Relevant bibliographies by topics / 3D Navigation / Dissertations / Theses
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Dissertations / Theses on the topic '3D Navigation'

Author: Grafiati
Published: 4 June 2021
Last updated: 8 March 2025

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1

TRINDADE, DANIEL RIBEIRO. "3D NAVIGATION TECHNIQUES USING THE CUBE MAP." PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO, 2010. http://www.maxwell.vrac.puc-rio.br/Busca_etds.php?strSecao=resultado&nrSeq=16322@1.

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COORDENAÇÃO DE APERFEIÇOAMENTO DO PESSOAL DE ENSINO SUPERIOR
A utilização de visualizadores 3D é algo cada vez mais comum em diversos ramos de atividades. O surgimento de novas tecnologias, com o resultante aumento do poder de processamento dos computadores atuais, tornou possível a criação de ambientes virtuais 3D maiores e mais ricos em detalhes. No entanto, a navegação em ambientes 3D, especialmente os ambientes multiescala, ainda é um problema para muitos usuários. O objetivo deste trabalho é propor soluções para alguns problemas de navegação 3D, a fim de melhorar a experiência de uso nesse tipo de aplicação. Nesse sentido, são apresentadas técnicas que permitem ajustar automaticamente a velocidade de navegação, os planos de corte e o ponto de centro de rotação. É proposta também uma solução para a detecção e tratamento de colisão entre a câmera e os modelos da cena, além de uma técnica que visa impedir que os usuários fiquem perdidos quando nenhum objeto da cena é visualizado. Essas soluções são baseadas na construção e manutenção de uma estrutura chamada de cubo de distâncias (cube map, no original em inglês), que fornece informações sobre a localização espacial dos pontos da cena em relação à câmera. Atualmente em desenvolvimento no Tecgraf/PUC-Rio, o SiVIEP (Sistema de Visualização Integrado de Exploração e Produção) é um visualizador voltado para profissionais da área de exploração e produção de petróleo, que serviu para a detecção e entendimento dos problemas mencionados e para a validação das soluções implementadas.
The use of 3D viewers is becoming common in several activities. The appearance of new technologies, with the resulting increase in processing power, made possible the creation of larger and richer 3D virtual environments. However, the navigation in 3D environments, especially the multiscale ones, is still a problem for many users. The goal of this work is to propose solutions to some 3D navigation problems in order to improve the user experience with this kind of application. In this sense, techniques to automatically adjust the navigation speed, the clipping planes and the rotation center are presented. It is also proposed a solution for the detection and treatment of collision between the camera and the scene, and a technique that aims to prevent users from getting lost when no scene object is visualized. These solutions are based on the construction and maintenance of a structure called cube map, which provides information about the spatial location of the scene points relative to the camera. Currently in development at Tecgraf/PUCRio, the SiVIEP (Integrated Visualization System for Exploration and Production) is a viewer aimed at professionals in the area of oil exploration and production that was used to detect and understand the mentioned problems, and also for validating the implemented solutions.
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2

Diakov, Georgi. "Automated patient tracking for 3D-navigation with ultrasound." München AVM, 2010. http://d-nb.info/1000247910/04.

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3

Satanek, Brandon L. "The Effects of Multidimensional Navigational Aids and Individual Differences on WWW Hypertext Navigation." Thesis, Virginia Tech, 1998. http://hdl.handle.net/10919/36690.

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The most common application of hypertext today is found on the World Wide Web, with the numbers of sites and potential users increasing continually. Hypertext systems are characterized by hyperlinks that allow users nonsequential access to the documents contained within them. Because users are not constrained to read through these documents in a linear manner, new problems may arise not found in traditional paper versions. These problems are generally characterized by a sense of being "lost" within a hypertext system. The user may not know exactly where they are or how to get where they want to be. They have lost many of the visual cues that indicate position found in ordinary texts like books. Navigational aids or overview maps have been suggested as a means to help counteract this problem. These navigational aids can take a standard table-of-contents and extend it dynamically or provide a completely new paradigm of browsing. To that extent, many new varieties of maps (including three-dimensional ones) have been developed but not thoroughly studied. As well, it may be theorized that users of differing cognitive abilities may be helped or hindered by such devices. An empirical study was performed to investigate the effect of multidimensional maps. Three different navigational aids were examined which varied the way pages are displayed along one, two or three dimensions. Two hypertext systems were also where one was roughly twice the size of the other. The participants were given a search task twice to examine performance on page revisits. Finally, three cognitive tests were given to view the effects of individual differences. These included a spatial ability, verbal ability and visual memory test. The results indicated that no performance differences existed between the different navigational aids. However, a significant interaction was present between the maps and the type of Web site; smaller Web sites benefited from the 3D navigational aid. It is theorized that an observed effect for hypertext system was due to site complexity as opposed to size. The results from the cognitive ability measures were mixed. People with low verbal ability scores took longer to locate answers. People with high spatial ability scores found more answers and had scores that were less sensitive to the type of navigational aid used. No significant differences were discovered between people of high and low visual memory abilities.
Master of Science
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4

Mütze, Maria. "Anwendungsbeobachtung computergestützter 3D-Navigation bei transiliosakraler Verschraubung hinterer Beckenringfrakturen." Doctoral thesis, Universitätsbibliothek Leipzig, 2016. http://nbn-resolving.de/urn:nbn:de:bsz:15-qucosa-204727.

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Ziel dieser Arbeit war die 3D-navigierte Transiliosakralverschraubung in einer experimentellen Studie an Plastik- und Spenderbecken sowie in einer prospektiven klinischen Studie mit einer retrospektiven Kontrollgruppe auf die Praktikabilität und proklamierten Vorteile zu überprüfen. Die Ergebnisse der experimentellen Testung unter Idealbedingungen konnten nicht vollständig in der klinischen Anwendung reproduziert werden. Die 3D-gestützte Navigation ermöglicht im Vergleich zur 2D-gestützten Navigation und der konventionellen Bildwandlertechnik nach Matta und Saucedo eine hohe Genauigkeit. Jedoch führt eine Schraubenfehllage häufiger zu einem neurologischen Defizit. Die Strahlenbelastung ähnelt den Verfahren der Kontrollgruppe; darüber hinaus konnten die OP-Zeiten bei der Patientenversorgung unterschritten werden. Die 3D-Navigation bietet besonders aufgrund ihrer hohen Präzision deutliche Vorteile bei der Transiliosakralverschraubung, ist jedoch auch fehleranfällig und kann damit keine allumfas-sende Sicherheit bieten.
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Thyagaraj, Suraj. "Dynamic System Analysis of 3D Ultrasonic Neuro-Navigation System." Available to subscribers only, 2009. http://proquest.umi.com/pqdweb?did=1967797551&sid=3&Fmt=2&clientId=1509&RQT=309&VName=PQD.

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6

Persson, Andreas. "3D Scan-based Navigation using Multi-Level Surface Maps." Thesis, Örebro University, School of Science and Technology, 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-11211.

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The field of research connected to mobile robot navigation is much broader than the scope of this thesis. Hence in this report, the navigation topic is narrowed down to primarily concerning mapping and scan matching techniques that were used to achieve the overall task of navigation nature. Where the work presented within this report is based on an existing robot platform with technique for providing 3D point-clouds, as result of 3D scanning, and functionality for planning for and following a path. In this thesis it is presented how a scan matching algorithm is used for securing the alignment between provided succession point-clouds. Since the computational time of nearest neighbour search is a commonly discussed aspect of scan matching, suggestions about techniques for decreasing the computational time are also presented within this report. With secured alignment, the challenge was within representing provided point-clouds by a map model. Provided point-clouds were of 3D character, thus a mapping technique is presented that provides rough 3D representations of the environment. A problem that arose with a 3D map representation was that given functionality for path planning required a 2D representation. This is addressed by translating the 3D map at a specific height level into a 2D map usable for path planning, where this report suggest a novel traversability analysis approach with the use of a tree structure.

