Sven Fleck - Profile on Academia.edu (original) (raw)
Papers by Sven Fleck
Method and device for sensor-based monitoring an environment
Verfahren zum sensorbasierten Uberwachen eines Istzustandes einer Umgebung (Z2) unter Berucksicht... more Verfahren zum sensorbasierten Uberwachen eines Istzustandes einer Umgebung (Z2) unter Berucksichtigung eines Sollzustandes der Umgebung (Z2) gekennzeichnet durch folgende Schritte: – Erfassen von Sensormesswerten mit wenigstens einem Sensor (30, 32, 34), – Lokalisieren des Sensors (30, 32, 34) oder der Sensormesswerte innerhalb der Umgebung (Z2) unter Berucksichtigung eines abgespeicherten Modells (Z1) der Umgebung (Z2) und Erstellen von Lokalisierungsdaten, – Erstellen von simulierten Messwerten unter Berucksichtigung der Lokalisierungsdaten und des abgespeicherten Modells (Z1), und – Vergleichen der simulierten Messwerte und der mittels des wenigstens einen Sensors (30, 32, 34) erfassten Sensormesswerte.
Until recently, the automotive industry was primarily focused on design, development of electroni... more Until recently, the automotive industry was primarily focused on design, development of electronics and mechanics, and manufacturing. Nowadays the software component of new vehicles has become a large portion of the development cost, driven by adding numerous new sensors, intelligent algorithms, very powerful and specialized processors and a highly complex user experience to the vehicle. In addition, requirements for high-performance and real-time processing as well as the vehicle’s distributed architecture bring challenges, but moreover supply chains further complicate development. In this article a high-level overview of vehicle development is provided, followed by a deep dive in the different software development processes, languages and tools that are required for efficient development of the next generation of intelligent vehicles. This paper especially explores SYCLTM, an open standard from The KhronosTM Group for high-performance programming of heterogeneous multicore process...
A mobile platform for acquisition of 3d-models of large environments: The wägele
Imagine a 3D Television system where the user can freely choose his point of view in real-time du... more Imagine a 3D Television system where the user can freely choose his point of view in real-time during watching three-dimensional movies or documentaries. Clearly, one key component to 3D movie making will be the 3D model acquisition process for background models where the actors can be put to life in 3D. In this paper we present a new mobile 3D model acquisition platform to reach this dream. The platform uses 2D laser range scanners for both self localization by scan matching and geometry acquisition and a panorama camera. 3D models are acquired just by moving the platform through the scene to be captured. Thereby, geometry is acquired continuously and color images are taken in regular intervals. Two data processing flows are presented, a laser range scanner based flow and an omnidirectional stereo vision flow based on graph cuts. Both flows result in textured 3D point clouds – various examples and a comparison are given in this paper.
ISPRS Working Group, 2005
Efficient and comfortable acquisition of large 3D scenes is an important topic for many current a... more Efficient and comfortable acquisition of large 3D scenes is an important topic for many current and future applications like cultural heritage, web applications and 3DTV and therefore it is a hot research topic. In this paper we present a new mobile 3D model acquisition platform. The platform uses 2D laser range scanners for both self localization by scan matching and geometry acquisition and a digital panorama camera. 3D models are acquired just by moving the platform around. Thereby, geometry is acquired continuously and color images are taken in regular intervals. After matching, the geometry is represented as unstructured point cloud which can then be rendered in several ways, for example using splatting with view dependent texturing. The work presented here is still "in progress", but we are able to present some first reconstruction results of indoor and outdoor scenes.
