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In der vorliegenden Abhandlung wird ein System zur autonomen 3D-Umweltmodellierung vorgestellt, welches auf den drei Hauptprozessen Datenaufnahme, Datenintegration und Aktionsplanung beruht. Basis der Modellierung sind dichte Tiefenbilder, generiert durch einen rotierenden Zeilenscanner, mit Punktmerkmalen. Durch die Registrierung aller Daten können die Fehler der odometrischen Lagebestimmung minimiert werden. Anhand der ermittelten 3D-Daten wird die nächste beste Aufnahmeposition ermittelt.

SLAM --- Autonome Navigation --- Autonome Exploration --- Robotik --- 3D-Umweltmodellierung

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Poetry slams --- Slam --- Belgian poetry (French) --- Poésie belge (française) --- History --- Histoire --- Liège (Région) --- Anthologies

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Une analyse intralinguale de la structure lexicale, de l'originalité de composition et de création, et des différents procédés en usage dans les textes de slam, un mouvement oral de poésie contemporaine, en France et en Allemagne. ©Electre 2015

Poetry slams --- Poetry slams --- French poetry --- German poetry --- Comparative linguistics --- Slam --- Slam --- Poésie française --- Poésie allemande --- Linguistique comparée --- History --- History --- History and criticism --- Histoire --- Histoire --- Histoire et critique

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Automated vehicles heavily rely on accurate self-localization to operate safely and efficiently in dynamic road traffic scenarios. In this work, an iterative and robust approach to create highly accurate maps comprising any number of drives of arbitrary length with constant computation complexity is proposed. Furthermore, a high-precision self-localization method using multiple cameras covering the surrounding environment is presented.

Mechanical engineering & materials --- SLAM --- Automatisiertes Fahren --- Fahrzeugsehen --- Umweltwahrnehmung --- Lokalisierung --- Automated Driving --- Machine Vision --- Environment Perception --- Mapping and Localization

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Digital computer simulation --- SLAM (Computer program language) --- Simulation par ordinateur --- Digital computer simulation. --- Digital simulation --- Computer simulation --- Simulation Language for Alternative Modeling (Computer program language) --- FORTRAN (Computer program language) --- Modeling languages (Computer science) --- Simulations --- Applications of computer systems --- Programming languages: SLAM language --- SLAM (Computer program language).