 

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Gorges, Sébastien. "Vers un système de navigation 3D en neuroradiologie interventionnelle." Phd thesis, Université Henri Poincaré - Nancy I, 2007. http://tel.archives-ouvertes.fr/tel-00165960.

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En neuroradiologie interventionnelle, la machine d'angiographie RX est le moyen d'imagerie par excellence pour guider le médecin dans l'accomplissement de son
geste thérapeutique. Cette machine permet l'acquisition d'une image 3D montrant les artères du patient (ou 3DXA). Cependant, le contrôle visuel du déploiement des
outils (guide, cathéter...) est effectué en 2D avec une image temps réel (ou fluoroscopie). Cette thèse a pour ambition de contribuer à l'amélioration des techniqu
es de guidage en proposant des outils permettant une utilisation de l?image 3D durant le traitement.

Les images étant acquises avec la même machine d'angiographie, nous avons consacré une partie de notre travail au développement de méthodes fiables de calibrage de
la chaîne image portée par l'arceau rotatif de la machine. Le but était de comprendre si l'arceau se déformait ou non sous l'influence de son poids.

Tirant parti du fait que les images sont acquises avec la même machine, nous avons ensuite proposé une méthode de recalage 3D2D entre l'image 3DXA et la fluorosc
opie. Cette méthode exploite les capteurs de position du système et incorpore les déformations subies par le système.

Suite à ces travaux, un système permettant la fusion de l'image 3DXA avec la fluoroscopie a été développé en collaboration avec GE Healthcare et évalué au CHU de Nanc
y pour le traitement des anévrismes cérébraux.

Enfin, un nouveau système doté de deux chaînes images (ou système bi-plan) a été installé à Nancy durant notre thèse. Après avoir développé une méthode de détection 2D du g
uide dans les images fluoroscopiques, nous avons initié une première étude de la reconstruction 3D du guide à partir des images bi-plan.
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Jaillot, Vincent. "3D, temporal and documented cities : formalization, visualization and navigation." Thesis, Lyon, 2020. http://www.theses.fr/2020LYSE2026.

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L'étude et la compréhension de l'évolution des villes est un enjeu sociétal important, notamment pour améliorer la qualité de vie dans une ville toujours plus dense. Le numérique et en particulier les modèles 3D de villes peuvent être des éléments de réponse. Leur manipulation est parfois rendue complexe par la prise en compte de leurs dimensions thématique, géométrique et topologique ainsi que de leur structuration hiérarchique
The study and understanding of cities evolution is an important societal issue, particularly for improving the quality of life in an increasingly dense city. Digital technology and in particular 3D city models can be part of the answer. Their manipulation is however sometimes complex due to their thematic, geometric, topological dimensions and hierarchical structure.In this thesis, we focus on the integration of the temporal dimension and in the enrichment with multimedia documents of these 3D models of the city, in an objective of visualization and navigation on the web. Moreover, we take a particular interest in interoperability (based on standards), reusability (with a shared software architecture and open source components) and reproducibility (to make our experiments durable).Our first contribution is a formalization of the temporal dimension of cities for interactive navigation and visualization on the web. For this, we propose a conceptual model of existing standards for the visualization of cities on the web, which we extend with a formalization of the temporal dimension. We also propose a logical model and a technical specification of these proposals.Our second contribution allows the integration of multimedia documents into city models for spatial, temporal and thematic visualization and navigation on the web. We propose a conceptual model for the integration of heterogeneous and multidimensional geospatial data. We then use it for the integration of multimedia documents and 3D city models.Finally, this thesis took place in a multidisciplinary context via the Fab-Pat project of the LabEx IMU, which focuses on cultural heritage sharing and shaping. In this framework, a contribution combining social sciences and computer science has allowed the design of DHAL, a methodology for the comparative analysis of devices for sharing heritage via digital technology. Dans cette thèse, nous nous intéressons à l'intégration de la dimension temporelle et à l'enrichissement avec des documents multimédia de ces modèles 3D de la ville, dans un objectif de visualisation et de navigation sur le web. Nous portons un intérêt particulier à l'intéropérabilité (en s'appuyant sur des standards), à la réutilisabilité (avec une architecture logicielle partagée et des composants open source) et à la reproductibilité (permettant de rendre nos expérimentations pérennes).Notre première contribution est une formalisation de la dimension temporelle des villes pour une navigation et visualisation interactive sur le web. Pour cela, nous proposons un modèle conceptuel des standards existants pour la visualisation de villes sur le web, que nous étendons avec une formalisation de la dimension temporelle. Nous proposons également un modèle logique et une spécification technique de ces propositions.Notre deuxième contribution permet d'intégrer des documents multimédias aux modèles de villes pour une visualisation et une navigation spatiale, temporelle et thématique sur le web. Nous proposons un modèle conceptuel pour l'intégration de données géospatiales hétérogènes et multidimensions. Nous l'utilisons ensuite pour l'intégration de documents multimédias et de modèles 3D de villes.Enfin, cette thèse s'est déroulée dans un contexte pluridisciplinaire via le projet Fab-Pat, du LabEx IMU, qui s'intéresse au partage de la fabrique du patrimoine. Dans ce cadre, une contribution mêlant sciences sociales et informatique a permis de concevoir DHAL, une méthodologie pour l’analyse comparative de dispositifs pour le partage du patrimoine via le numérique
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9

Poppinga, Jann [Verfasser]. "Towards Autonomous Navigation for Robots with 3D Sensors / Jann Poppinga." Bremen : IRC-Library, Information Resource Center der Jacobs University Bremen, 2010. http://d-nb.info/1035033577/34.

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10

Cardoso, João Álvaro Couceiro. "3D manipulation and navigation methods with gestures for large displays." Master's thesis, Universidade de Aveiro, 2015. http://hdl.handle.net/10773/18575.

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Mestrado em Engenharia de Computadores e Telemática
O aumento da utilização de ecrãs públicos levou a necessidade de desenvolver novas formas de interação com este tipo de sistemas. A solução que foi considerada nesta dissertação recorreu a utilização de interfaces de utilizador baseadas em gestos, uma vez que não exigem que os utilizadores usem qualquer tipo de dispositivos para al em do seu próprio corpo. Esta dissertação continua o trabalho realizado anteriormente no âmbito do projecto DETI-Interact, que consiste num sistema interativo baseado num ecrã público instalado na entrada do Departamento de Eletrónica, Telecomunicações e Informática, para o qual foram desenvolvidas v arias aplicações que permitem interação com conte udos 2D e 3D através de um sensor Kinect. O principal objetivo deste trabalho foi o de melhorar esses métodos com os novos gestos disponíveis pela mais recente versão do Kinect SDK. Foram realizadas três experiencias com utilizadores para avaliar a usabilidade os métodos de interação propostos, proporcionando a oportunidade de melhorar os métodos existentes, levando a contribuição de um novo método para manipulação de objectos 3D.
The increasing usage public displays led to the necessity of new forms of interaction with this type of systems. The solution that was considered in this dissertation involved gesture-based interfaces, since they do not require users to carry or use any input device other than their own body. This dissertation continues and extends previous work on DETI-Interact, an interactive public display system located at the lobby of Department of Electronics, Telecommunications and Informatics, to which several applications have been developed allowing interactions with 2D and 3D contents using a Kinect sensor. The main objective of this work was to improve those methods and develop new ones using the new gestures provided by the latest version of the Kinect SDK. Three user studies were conducted to evaluate the usability of our proposed navigation and manipulation methods, leading to this dissertation main contribution of a novel method for the 3D object manipulation.
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Habib, Yassine. "Monocular SLAM densification for 3D mapping and autonomous drone navigation." Electronic Thesis or Diss., Ecole nationale supérieure Mines-Télécom Atlantique Bretagne Pays de la Loire, 2024. http://www.theses.fr/2024IMTA0390.