Privacy Sensitive Surveillance: Smart Camera Based Distributed Scene Analysis Reflected in an Integrated 3D Environment
Verfahren und Vorrichtung zum sensorbasierten ?berwachen einer Umgebung
The W?gele: A Mobile Platform for Acquisition of 3D Models of Indoor Outdoor Environments
Camera for tracking objects, has processing unit with region of interest-sampling unit, and tracking unit with particle filter, which are provided to determine tracking data of objects to be tracked on basis of image data
2005 13th European Signal Processing Conference, Sep 1, 2005
Tracking applications using distributed sensor networks are emerging today, both in the field of ... more Tracking applications using distributed sensor networks are emerging today, both in the field of surveillance (airports, train stations, museums, public spots) and industrial vision (visual servoing, factory automation). Traditional centralized approaches offer several drawbacks, due to limited communication bandwidth, computational requirements and thus also limited spatial camera resolution and framerate. In this paper we present a network-enabled Smart Camera for probabilistic tracking. It is capable of tracking objects in real-time and offers a very bandwidth-conservative approach, as it only transmits the tracking results which are on a higher level of abstraction.
13th European Signal …, 2005
A SMART CAMERA APPROACH TO REAL-TIME TRACKING Sven Fleck, Sven Lanwer, Wolfgang Straßer WSI/GRIS,... more A SMART CAMERA APPROACH TO REAL-TIME TRACKING Sven Fleck, Sven Lanwer, Wolfgang Straßer WSI/GRIS, University of Tübingen Sand 14, 72076 Tübingen, Germany phone: +(49) 7071 2970435, fax: + (49) 7071 295466, email: {fleck,lanwer,strasser}@gris.uni ...
An integrated visualization of a smart camera based distributed surveillance system
Proceedings of the third …, 2007
Google, Inc. (search). ...
The W?gele: A Mobile Platform for Acquisition of 3D Models of Indoor Outdoor Environments
Smart Camera Based Monitoring System and Its Application to Assisted Living
Proceedings of The IEEE, 2008
... of Graphical-Interactive Systems, University of Tübingen, Tübingen, Germany (e-mail: fleck@gr... more ... of Graphical-Interactive Systems, University of Tübingen, Tübingen, Germany (e-mail: fleck@gris.uni-tuebingen.de; strasser@gris.uni-tuebingen ... A distributed smart camera approach is proposed that instead qualifies for surveillance in privacy sensitive areas due to the fact that ...
SMARTCLASSYSURV - a smart camera network for distributed tracking and activity recognition and its application to assisted living
Western societies are aging rapidly. According to [1] the US population over age 85 will triple f... more Western societies are aging rapidly. According to [1] the US population over age 85 will triple from 4.5 million in 2003 to 14.2 million by 2040. Automated 24/7 surveillance to ensure safety of the elderly while respecting privacy becomes a major challenge. As a first step, we present a fully distributed system and architecture based on a network of smart cameras to perform geo-referenced tracking and activity recognition. Additionally an intuitive visualization is presented, where all information is integrated in one world model that is available ubiquitously. At a real world installation in an assisted living home, we demonstrate first results regarding falling person detection as one major activity for assisted living systems.
Autonomous mobile robots will play a major role in future security and surveillance tasks for lar... more Autonomous mobile robots will play a major role in future security and surveillance tasks for large scale environments such as shopping malls, airports, hospitals and museums. Robotic security guards will autonomously survey such environments, unless a remote human operator takes over control. In this context a 3D model can convey much more useful information than the typical 2D maps used in many robotic applications today, both for visualization of information and as human machine interface for remote control.
We present a probabilistic framework for matching of point clouds. Variants of the ICP algorithm ... more We present a probabilistic framework for matching of point clouds. Variants of the ICP algorithm typically pair points to points or points to lines. Instead, we pair data points to probability functions that are thought of having generated the data points. Then an energy function is derived from a maximum likelihood formulation. Each such distribution is a mixture of a bivariate Normal Distribution to capture the local structure of points and an explicit outlier term to achieve robustness. We apply our approach to the SLAM problem in robotics using a 2D laser range scanner.
