- Adaptive Extraction and Representation of Geometric Structures from Unorganized 3D Point Sets (2009)
- The primary emphasis of this thesis concerns the extraction and representation of intrinsic properties of three-dimensional (3D) unorganized point clouds. The points establishing a point cloud as it mainly emerges from LiDaR (Light Detection and Ranging) scan devices or by reconstruction from two-dimensional (2D) image series represent discrete samples of real world objects. Depending on the type of scenery the data is generated from the resulting point cloud may exhibit a variety of different structures. Especially, in the case of environmental LiDaR scans the complexity of the corresponding point clouds is relatively high. Hence, finding new techniques allowing the efficient extraction and representation of the underlying structural entities becomes an important research issue of recent interest. This thesis introduces new methods regarding the extraction and visualization of structural features like surfaces and curves (e.g. ridge-lines, creases) from 3D (environmental) point clouds. One main part concerns the extraction of curve-like features from environmental point data sets. It provides a new method supporting a stable feature extraction by incorporating a probability-based point classification scheme that characterizes individual points regarding their affiliation to surface-, curve- and volume-like structures. Another part is concerned with the surface reconstruction from (environmental) point clouds exhibiting objects that are more or less complex. A new method providing multi-resolutional surface representations from regular point clouds is discussed. Following the applied principles of this approach a volumetric surface reconstruction method based on the proposed classification scheme is introduced. It allows the reconstruction of surfaces from highly unstructured and noisy point data sets. Furthermore, contributions in the field of reconstructing 3D point clouds from 2D image series are provided. In addition, a discussion concerning the most important properties of (environmental) point clouds with respect to feature extraction is presented.
- Modeling the Effects of Software on Safety and Reliability in Complex Embedded Systems (2012)
- The development of autonomous vehicle systems demands the increased usage of software based control mechanisms. Generally, this leads to very complex systems, whose proper functioning has to be ensured. In our work we aim at investigating and assessing the potential effects of software issues on the safety, reliability and availability of complex embedded autonomous systems. One of the key aspects of the research concerns the mapping of functional descriptions in form of integrated behavior-based control networks to State-Event Fault Tree models.