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Les drones aériens sont essentiels dans les missions de recherche et de sauvetage car ils permettent une reconnaissance rapide de la zone de la mission, tel qu’un bâtiment effondré. La cartographie 3D dense et métrique en temps réel est cruciale pour capturer la structure de l’environnement et permettre une navigation autonome. L’approche privilégiée pour cette tâche consiste à utiliser du SLAM (Simultaneous Localization and Mapping) à partir d’une caméra monoculaire synchronisée avec une centrale inertielle (IMU). Les algorithmes à l’état de l’art maximisent l’efficacité en triangulant un nombre minimum de points, construisant ainsi un nuage de points 3D épars. Quelques travaux traitent de la densification du SLAM monoculaire, généralement en utilisant des réseaux neuronaux profonds pour prédire une carte de profondeur dense à partir d’une seule image. La plupart ne sont pas métriques ou sont trop complexes pour être utilisés en embarqué. Dans cette thèse, nous identifions une méthode de SLAM monoculaire à l’état de l’art et l’évaluons dans des conditions difficiles pour les drones. Nous présentons une architecture fonctionnelle pour densifier le SLAM monoculaire en appliquant la prédiction de profondeur monoculaire pour construire une carte dense et métrique en voxels 3D.L’utilisation de voxels permet une construction et une maintenance efficaces de la carte par projection de rayons, et permet la fusion volumétrique multi-vues. Enfin, nous proposons une procédure de récupération d’échelle qui utilise les estimations de profondeur éparses et métriques du SLAM pour affiner les cartes de profondeur denses prédites. Notre approche a été évaluée sur des benchmarks conventionnels et montre des résultats prometteurs pour des applications pratiques
Aerial drones are essential in search and rescue missions as they provide fast reconnaissance of the mission area, such as a collapsed building. Creating a dense and metric 3D map in real-time is crucial to capture the structure of the environment and enable autonomous navigation. The recommended approach for this task is to use Simultaneous Localization and Mapping (SLAM) from a monocular camera synchronized with an Inertial Measurement Unit (IMU). Current state-of-the-art algorithms maximize efficiency by triangulating a minimum number of points, resulting in a sparse 3D point cloud. Few works address monocular SLAM densification, typically by using deep neural networks to predict a dense depth map from a single image. Most are not metric or are too complex for use in embedded applications. In this thesis, we identify and evaluate a state of-the-art monocular SLAM baseline under challenging drone conditions. We present a practical pipeline for densifying monocular SLAM by applying monocular depth prediction to construct a dense and metric 3D voxel map. Using voxels allows the efficient construction and maintenance of the map through raycasting, and allows for volumetric multi-view fusion. Finally, we propose a scale recovery procedure that uses the sparse and metric depth estimates of SLAM to refine the predicted dense depth maps. Our approach has been evaluated on conventional benchmarks and shows promising results for practical applications
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Bourdeau, Aude. "Approches avancées de navigation par signaux GNSS en environnement urbain utilisant un modèle 3D." Thesis, Toulouse, ISAE, 2013. http://www.theses.fr/2013ESAE0040/document.

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L'utilisation de systèmes GNSS (Global Navigation Satellites System) en environnement urbain s'est fortement développée, notamment avec l'apparition des puces GNSS dans les téléphones portables. Cependant, l'environnement urbain génère des difficultés dans la réception des signaux GNSS qui peuvent engendrer des erreurs en position de plusieurs dizaines de mètres. Nous avons choisi d'apporter une solution à ces problématiques grâce à l'utilisation d'un modèle 3D de ville réaliste simulant la propagation des signaux GNSS. La première partie de notre étude se porte sur la problématique des signaux Non Line Of Sight et propose une solution de navigation utilisant le modèle 3D de ville pour estimer les caractéristiques géométriques des signaux NLOS reçus par le récepteur. Dans la deuxième partie de notre travail, le modèle 3D de ville est utilisé pour estimer le biais dû aux signaux multitrajets sur la mesure de pseudodistance. Enfin, la dernière partie de notre étude propose une solution combinant les méthodes de poursuite vectorielle des signaux GNSS aux apports d'information du modèle 3D de ville afin d'aider la poursuite en contexte d'atténuation des signaux GNSS
The use of Global Navigation Satellites System, better known by the acronym GNSS, in an urban environment has grown significantly, especially with the advent of GNSS chips in mobile phones. However, the urban environment introduces many difficulties in GNSS signal reception that can lead to position ?s errors of several tens of meters. We chose to answer these problems by using a 3D city model allowing to simulate a realistic propagation of the GNSS signal in urban environment. The first part of our work regards the Non Line Of Sight problem, where we propose a navigation solution based on a 3D city model to estimate geometrical properties of NLOS measured by the receiver. In a second part, the 3D city model is used to estimate the bias coming from the multipath on the pseudorange measurement. Finally, the last part of our study provides a solution coupling the GNSS signal vectorial tracking method to the information produced from the 3D city model in order to improve the tracking in the context of strong GNSS signal power attenuation
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Hsu, P. H. "3D information place : architecture for virtual place-making and information navigation." Thesis, University of Cambridge, 2009. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.604679.

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Performing activities together in online information environments is not unusual. It is functionally possible for shared information environments to become ‘virtual places’ in which social activities take place. Such environments, however, are traditionally designed based on the concept of digital documents accessed remotely from the outside, rather than on the concept of places. This thesis argues that shared information environments can be designed to allow multi-user navigation to take place inside the space, and suggests they should be designed as places, supporting and reflecting social interaction. A concept called 3D Information Place is proposed. A 3D information place is a 3D navigable virtual environment which provides a socio-spatial organisation of information. Its structures and formal attributes have an impact on users’ information-seeking activities, and they adapt to reflect patterns of such activities. Such a concept is based on the concept of place and the context of digital information environments, and leads to a theoretical framework consisting of four major elements: space, information, social factors and digital mediation. It is a fundamental hypothesis of this thesis that combining the four elements into a coherent system can lead to positive effects not only on users’ navigation experience and social interaction, but also on the performance of information environments for the purpose of information-seeking. In order to develop the four-element theoretical framework, this thesis investigates fields including architecture, information visualisation, virtual environments, and theories of hypothesis. The framework is developed in a few steps. Firstly, fundamental relations between information and space are investigated. Secondly, the concept of place is investigated and re-examined based on the context of 3D information environments, leading to the concept of 3D information place. Thirdly, principles of designing a 3D information place are developed based on an anatomical analysis of 3D virtual environments.
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Reid, Zachary A. "Leveraging 3D Models for SAR-based Navigation in GPS-denied Environments." Wright State University / OhioLINK, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=wright1540419210051179.

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Gonot, Antoine. "Conception et évaluation d'interfaces de navigation dans les environnements sonores 3D." Paris, CNAM, 2008. http://www.theses.fr/2008CNAM0616.