One major challenge of 3DTV is content acquisition. Here, we present a method to acquire a realis... more One major challenge of 3DTV is content acquisition. Here, we present a method to acquire a realistic, visually convincing 3D model of indoor environments based on a mobile platform that is equipped with a laser range scanner and a panoramic camera. The data of the 2D laser scans are used to solve the simultaneous localization and mapping problem and to extract walls. Textures for walls and floor are built from the images of a calibrated panoramic camera. Multiresolution blending is used to hide seams in the generated textures. The scene is further enriched by 3D-geometry calculated from a graph cut stereo technique. We present experimental results from a moderately large real environment. 1
Model based tracking is one key component of many systems today, e.g. within video surveillance o... more Model based tracking is one key component of many systems today, e.g. within video surveillance or human computer interfaces (HCI). Our approach consists of a combination of particle filters (PFs) and active appearance models (AAMs): the PFAAM. It combines the robustness of PFs with the precision of AAMs. Experimental results are given. PFAAM shows superior perfomance compared to both standard AAMs and PFs using AAMs as cues only, i.e. without using a local optimization loop.
Mechanisms for automatically acquiring high quality 3D content of both indoor and outdoor scenes ... more Mechanisms for automatically acquiring high quality 3D content of both indoor and outdoor scenes are essential research topics within 3D Television (3DTV). The envisioned goal is that a photo-realistic 3D real-time rendering from the actual and potentially arbitrary viewpoint of the beholder who is watching 3DTV becomes possible. Such scenes include movie sets in studios, e.g., for talk shows, TV series and blockbuster movies, but also outdoor scenes, e.g., buildings in a neighborhood for a car chase or cultural heritage sites for a documentary. The goal of 3D model acquisition is to provide the 3D background models where potential 3D actors can be embedded. Although model acquisition platforms have become available, the dynamic range of the used cameras is too limited to fully cover real world environments. We present two multi-sensor systems for 3D model acquisition, demonstrate the need for high dynamic range (HDR) capable acquisition platforms and propose a system that performs HDR computation to produce 3D models with tonemapped HDR information. Combining depth and HDR color information, a Markov Random Field based technique is used to get best out of both worlds -the high spatial resolution of the tonemapped HDR image with the depth field of a time-of-flight camera.
Method and device for sensor-based monitoring an environment
Verfahren zum sensorbasierten Uberwachen eines Istzustandes einer Umgebung (Z2) unter Berucksicht... more Verfahren zum sensorbasierten Uberwachen eines Istzustandes einer Umgebung (Z2) unter Berucksichtigung eines Sollzustandes der Umgebung (Z2) gekennzeichnet durch folgende Schritte: – Erfassen von Sensormesswerten mit wenigstens einem Sensor (30, 32, 34), – Lokalisieren des Sensors (30, 32, 34) oder der Sensormesswerte innerhalb der Umgebung (Z2) unter Berucksichtigung eines abgespeicherten Modells (Z1) der Umgebung (Z2) und Erstellen von Lokalisierungsdaten, – Erstellen von simulierten Messwerten unter Berucksichtigung der Lokalisierungsdaten und des abgespeicherten Modells (Z1), und – Vergleichen der simulierten Messwerte und der mittels des wenigstens einen Sensors (30, 32, 34) erfassten Sensormesswerte.
Until recently, the automotive industry was primarily focused on design, development of electroni... more Until recently, the automotive industry was primarily focused on design, development of electronics and mechanics, and manufacturing. Nowadays the software component of new vehicles has become a large portion of the development cost, driven by adding numerous new sensors, intelligent algorithms, very powerful and specialized processors and a highly complex user experience to the vehicle. In addition, requirements for high-performance and real-time processing as well as the vehicle’s distributed architecture bring challenges, but moreover supply chains further complicate development. In this article a high-level overview of vehicle development is provided, followed by a deep dive in the different software development processes, languages and tools that are required for efficient development of the next generation of intelligent vehicles. This paper especially explores SYCLTM, an open standard from The KhronosTM Group for high-performance programming of heterogeneous multicore process...
