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mediatum-link-mediatum">TUM School of Engineering and Design</a><a href="/670508" class="mediatum-link-mediatum">Pr眉fungsarbeiten</a> </div> </div>   <div id="result-nav"> <table> <tr> <td align="left" valign="top" nowrap=""><a href="/670508?nodes_per_page=10&result_nav=first"> <div id="mediatum_img_pageleft_end"></div></a><a href="/670508?nodes_per_page=10&show_id=1751635&result_nav=prev"> <div id="mediatum_img_pageleft"></div></a> </td> <td width="100%" align="center"><a href="javascript: history.back()" class="mediatum-link-mediatum">Zur眉ck</a><br/><a href="/670508?nodes_per_page=10" class="mediatum-link-mediatum">Zur眉ck zum Anfang der Trefferliste</a><br/><a href="/1751635" class="mediatum-link-mediatum">Dauerhafter Link zum angezeigten Objekt</a> </td> <td align="right" valign="top" nowrap=""><a href="/670508?nodes_per_page=10&show_id=1751635&result_nav=next"> <div id="mediatum_img_pageright"></div></a><a href="/670508?nodes_per_page=10&result_nav=last"> <div id="mediatum_img_pageright_end"></div></a> </td> </tr> </table><br/> </div>  <link rel="stylesheet" href="/static/css/childs.css"/> <link rel="stylesheet" href="/static/css/jade_style.css"/> <div class="object_main content_container"> <div class="object_image object_column left"><a href="/doc/1751635/1751635.pdf" target="documentdownload" onclick="vgwPixelCall();" title="Volltext in neuem Fenster 枚ffnen"> <div class="document_thumb"><img src="/thumbnail/1751635"/> </div></a> <div class="document_download"><a href="/download/1751635/1751635.pdf" onclick="vgwPixelCall();" class="mediatum-link-mediatum">Wenn Sie Schwierigkeiten haben, das Dokument zu 枚ffnen, versuchen Sie auch bitte diesen Link</a> </div> </div> <dl class="object_meta object_column"><dt class="mask_label">Originaltitel:</dt> <dd class="mask_value">Map-based Long-term Localization and Mapping</dd> <dt class="mask_label">Originaluntertitel:</dt> <dd class="mask_value">Incorporating LiDAR, IMU and Camera Sensors</dd> <dt class="mask_label">脺bersetzter Titel:</dt> <dd class="mask_value">Kartenbasierte Langzeit-Lokalisierung und Kartierung</dd> <dt class="mask_label">脺bersetzter Untertitel:</dt> <dd class="mask_value">Einbindung von LiDAR-, IMU- und Kamerasensoren</dd> <dt class="mask_label">Autor:</dt> <dd class="mask_value"><a href="mailto:miguel.vega@tum.de" target="_blank" title="In neuem Fenster anzeigen" class="mediatum-link-external">Vega-Torres, Miguel Arturo</a><img class="mediatum-icon-small" src="/static/img/email.svg"/></dd> <dt class="mask_label">Jahr:</dt> <dd class="mask_value">2024</dd> <dt class="mask_label">Dokumenttyp:</dt> <dd class="mask_value">Dissertation</dd> <dt class="mask_label">Fakult盲t/School:</dt> <dd class="mask_value">TUM School of Engineering and Design</dd> <dt class="mask_label">Institution:</dt> <dd class="mask_value">Lehrstuhl f眉r Computergest眉tzte Modellierung und Simulation (Prof. Borrmann)</dd> <dt class="mask_label">Betreuer:</dt> <dd class="mask_value">Borrmann, Andr茅 (Prof. Dr.)</dd> <dt class="mask_label">Gutachter:</dt> <dd class="mask_value">Borrmann, Andr茅 (Prof. Dr.); Leutenegger, Stefan (Prof. Dr.); Garc铆a de Soto, Borja (Prof. Dr.)</dd> <dt class="mask_label">Sprache:</dt> <dd class="mask_value">en</dd> <dt class="mask_label">Fachgebiet:</dt> <dd class="mask_value">BAU Bauingenieurwesen, Vermessungswesen; TEC Technik, Ingenieurwissenschaften (allgemein)</dd> <dt class="mask_label">Stichworte:</dt> <dd class="mask_value">3D-Mapping ; Localization ; SLAM ; Bundle Ajustment ; BIM ; Long-term ; LiDAR ; IMU ; Cameras ; Odometry, Robotics ; Mixed Reality ; Augmented Reality</dd> <dt class="mask_label">脺bersetzte Stichworte:</dt> <dd class="mask_value">3D-Kartierung ; Lokalisierung ; SLAM ; B眉ndelausgleichung ; BIM ; Langzeit ; LiDAR ; IMU ; Kameras ; Odometrie ; Robotik ; Mixed Reality ; Augmented Reality</dd> <dt class="mask_label">TU-Systematik:</dt> <dd class="mask_value">BAU 005; ARC 045</dd> <dt class="mask_label">Kurzfassung:</dt> <dd class="mask_value">This dissertation investigates long-term localization and mapping in changing indoor environments using LiDAR, IMU, and camera sensors. It explores the use of reference maps, including prior BIM models or point clouds, to improve sensor data accuracy. The methodology involves developing and evaluating frameworks using benchmark data. The results show significant improvements in the created SLAM maps and have practical implications for facility management.</dd> <dt class="mask_label">脺bersetzte Kurzfassung:</dt> <dd class="mask_value">Diese Dissertation untersucht die langfristige Lokalisierung und Kartierung in sich ver盲ndernden Umgebungen mit LiDAR, IMU und Kamerasensoren. Sie erforscht die Nutzung von Referenzkarten auf der Basis von BIM-Modellen oder Punktwolken zur Verbesserung der Sensordatengenauigkeit. Die Methodik umfasst die Entwicklung und Evaluierung von Frameworks anhand von Benchmark-Daten. Die Ergebnisse zeigen signifikante Verbesserungen der SLAM-Karten und haben praktische Bedeutung f眉r das Geb盲udemanagement.</dd> <dt class="mask_label">WWW:</dt> <dd class="mask_value"><a href="https://mediatum.ub.tum.de/?id=1751635" target="_blank" title="In neuem Fenster anzeigen" class="mediatum-link-external">https://mediatum.ub.tum.de/?id=1751635</a></dd> <dt class="mask_label">Eingereicht am:</dt> <dd class="mask_value">21.08.2024</dd> <dt class="mask_label">M眉ndliche Pr眉fung:</dt> <dd class="mask_value">11.12.2024</dd> <dt class="mask_label">Dateigr枚脽e:</dt> <dd class="mask_value">55249669 bytes</dd> <dt class="mask_label">Seiten:</dt> <dd class="mask_value">210</dd> <dt class="mask_label">Urn (Zitierf盲hige URL):</dt> <dd class="mask_value"><a href="https://nbn-resolving.org/urn:nbn:de:bvb:91-diss-20241211-1751635-0-4" target="_blank" title="In neuem Fenster anzeigen" class="mediatum-link-external">https://nbn-resolving.org/urn:nbn:de:bvb:91-diss-20241211-1751635-0-4</a></dd> 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