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Nous nous posons ici la question de l’ergonomie d’un dispositif audio 3D, donc de sa mise en œuvre et de son usage. Avant d’entrer dans les détails de la conception d’une interface Humain-Machine, nous avons voulu tester préalablement les capacités des indices de la localisation auditive à représenter l’espace lui-même. L’expérience a pris la forme d’un jeu de navigation en vue subjective dans une ville virtuelle simplifiée où le joueur devait s’orienter en mettant à profit les informations sonores qui lui étaient fournies. Nous avons pu décrire assez précisément différents comportements de localisation dynamique, qui expliquent en partie pourquoi un rendu binaural des effets de spatialisation offrent de meilleures performances qu’un rendu stéréophonique. D’autre part, nous avons définit l’architecture d’une interface sonore dite « zoomable ». Elle s’articule autour d’une abstraction analytique, composée de deux noeuds audio, dont la sémantique est emprunté à la norme MPEG-4 : les DirectiveSounds, sons monophoniques spatialisés individuellement et les Surroundingsounds, sons multi-canaux, capturant la configuration spatiale d’une scène sonore grâce à un certain encodage (panning d’amplitude). Une fois développé un premier prototype de l’interface, nous avons réalisé une dernière expérience tentant d’évaluer la dégradation perçue lorsque l’on substituait un ensemble de DirectiveSound par un unique SurroundingSound. Les résultats indiquent que les SurroundingSound ne constituent une amélioration significative par rapport à une stéréophonie upmixée, que lorsque le nombre de sources qui constituent la scène est suffisamment important
We are dealing with usability and Human Computer Interaction, so we are interested, not only in the way to functionalize the spatial auditory cues, but also in the way a spatial auditory display should be implemented. The first study was concerned by an egocentric perspective (or first person view), which offers the minimum of visual information about the space being explored. The experiment was a game-like test, in which the task was to navigate in a simplified virtual town using auditory cues that are provided by different targets. We observed different localization behaviours, more or less effective, which explain the differences in performance between binaural and sterephonic rendering (binaural globally reduced the time needed to make a decision at each crossroad). Secondly, we have defined the architecture of a “zoomable” auditory interface, based on a sonic abstraction composed of two audio nodes, whose semantic is borrowed from MPEG-4 standard: the DirectiveSounds, which are monophonic sounds individually spatialized, and the SurroundingSounds, which are native multi-channel sounds encoding the spatial configuration of a scene (amplitude panning). Once a first prototype has been implemented, we have conducted a last experiment, assessing to which extend the replacement of a group of DirectiveSounds by a single SurroundingSound, is an impairment for the end-user. The results showed that such a substitution offered an enhancement compared to a stereophonic upmix, only when the number of sound sources in the scene was sufficiently important
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Wang, Cishen. "Maintenance of a 3D Visualization System." Thesis, Växjö University, School of Mathematics and Systems Engineering, 2008. http://urn.kb.se/resolve?urn=urn:nbn:se:vxu:diva-2320.

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Vizz3D is a powerful 3D visualization system. The current version is neither perfect nor up-to-date. Furthermore, some important features are missing. In order to keep the tool valuable it needs to be maintained. I implemented a new feature allowing to save and load the view port in the graph to control the camera position. I also improved the CPU utilization and the navigation system to solve the limitations in Vizz3D and to improve the overall performance.

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Hansson, Sofie, and Moa Johansson. "Augmented Reality som navigationshjälpmedel : Designprinciper utifrån ett användarperspektiv." Thesis, Luleå tekniska universitet, Institutionen för system- och rymdteknik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-85682.

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The purpose of this study was to gain insights of which design guidelines are vital for developing anavigation solution with Augmented Reality from a usability perspective. We wanted to raise awarenessof how the technology could be used to enable both indoor and outdoor navigation.Design Science Research (DSR) was applied as the research methodology, and created prerequisites toidentify problems connected to Luleå University of Technology’s existing map. The study applied the 7steps of the design thinking process, which made it possible to identify the problems. Through surveysand qualitative interviews in combination with observations, it was possible to create an overall picture ofthe problems to understand the users needs. Based on the feedback from the user tests, the prototype couldbe developed and improved.In the second step, 4 themes were set up based on the empirical data collected, which were Navigation,Augmented Reality, General design and Feedback. These themes followed as a common threadthroughout the study and were used to structure the design guidelines and to develop the prototype. Ourstudy shows the importance of throughout the process carry out a consistent design when designing digitalservices. Through this the user can see connections and understand how the application is structured. Toestablish user participation is important at an early stage of the design process, because it contributes togaining insights into deficiency and positive aspects of the prototype, which in turn contributes to meetingthe user needs. One difficulty identified in the empirical data was problems in distinguishing differentfloors in already existing navigation solutions. In order to solve this problem we found it important tocomplement the 2D view in the solution. In the study, this was supplemented by a parallel AR view and atext showing the number of the floor in the 2D view.Keywords:
Denna studie syftade till att skapa förståelse kring vilka designprinciper som utifrån ettanvändbarhetsperspektiv är avgörande när det kommer till utvecklandet av en navigationslösning medAR-funktionalitet. Studien riktade sig mot att öka medvetenhet kring hur tekniken skulle kunna användasför att agera som hjälpmedel i inom-och utomhusnavigation.Med Design Science Research (DSR) som forskningsmetod, skapades förutsättningar för att kunnaidentifiera problematik med Luleå tekniska universitets befintliga karta. I studien tillämpadesdesigntänkande-processens 7 steg, vilket möjliggjorde för att kunna identifiera dessa problem. Genomenkäter och kvalitativa intervjuer i kombination med observationer gick det att skapa en bild överproblematiken kopplat till Luleå tekniska universitets befintliga karta. Utifrån enkäterna skapades även enförståelse över vilka behov som finns utifrån användarnas perspektiv och genom användartester kundeprototypen utvecklas och förbättras.I det andra steget av designtänkande-processen sattes 4 teman upp utifrån studiens empiri, närmarebestämt Navigation, Augmented Reality, Allmän design samt Feedback. Dessa teman följde som en rödtråd genom studien och användes för att strukturera designprinciperna och utforma prototypen. Vår studievisar på vikten av att genomgående genomföra en konsekvent design vid utformandet av digitala tjänster.Genom detta kan användaren se samband och förstå hur applikationen är uppbyggd. Det gick även attkonstatera att användarmedverkan i ett tidigt skede av designprocessen bidrar till att få insikter i bristeroch positiva aspekter av prototypen som i sin tur leder till att kunna uppfylla användarnas behov. Ettproblem som identifierades var svårigheter att urskilja våningsplan i befintliga navigationslösningar. Föratt kunna urskilja våningsplan fann studien det avgörande att hitta ett komplement till 2D-vyn i ennavigationslösning. Inom prototypen kompletterades detta genom en parallell AR-vy samt text i 2D-vyn.
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Ortega, Francisco Raul. "3D Navigation with Six Degrees-of-Freedom using a Multi-Touch Display." FIU Digital Commons, 2014. http://digitalcommons.fiu.edu/etd/1594.

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With the introduction of new input devices, such as multi-touch surface displays, the Nintendo WiiMote, the Microsoft Kinect, and the Leap Motion sensor, among others, the field of Human-Computer Interaction (HCI) finds itself at an important crossroads that requires solving new challenges. Given the amount of three-dimensional (3D) data available today, 3D navigation plays an important role in 3D User Interfaces (3DUI). This dissertation deals with multi-touch, 3D navigation, and how users can explore 3D virtual worlds using a multi-touch, non-stereo, desktop display. The contributions of this dissertation include a feature-extraction algorithm for multi-touch displays (FETOUCH), a multi-touch and gyroscope interaction technique (GyroTouch), a theoretical model for multi-touch interaction using high-level Petri Nets (PeNTa), an algorithm to resolve ambiguities in the multi-touch gesture classification process (Yield), a proposed technique for navigational experiments (FaNS), a proposed gesture (Hold-and-Roll), and an experiment prototype for 3D navigation (3DNav). The verification experiment for 3DNav was conducted with 30 human-subjects of both genders. The experiment used the 3DNav prototype to present a pseudo-universe, where each user was required to find five objects using the multi-touch display and five objects using a game controller (GamePad). For the multi-touch display, 3DNav used a commercial library called GestureWorks in conjunction with Yield to resolve the ambiguity posed by the multiplicity of gestures reported by the initial classification. The experiment compared both devices. The task completion time with multi-touch was slightly shorter, but the difference was not statistically significant. The design of experiment also included an equation that determined the level of video game console expertise of the subjects, which was used to break down users into two groups: casual users and experienced users. The study found that experienced gamers performed significantly faster with the GamePad than casual users. When looking at the groups separately, casual gamers performed significantly better using the multi-touch display, compared to the GamePad. Additional results are found in this dissertation.
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Stallkamp, Jan. "Optisches 3D-Messverfahren für die Navigation in der roboterassistierten minimal-invasiven Chirurgie." Heimsheim Jost-Jetter, 2005. http://deposit.d-nb.de/cgi-bin/dokserv?idn=976190060.