A mobile platform for acquisition of 3d-models of large environments: The wägele
Imagine a 3D Television system where the user can freely choose his point of view in real-time du... more Imagine a 3D Television system where the user can freely choose his point of view in real-time during watching three-dimensional movies or documentaries. Clearly, one key component to 3D movie making will be the 3D model acquisition process for background models where the actors can be put to life in 3D. In this paper we present a new mobile 3D model acquisition platform to reach this dream. The platform uses 2D laser range scanners for both self localization by scan matching and geometry acquisition and a panorama camera. 3D models are acquired just by moving the platform through the scene to be captured. Thereby, geometry is acquired continuously and color images are taken in regular intervals. Two data processing flows are presented, a laser range scanner based flow and an omnidirectional stereo vision flow based on graph cuts. Both flows result in textured 3D point clouds – various examples and a comparison are given in this paper.
ISPRS Working Group, 2005
Efficient and comfortable acquisition of large 3D scenes is an important topic for many current a... more Efficient and comfortable acquisition of large 3D scenes is an important topic for many current and future applications like cultural heritage, web applications and 3DTV and therefore it is a hot research topic. In this paper we present a new mobile 3D model acquisition platform. The platform uses 2D laser range scanners for both self localization by scan matching and geometry acquisition and a digital panorama camera. 3D models are acquired just by moving the platform around. Thereby, geometry is acquired continuously and color images are taken in regular intervals. After matching, the geometry is represented as unstructured point cloud which can then be rendered in several ways, for example using splatting with view dependent texturing. The work presented here is still "in progress", but we are able to present some first reconstruction results of indoor and outdoor scenes.
Privacy Sensitive Surveillance: Smart Camera Based Distributed Scene Analysis Reflected in an Integrated 3D Environment
Verfahren und Vorrichtung zum sensorbasierten ?berwachen einer Umgebung
The W?gele: A Mobile Platform for Acquisition of 3D Models of Indoor Outdoor Environments
Camera for tracking objects, has processing unit with region of interest-sampling unit, and tracking unit with particle filter, which are provided to determine tracking data of objects to be tracked on basis of image data
2005 13th European Signal Processing Conference, Sep 1, 2005
Tracking applications using distributed sensor networks are emerging today, both in the field of ... more Tracking applications using distributed sensor networks are emerging today, both in the field of surveillance (airports, train stations, museums, public spots) and industrial vision (visual servoing, factory automation). Traditional centralized approaches offer several drawbacks, due to limited communication bandwidth, computational requirements and thus also limited spatial camera resolution and framerate. In this paper we present a network-enabled Smart Camera for probabilistic tracking. It is capable of tracking objects in real-time and offers a very bandwidth-conservative approach, as it only transmits the tracking results which are on a higher level of abstraction.
13th European Signal …, 2005
A SMART CAMERA APPROACH TO REAL-TIME TRACKING Sven Fleck, Sven Lanwer, Wolfgang Straßer WSI/GRIS,... more A SMART CAMERA APPROACH TO REAL-TIME TRACKING Sven Fleck, Sven Lanwer, Wolfgang Straßer WSI/GRIS, University of Tübingen Sand 14, 72076 Tübingen, Germany phone: +(49) 7071 2970435, fax: + (49) 7071 295466, email: {fleck,lanwer,strasser}@gris.uni ...
An integrated visualization of a smart camera based distributed surveillance system
Proceedings of the third …, 2007
Google, Inc. (search). ...
The W?gele: A Mobile Platform for Acquisition of 3D Models of Indoor Outdoor Environments
Smart Camera Based Monitoring System and Its Application to Assisted Living
Proceedings of The IEEE, 2008
... of Graphical-Interactive Systems, University of Tübingen, Tübingen, Germany (e-mail: fleck@gr... more ... of Graphical-Interactive Systems, University of Tübingen, Tübingen, Germany (e-mail: fleck@gris.uni-tuebingen.de; strasser@gris.uni-tuebingen ... A distributed smart camera approach is proposed that instead qualifies for surveillance in privacy sensitive areas due to the fact that ...
