Bachelor of Science!

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
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:

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-

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