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20

Anwar, Qaiser. "Optical Navigation by recognition of reference labels using 3D calibration of camera." Thesis, Mittuniversitetet, Institutionen för informationsteknologi och medier, 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:miun:diva-18453.

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In this thesis a machine vision based indoor navigation system is presented. This is achieved by using rotationally independent optimized color reference labels and a geometrical camera calibration model which determines a set of camera parameters. All reference labels carry one byte of information (0 to 255), which can be designed for different values. An algorithm in Matlab has been developed so that a machine vision system for N number of symbols can recognize the symbols at different orientations. A camera calibration model describes the mapping between the 3-D world coordinates and the 2-D image coordinates. The reconstruction system uses the direct linear transform (DLT) method with a set of control reference labels in relation to the camera calibration. The least-squares adjustment method has been developed to calculate the parameters of the machine vision system. In these experiments it has been demonstrated that the pose of the camera can be calculated, with a relatively high precision, by using the least-squares estimation.
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Venable, Donald T. "Implementation of a 3D Imaging Sensor Aided Inertial Measurement Unit Navigation System." Ohio University / OhioLINK, 2008. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1218764810.

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22

Chenu, E. "Optimisation polyédrique de terrain 3D pour une navigation interactive en temps réel." Aix-Marseille 3, 1998. http://www.theses.fr/1998AIX30039.

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Le developpement de la realite virtuelle impose de concevoir un nombre sans cesse croissant de modele 3d pour la navigation en temps reel. Les difficultes de la triangulation de surface 3d m'ont amenees a creer la methode tredo. Cette methode est basee sur deux criteres de triangulation et trois criteres d'optimisation. Les criteres de triangulation decoulent du critere de triangulation de delaunay. Le but des trois criteres d'optimisation est de construire un maillage polyedrique d'une surface 3d qui puisse etre visualise le plus rapidement possible par un ordinateur. Ces criteres sont donc issues des contraintes de la realite virtuelle et des cartes graphiques. Les modeles optimisees permettent des gains de temps de l'ordre de 25% sur des modeles non optimisees. La navigation en temps reel est ainsi plus performante.
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Yiakoumettis, Christos. "Semantic navigation of large scale geo-referenced 3D scenes and virtual worlds." Limoges, 2012. https://aurore.unilim.fr/theses/nxfile/default/389358e4-be58-45f6-8896-1e8dc57d1b24/blobholder:0/2012LIMO4049.pdf.

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The current technological evolutions introduce 3D geo-informatics to their digital age, enabling new potential applications in the field of virtual tourism, recreation, entertainment and cultural heritage. Virtual 3D worlds and geo-referenced scenes are used even more in simulations of physical disasters or in evacuating and military scenarios. It is argued that 3D information provides the natural way of navigation. However, personalization is a key aspect in a navigation system, since a route that incorporates user preferences is ultimately more suitable than a route which simply provides the shortest distance or travel time. An efficient personalized route planning architecture is based on geometrical criteria and on human factors regarding user's preferences in the 3D itinerary. In this work a multi-layer integrated framework is introduced for efficient, user-centric navigation of 3D worlds. Usually, user's preferences are expressed as a set of weights that regulate the degree of importance of the scene semantic metadata on the route selection process. These weights, however, are defined by the users, setting the complexity on the user's side, which makes personalization an arduous task. In this work, an alternative approach is proposed in which metadata weights are estimated implicitly and transparently to users, transferring the complexity to the system side. This is achieved by introducing a relevance feedback online learning strategy which automatically adjusts metadata weights by exploiting information fed back to the system about the relevance of user's preferences judgments given in a form of pairwise comparisons. Practically implementing a relevance feedback algorithm presents the limitation that several pairwise comparisons (samples) are required to converge to a set of reliable metadata weights. For this reason, in this work a weight rectification strategy is proposed which improves weight estimation by exploiting metadata interrelations defined through an ontology. In the sequel, a genetic optimization algorithm is incorporated to select the user's most preferred routes based on a multi-criteria optimization approach. To increase the degree of personalization in 3D navigation, an efficient algorithm is also introduced for estimating 3D trajectories around objects of interest by merging best selected 2D projected views that contain faces which are mostly preferred by users. Simulations and comparisons have been conducted with other approaches either in the field of online learning or route selection using objective metrics in terms of precision and recall values
Les évolutions technologiques actuelles font entrer la géo-informatique 3D à son âge numérique, permettant de nouvelles applications potentielles dans le domaine du tourisme virtuel, du loisir, du divertissement et du patrimoine culturel. Des mondes virtuels 3D et des scènes géo-référencées sont utilisés encore plus dans les simulations de catastrophes physiques et de plan d'évacuation ou de scénarios militaires. Il est prouvé que les informations 3D offrent un moyen naturel de navigation. Cependant la personnalisation est un aspect essentiel dans un système de navigation. En dehors des optimisations de distance et du temps l'intégration des préférences des utilisateurs est finalement le point les important d'une navigation. Une architecture efficace de planification d'itinéraire personnalisée est basée tant sur des critères géométriques que sur les préférences de l'utilisateur. Dans ce travail, un cadre multi-couche intégrée est introduit, pour soutenir une navigation efficace centrée sur l'utilisateur, dans des mondes 3D. Habituellement, les préférences de l'utilisateur sont exprimées sous forme d‟un ensemble de poids qui représente le degré d'importance du contenu des métadonnées sémantiques de la scène sur le processus de sélection du tracé. Ces poids, cependant, sont définis par les utilisateurs, en mettant la complexité du côté de l'utilisateur, ce qui rend la personnalisation une tâche ardue. Dans ce travail, une approche alternative est proposée dans laquelle les poids du contenu des métadonnées sont estimés implicitement et de façon transparente pour les utilisateurs, en déplaçant la complexité du côté du système. Ce résultat est obtenu par l'introduction d'une stratégie d'apprentissage en ligne par retour d'expérience qui ajuste automatiquement les poids de variables des métadonnées par exploitation de l'information renvoyée vers le système sur la pertinence des jugements de préférences utilisateur présentés sous une forme de comparaisons par paires. Dans la pratique la mise en oeuvre d'un algorithme de retour d'expérience présente la limitation que plusieurs comparaisons par paires (échantillons) sont nécessaires pour converger vers un ensemble de poids de variables des métadonnées fiables. Pour cette raison, dans ce travail une stratégie de rectification de poids est proposée qui permet d'estimer le poids en exploitant les interrelations de variables de métadonnées définies par une ontologie. Dans la suite, un algorithme d'optimisation génétique est proposé pour sélectionner les itinéraires les plus préférés de l'utilisateur basé sur une approche d'optimisation multi-critères. Pour améliorer le degré de personnalisation en navigation 3D, un algorithme efficace est également mis en place pour estimer les trajectoires 3D autour des objets choisis par la fusion de meilleurs vues projetées en 2D qui contiennent des faces qui ont la plus grande préférence des utilisateurs. Des simulations et des comparaisons ont été effectuées avec d'autres approches, soit dans le domaine de l'apprentissage en ligne ou du choix du tracé en utilisant des mesures objectives en termes de précision et de rappel des valeurs
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Muhammad, Naveed. "Contributions to the use of 3D lidars for autonomous navigation : calibration and qualitative localization." Thesis, Toulouse, INSA, 2012. http://www.theses.fr/2012ISAT0001/document.