SMARTCLASSYSURV - a smart camera network for distributed tracking and activity recognition and its application to assisted living
Western societies are aging rapidly. According to [1] the US population over age 85 will triple f... more Western societies are aging rapidly. According to [1] the US population over age 85 will triple from 4.5 million in 2003 to 14.2 million by 2040. Automated 24/7 surveillance to ensure safety of the elderly while respecting privacy becomes a major challenge. As a first step, we present a fully distributed system and architecture based on a network of smart cameras to perform geo-referenced tracking and activity recognition. Additionally an intuitive visualization is presented, where all information is integrated in one world model that is available ubiquitously. At a real world installation in an assisted living home, we demonstrate first results regarding falling person detection as one major activity for assisted living systems.
Autonomous mobile robots will play a major role in future security and surveillance tasks for lar... more Autonomous mobile robots will play a major role in future security and surveillance tasks for large scale environments such as shopping malls, airports, hospitals and museums. Robotic security guards will autonomously survey such environments, unless a remote human operator takes over control. In this context a 3D model can convey much more useful information than the typical 2D maps used in many robotic applications today, both for visualization of information and as human machine interface for remote control.
We present a probabilistic framework for matching of point clouds. Variants of the ICP algorithm ... more We present a probabilistic framework for matching of point clouds. Variants of the ICP algorithm typically pair points to points or points to lines. Instead, we pair data points to probability functions that are thought of having generated the data points. Then an energy function is derived from a maximum likelihood formulation. Each such distribution is a mixture of a bivariate Normal Distribution to capture the local structure of points and an explicit outlier term to achieve robustness. We apply our approach to the SLAM problem in robotics using a 2D laser range scanner.
One major challenge of 3DTV is content acquisition. Here, we present a method to acquire a realis... more One major challenge of 3DTV is content acquisition. Here, we present a method to acquire a realistic, visually convincing 3D model of indoor environments based on a mobile platform that is equipped with a laser range scanner and a panoramic camera. The data of the 2D laser scans are used to solve the simultaneous localization and mapping problem and to extract walls. Textures for walls and floor are built from the images of a calibrated panoramic camera. Multiresolution blending is used to hide seams in the generated textures. The scene is further enriched by 3D-geometry calculated from a graph cut stereo technique. We present experimental results from a moderately large real environment. 1
Model based tracking is one key component of many systems today, e.g. within video surveillance o... more Model based tracking is one key component of many systems today, e.g. within video surveillance or human computer interfaces (HCI). Our approach consists of a combination of particle filters (PFs) and active appearance models (AAMs): the PFAAM. It combines the robustness of PFs with the precision of AAMs. Experimental results are given. PFAAM shows superior perfomance compared to both standard AAMs and PFs using AAMs as cues only, i.e. without using a local optimization loop.
Mechanisms for automatically acquiring high quality 3D content of both indoor and outdoor scenes ... more Mechanisms for automatically acquiring high quality 3D content of both indoor and outdoor scenes are essential research topics within 3D Television (3DTV). The envisioned goal is that a photo-realistic 3D real-time rendering from the actual and potentially arbitrary viewpoint of the beholder who is watching 3DTV becomes possible. Such scenes include movie sets in studios, e.g., for talk shows, TV series and blockbuster movies, but also outdoor scenes, e.g., buildings in a neighborhood for a car chase or cultural heritage sites for a documentary. The goal of 3D model acquisition is to provide the 3D background models where potential 3D actors can be embedded. Although model acquisition platforms have become available, the dynamic range of the used cameras is too limited to fully cover real world environments. We present two multi-sensor systems for 3D model acquisition, demonstrate the need for high dynamic range (HDR) capable acquisition platforms and propose a system that performs HDR computation to produce 3D models with tonemapped HDR information. Combining depth and HDR color information, a Markov Random Field based technique is used to get best out of both worlds -the high spatial resolution of the tonemapped HDR image with the depth field of a time-of-flight camera.