the tinytall public repositories. For further information, simply have a look at the project’s page – Vec2D.
I hope you enjoy it! If you would like to contribute to the class, please write me to get access to the repository! Thank you!
Think.
-Florian-
it’s time to play!
Apr 21st
Hello everybody!
nono3D
I have just added a new download to the projects section – nono3D! Nono3D is a software project by Judith Junge, Lisa Wertig, and myself and was created in 2010 as a software project an IT-project-management course.
Basically, nono3D is an interactive editor for so-called 3D-nonograms, an extension of the traditional 2D-Nonogram to three-dimensional space. Instead of creating a simple 2D-image the user’s goal is to create a simple 3D-primitive that consists of little cubes. But instead of simply stacking several 2D-nonograms onto each other we provided additional information from the third dimension. So now it’s possible to switch between each “slice” from each dimension and take each of those “slices” as a traditional nonogram.
With nono3D, the user is now capable of creating and testing 3D nonograms. It is possible to create new nonograms or load from existing sources. Nonograms can either be saved as an editor- or as a gamefile, for which we created an XML-based datastructure. Therefore existing nonograms can easily be shared with other players so that they can solve nonograms but not edit the source.
We also created a line-based solving algorithm which tries to reconstuct a 3D-nonogram by the given number values. It therefore is possible to test wheter a nonogram is uniquely solvable. Unfortunately, our algoirthm isn’t complete yet and sometimes gives false negatives – nonograms, which are said to not be uniquely solvable though they are.
If you would like to test nono3D, simply download it from the nono3D project page. Please give me feedback if you like the software! If you need further information feel free to write me a mail! Thank you!
Think.
-Florian-
… what will be the next idea…?
Apr 19th
Hi everybody!
Welcome to the fabulous new website of tinytall studios. This website is a blog by Florian Bäthge, a student of computational visualistics at the Otto-von-Guericke-Universtity in Magdeburg, Germany. I specialized on image processing, computer vision and user-interface-design. I have experiences in C/C++, Qt, OpenGL, the OpenCV library and Java programming, especially for Android devices. Besides that, I am very interested in webdesign, WordPress and PHP programming.
I consider myself a passionate climber, always interested in reaching and improving my personal limits and expanding my horizon. Besides climbing I really enjoy my hobby of Geocaching, of which you can read in my other blog.
On this blog I would like to share with you my latest projects, my interests and other interesting information about computer graphics, image processing, computer vision, webdesign or Android programming. Just because of that I chose this blog’s subtitle “what will be the next idea…?” on purpose, since this perfectly resembles my ideology – to strive for perfection and to believe that you could build anything of almost nothing…
So please feel free to have a look around my site and come back regularly to check what’s going on. You might as well subscribe to my rss feed or follow me on twitter.
Think.
-Florian-
Recent comments