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Afin de permettre une navigation autonome d'un robot dans un environnement, le robot doit être capable de percevoir son environnement. Dans la littérature, d'une manière générale, les robots perçoivent leur environnement en utilisant des capteurs de type sonars, cameras et lidar 2D. L'introduction de nouveaux capteurs, nommés lidar 3D, tels que le Velodyne HDL-64E S2, a permis aux robots d'acquérir plus rapidement des données 3D à partir de leur environnement. La première partie de cette thèse présente une technique pour la calibrage des capteurs lidar 3D. La technique est basée sur la comparaison des données lidar à un modèle de vérité de terrain afin d'estimer les valeurs optimales des paramètres de calibrage. La deuxième partie de la thèse présente une technique pour la localisation et la détection de fermeture de boucles pour les robots autonomes. La technique est basée sur l'extraction et l'indexation des signatures de petite-taille à partir de données lidar 3D. Les signatures sont basées sur les histogrammes de l'information de normales de surfaces locale extraite à partir des données lidar en exploitant la disposition des faisceaux laser dans le dispositif lidar
In order to autonomously navigate in an environment, a robot has to perceive its environment correctly. Rich perception information from the environment enables the robot to perform tasks like avoiding obstacles, building terrain maps, and localizing itself. Classically, outdoor robots have perceived their environment using vision or 2D lidar sensors. The introduction of novel 3D lidar sensors such as the Velodyne device has enabled the robots to rapidly acquire rich 3D data about their surroundings. These novel sensors call for the development of techniques that efficiently exploit their capabilities for autonomous navigation.The first part of this thesis presents a technique for the calibration of 3D lidar devices. The calibration technique is based on the comparison of acquired 3D lidar data to a ground truth model in order to estimate the optimal values of the calibration parameters. The second part of the thesis presents a technique for qualitative localization and loop closure detection for autonomous mobile robots, by extracting and indexing small-sized signatures from 3D lidar data. The signatures are based on histograms of local surface normal information that is efficiently extracted from the lidar data. Experimental results illustrate the developments throughout the manuscript
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Trellet, Mikael. "Exploration et analyse immersives de données moléculaires guidées par la tâche et la modélisation sémantique des contenus." Thesis, Université Paris-Saclay (ComUE), 2015. http://www.theses.fr/2015SACLS262/document.

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En biologie structurale, l’étude théorique de structures moléculaires comporte quatre activités principales organisées selon le processus séquentiel suivant : la collecte de données expérimentales/théoriques, la visualisation des structures 3d, la simulation moléculaire, l’analyse et l’interprétation des résultats. Cet enchaînement permet à l’expert d’élaborer de nouvelles hypothèses, de les vérifier de manière expérimentale et de produire de nouvelles données comme point de départ d’un nouveau processus.L’explosion de la quantité de données à manipuler au sein de cette boucle pose désormais deux problèmes. Premièrement, les ressources et le temps relatifs aux tâches de transfert et de conversion de données entre chacune de ces activités augmentent considérablement. Deuxièmement, la complexité des données moléculaires générées par les nouvelles méthodologies expérimentales accroît fortement la difficulté pour correctement percevoir, visualiser et analyser ces données.Les environnements immersifs sont souvent proposés pour aborder le problème de la quantité et de la complexité croissante des phénomènes modélisés, en particulier durant l’activité de visualisation. En effet, la Réalité Virtuelle offre entre autre une perception stéréoscopique de haute qualité utile à une meilleure compréhension de données moléculaires intrinsèquement tridimensionnelles. Elle permet également d’afficher une quantité d’information importante grâce aux grandes surfaces d’affichage, mais aussi de compléter la sensation d’immersion par d’autres canaux sensorimoteurs.Cependant, deux facteurs majeurs freinent l’usage de la Réalité Virtuelle dans le domaine de la biologie structurale. D’une part, même s’il existe une littérature fournie sur la navigation dans les scènes virtuelles réalistes et écologiques, celle-ci est très peu étudiée sur la navigation sur des données scientifiques abstraites. La compréhension de phénomènes 3d complexes est pourtant particulièrement conditionnée par la capacité du sujet à se repérer dans l’espace. Le premier objectif de ce travail de doctorat a donc été de proposer des paradigmes navigation 3d adaptés aux structures moléculaires complexes. D’autre part, le contexte interactif des environnements immersif favorise l’interaction directe avec les objets d’intérêt. Or les activités de collecte et d’analyse des résultats supposent un contexte de travail en "ligne de commande" ou basé sur des scripts spécifiques aux outils d’analyse. Il en résulte que l’usage de la Réalité Virtuelle se limite souvent à l’activité d’exploration et de visualisation des structures moléculaires. C’est pourquoi le second objectif de thèse est de rapprocher ces différentes activités, jusqu’alors réalisées dans des contextes interactifs et applicatifs indépendants, au sein d’un contexte interactif homogène et unique. Outre le fait de minimiser le temps passé dans la gestion des données entre les différents contextes de travail, il s’agit également de présenter de manière conjointe et simultanée les structures moléculaires et leurs analyses et de permettre leur manipulation par des interactions directes.Notre contribution répond à ces objectifs en s’appuyant sur une approche guidée à la fois par le contenu et la tâche. Des paradigmes de navigation ont été conçus en tenant compte du contenu moléculaire, en particulier des propriétés géométriques, et des tâches de l’expert, afin de faciliter le repérage spatial et de rendre plus performante l’activité d’exploration. Par ailleurs, formaliser la nature des données moléculaires, leurs analyses et leurs représentations visuelles, permettent notamment de proposer à la demande et interactivement des analyses adaptées à la nature des données et de créer des liens entre les composants moléculaires et les analyses associées. Ces fonctionnalités passent par la construction d’une représentation sémantique unifiée et performante rendant possible l’intégration de ces activités dans un contexte interactif unique
In structural biology, the theoretical study of molecular structures has four main activities organized in the following scenario: collection of experimental and theoretical data, visualization of 3D structures, molecular simulation, analysis and interpretation of results. This pipeline allows the expert to develop new hypotheses, to verify them experimentally and to produce new data as a starting point for a new scenario.The explosion in the amount of data to handle in this loop has two problems. Firstly, the resources and time dedicated to the tasks of transfer and conversion of data between each of these four activities increases significantly. Secondly, the complexity of molecular data generated by new experimental methodologies greatly increases the difficulty to properly collect, visualize and analyze the data.Immersive environments are often proposed to address the quantity and the increasing complexity of the modeled phenomena, especially during the viewing activity. Indeed, virtual reality offers a high quality stereoscopic perception, useful for a better understanding of inherently three-dimensional molecular data. It also displays a large amount of information thanks to the large display surfaces, but also to complete the immersive feeling with other sensorimotor channels (3D audio, haptic feedbacks,...).However, two major factors hindering the use of virtual reality in the field of structural biology. On one hand, although there are literature on navigation and environmental realistic virtual scenes, navigating abstract science is still very little studied. The understanding of complex 3D phenomena is however particularly conditioned by the subject’s ability to identify themselves in a complex 3D phenomenon. The first objective of this thesis work is then to propose 3D navigation paradigms adapted to the molecular structures of increasing complexity. On the other hand, the interactive context of immersive environments encourages direct interaction with the objects of interest. But the activities of: results collection, simulation and analysis, assume a working environment based on command-line inputs or through specific scripts associated to the tools. Usually, the use of virtual reality is therefore restricted to molecular structures exploration and visualization. The second thesis objective is then to bring all these activities, previously carried out in independent and interactive application contexts, within a homogeneous and unique interactive context. In addition to minimizing the time spent in data management between different work contexts, the aim is also to present, in a joint and simultaneous way, molecular structures and analyses, and allow their manipulation through direct interaction.Our contribution meets these objectives by building on an approach guided by both the content and the task. More precisely, navigation paradigms have been designed taking into account the molecular content, especially geometric properties, and tasks of the expert, to facilitate spatial referencing in molecular complexes and make the exploration of these structures more efficient. In addition, formalizing the nature of molecular data, their analysis and their visual representations, allows to interactively propose analyzes adapted to the nature of the data and create links between the molecular components and associated analyzes. These features go through the construction of a unified and powerful semantic representation making possible the integration of these activities in a unique interactive context
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Markiel, JN M. "Navigation in GPS Challenged Environments Based Upon Ranging Imagery." The Ohio State University, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=osu1343743930.

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27

Þorsteinsson, Jóhannes. "Real Time Procedural Wind Soundscape : The effect of procedural wind soundscape on navigation in virtual 3D space." Thesis, Högskolan i Skövde, Institutionen för informationsteknologi, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-11452.

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Sound design with the help of procedurally generated sound in video games has seen arise in the last few years given how that method gives us greated freedom in how soundreacts in realtime to the games, and the players. This research looks into if there is anydifference in how procedural sound, in this case procedurally generated wind, affectsthe navigation of players in a three dimensional world, as opposed to static samplebased sound design.
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Dill, Evan T. "Integration of 3D and 2D Imaging Data for Assured Navigation in Unknown Environments." Ohio University / OhioLINK, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1299616166.

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Olsson, Mathias, and Malin Waldebjer. "Användbarhet och begränsad navigation i en interaktiv 3D-miljö : Inredningsverktyg för MIOs möbler." Thesis, University of Kalmar, School of Communication and Design, 2008. http://urn.kb.se/resolve?urn=urn:nbn:se:hik:diva-576.

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Det har blivit allt mer populärt på senare tid med inredning av hemmet, och det finns idag stora möjligheter med virtuell 3D, vilket gör projektet relevant för tiden vi lever i. Projektet handlar om att skapa en första prototyp av en möblerbar 3D-miljö med tillhörande användarvänligt gränssnitt som ska kunna användas i Mios varuhus. Prototypen bygger på två demofilmer av applikationen där gränssnittet och användarens interaktionsmöjligheter har visualiserats i en vanlig skärm, och 3D-miljön i en 3D-skärm, dessa har sedan synkats med varandra för att ge ett helhetsintryck av applikationen. Gränssnittet skulle vara så pass användarvänligt att Mios kunder själva skulle kunna använda applikationen och med hjälp av speciella 3D-skärmar och renderingstekniker skulle miljön framstå som verklig. Projektet startade med en förstudie, med intervjuer och research. Teorier kring användarvänlighet, virtuell verklighet och framtagning av målgrupp togs fram som grund för arbetet. Teorier kring användarvänlighet tillsammans med ett scenario gjorde att gränssnittet kunde utvecklas utifrån användarvänlig design. Prototypen har presenterats för användare, resultaten tyder på att intresset var stort både bland Mios kunder och anställda på varuhuset i Kalmar. Resultaten från enkäterna bidrog också med information för en framtida utveckling av applikationen. Även användarvänligheten styrktes i enkätsvaren. 3D-miljön som skapades innehöll ett djup och kunde enligt presentationen på användare kunde förklaras som att den upplevdes som verklig.


We are becoming more interested in furnishing in our homes, and there is big opportunities with Virtual 3D, which makes this project relevant for the time we live in. The project is about making a first prototype of a furnish-able 3D environment with integrated user friendly interface to be trailed by Mio for use in their shops. The prototype builds on two demonstration movies of the application where the interface and the users interaction options has been visualized in a standard LCD computer monitor and are synchronized with a 3D environment showing in an auto stereoscopic display. The interface was designed to be user friendly so that Mio´s customer themselves should be able to use the application and with help of special 3D-monitors and rendering techniques the environment should be experienced as in reality. The project started with a feasibility study with interviews and research. Theories taken as the basis for the project were about usability, virtual reality and how to find the right users. Theories around usability together with a scenario made it possible to develop the interface from a user friendly point of view. The prototype has been presented to users, the result indicates that there was a big interest for both the customers of Mio and the employees of Mio in Kalmar. The result from the presentation also contributed to information aiding development of the application in the future. Even the usability was improved by the results of the presentation. The 3D environment that was made contained a depth dimension and according to the user results, it could be described as a real experience.

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Gardström, Karin. "3D Navigation for Real-Time MRI using Six Degree of Freedom Interaction Devices." Thesis, Linköping University, Department of Science and Technology, 2003. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-2280.

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Real-time MRI scanning is used to visualize tissue and organs in motion. The real-time approach requires new interaction techniques to facilitate interaction with the scanning plane. The aim of this thesis is to investigate the use of input with six degrees of freedom – 6DOF. An overview over existing 6DOF input devices is given. Three devices are chosen for implementation and evaluation, Flock of Birds, SpaceBall and SpaceMouse.

A simulator application is developed to test the different input devices. The simulator purpose is to imitate the real-time scanning situation. To be able to evaluate speed andaccuracy of the different interaction techniques, methods for measuring time and error are developed. A statistical survey is done on two different tasks to gather data of the interaction. The data is analyzed and the result is that the test subjects find the SpaceMouse superior to the other devices thanks to its kinesthetic feed-back properties and ergonomic benefits. However, the statistical data shows that Flock of Birds is the fastest device and no great difference is showed in accuracy between Flock of Birds and SpaceMouse. SpaceBall was the device that generated the least satisfying data.

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Grompone, Alessio A. "Vision-based 3D motion estimation for on-orbit proximity satellite tracking and navigation." Thesis, Monterey, California: Naval Postgraduate School, 2015. http://hdl.handle.net/10945/45863.

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Approved for public release; distribution is unlimited
The main challenge addressed in this work is to develop and validate an algorithm able to track and estimate the relative position and motion of on-orbit, un-modeled targets by using only passive vision. The algorithm developed is based on well-known image processing techniques. To achieve this goal, a number of different approaches were analyzed and compared to assess their performance for a satisfactory design. The code also has a modular general structure in order to be more flexible to changes during the implementation until best performance is reached. Artificially rendered high quality, animated videos of satellites in space and real footage provided by NASA have been used as a benchmark for the calibration and test of the main algorithm modules. The final purpose of this work is the validation of the algorithm through a hardware-in-the-loop ground experiment campaign. The development of the Floating Spacecraft Simulation Test-bed used in this work for the validation of the algorithm on real-time acquisition images was also documented in this thesis. The test-bed provides space-like illumination, stereovision and simulated weightlessness frictionless conditions. Insight on the validity of this approach, describing the performance demonstrated by the experiments, the limits of the algorithm and the main advantages and challenges related to possible future implementations in space applications, were provided by this research.
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Dill, Evan T. "GPS/Optical/Inertial Integration for 3D Navigation and Mapping Using Multi-copter Platforms." Ohio University / OhioLINK, 2015. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1427382541.

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Scheithauer, Amy T. "3D Relative Position and Orientation Estimation for Rendezvous and Docking Applications Using a 3D Imager." Ohio University / OhioLINK, 2010. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1265809623.

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34

Mütze, Maria [Verfasser], Christoph [Akademischer Betreuer] Josten, Jörg [Akademischer Betreuer] Böhme, Christoph-Eckhard [Gutachter] Heyde, and Gunther Olaf [Gutachter] Hofmann. "Anwendungsbeobachtung computergestützter 3D-Navigation bei transiliosakraler Verschraubung hinterer Beckenringfrakturen : Anwendungsbeobachtung computergestützter 3D-Navigation bei transiliosakraler Verschraubung hinterer Beckenringfrakturen / Maria Mütze ; Gutachter: Christoph-Eckhard Heyde, Gunther Olaf Hofmann ; Christoph Josten, Jörg Böhme." Leipzig : Universitätsbibliothek Leipzig, 2016. http://d-nb.info/1240482094/34.

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35

Williamson, Brian. "RealNav: Exploring Natural User Interfaces for Locomotion in Video Games." Master's thesis, University of Central Florida, 2009. http://digital.library.ucf.edu/cdm/ref/collection/ETD/id/4285.

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We present an exploration into realistic locomotion interfaces in video games using spatially convenient input hardware. In particular, we use Nintendo Wii Remotes to create natural mappings between user actions and their representation in a video game. Targeting American Football video games, we used the role of the quarterback as an exemplar since the game player needs to maneuver effectively in a small area, run down the field, and perform evasive gestures such as spinning, jumping, or the "juke". In our study, we developed three locomotion techniques. The first technique used a single Wii Remote, placed anywhere on the user's body, using only the acceleration data. The second technique just used the Wii Remote's infrared sensor and had to be placed on the user's head. The third technique combined a Wii Remote's acceleration and infrared data using a Kalman filter. The Wii Motion Plus was also integrated to add the orientation of the user into the video game. To evaluate the different techniques, we compared them with a cost effective six degree of freedom (6DOF) optical tracker and two Wii Remotes placed on the user's feet. Experiments were performed comparing each to this technique. Finally, a user study was performed to determine if a preference existed among these techniques. The results showed that the second and third technique had the same location accuracy as the cost effective 6DOF tracker, but the first was too inaccurate for video game players. Furthermore, the range of the Wii remote infrared and Motion Plus exceeded the optical tracker of the comparison technique. Finally, the user study showed that video game players preferred the third method over the second, but were split on the use of the Motion Plus when the tasks did not require it.
M.S.
School of Electrical Engineering and Computer Science
Engineering and Computer Science
Computer Science MS
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36

Wadstein, Erik. "Artistic Techniques to Influence Navigational Behavior in 3D-Games." Thesis, Blekinge Tekniska Högskola, Sektionen för datavetenskap och kommunikation, 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:bth-2401.

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Todays video games use diff erent aids to help players navigate and proceed in a 3D-environment. It is common that players are assigned an objective to complete and have to navigate from point A to point B, often with the help from navigational aids. This study contains an experiment where test-players had to navigate through a set of 3D-environments to complete an objective, without navigational aids. Instead the author used artistic techniques (geometry, lighting and texture) to see if they could aff ect test-players decisions in how to proceed. Results where compared to predictions in how test-players where believed to proceed. The results from the experiment states that some artistic techniques can aff ect test-players decisions in how to proceed.
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Baichbal, Shashidhar. "MAPPING ALGORITHM FOR AUTONOMOUS NAVIGATION OF LAWN MOWER USING SICK LASER." Wright State University / OhioLINK, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=wright1334587886.

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38

Stanton, Adam James. "Simultaneous incremental neuroevolution of motor control, navigation and object manipulation in 3D virtual creatures." Thesis, Keele University, 2017. http://eprints.keele.ac.uk/4238/.

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There have been numerous attempts to develop 3D virtual agents by applying evolutionary processes to populations that exist in a realistic physical simulation. Whilst often contributing useful knowledge, no previous work has demonstrated the capacity to evolve a sequence of increasingly complex behaviours in a single, unified system. This thesis has this demonstration as its primary aim. A rigorous exploration of one aspect of incremental artificial evolution was carried out to understand how subtask presentations affect the whole-task generalisation performance of evolved, fixed-morphology 3D agents. Results from this work led to the design of an environment–body–control architecture that can be used as a base for evolving multiple behaviours incrementally. A simulation based on this architecture with a more complex environment was then developed and explored. This system was then adapted to include elements of physical manipulation as a first step toward a fully physical virtual creature environment demonstrating advanced evolved behaviours. The thesis demonstrates that incremental evolutionary systems can be subject to problems of forgetting and loss of gradient, and that different complexification strategies have a strong bearing on the management of these issues. Presenting successive generations of the population to a full range of objective functions (covering and revisiting the range of complexity) outperforms straightforward linear or direct presentations, establishing a more robust approach to the evolution of naturalistic embodied agents. When combining this approach with a bespoke control architecture in a problem requiring reactive and deliberative behaviours, we see results that not only demonstrate success at the tasks, but also show a variety of intricate behaviours being used. This is the first ever example of the simultaneous incremental evolution in 3D of composite behaviours more complex than simple locomotion. Finally, the architecture demonstrably supports extension to manipulation in a feedback control task. Given the problem-agnostic controller architecture, these results indicate a system with potential for discovering yet more advanced behaviours in yet more complex environments.
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Gatzidis, Christos. "Evaluating non-photorealistic rendering for 3D urban models in the context of mobile navigation." Thesis, City University London, 2010. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.528481.

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40

Muhammad, Naveed. "Contributions à l'exploitation de lidar 3D pour la navigation autonome : calibrage et localisation qualitative." Phd thesis, INSA de Toulouse, 2012. http://tel.archives-ouvertes.fr/tel-00676797.

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Afin de permettre une navigation autonome d'un robot dans un environnement, le robot doit être capable de percevoir son environnement. Dans la littérature, d'une manière générale, les robots perçoivent leur environnement en utilisant des capteurs de type sonars, cameras et lidar 2D. L'introduction de nouveaux capteurs, nommés lidar 3D, tels que le Velodyne HDL-64E S2, a permis aux robots d'acquérir plus rapidement des données 3D à partir de leur environnement. La première partie de cette thèse présente une technique pour la calibrage des capteurs lidar 3D. La technique est basée sur la comparaison des données lidar à un modèle de vérité de terrain afin d'estimer les valeurs optimales des paramètres de calibrage. La deuxième partie de la thèse présente une technique pour la localisation et la détection de fermeture de boucles pour les robots autonomes. La technique est basée sur l'extraction et l'indexation des signatures de petite-taille à partir de données lidar 3D. Les signatures sont basées sur les histogrammes de l'information de normales de surfaces locale extraite à partir des données lidar en exploitant la disposition des faisceaux laser dans le dispositif lidar.
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41

Porathe, Thomas. "3-D Nautical Charts and Safe Navigation." Doctoral thesis, Mälardalen University, Department of Innovation, Design and Product Development, 2006. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-136.

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In spite of all electronic navigation devices on a modern ship bridge, navigators still lose their orientation. Reasons for this might be excessive cognitive workload caused by too many instruments to read and compile, navigation information that is displayed in a cognitively demanding way, short decision times due to high speed or fatigue due to minimum manning and long work hours.

This work addresses the problem of map information displayed in a less than optimal way. Three new concepts are presented: the bridge perspective, the NoGO area polygons and a dual lane seaway network. Map reading can be difficult due to the problem of mental rotations. By allowing a 3-D nautical chart to be viewed from an egocentric bridge perspective, the need for mental rotations can be removed. The cognitively demanding calculations necessary to find out if there is enough water under the keel can be made by the chart system and the result displayed as of free water and NoGo areas. On land car driving is facilitated by a road-network and a sign system. This notion can be further developed on sea and make navigation easier and safer.

These concepts were then tested in a laboratory experiment, in interviews and in a prototyping project. The results were very promising. The experiment in a laboratory maze showed that map reading from an egocentric perspective was more efficient than using traditional paper and electronic maps. Interviews and expert evaluation of prototypes also showed great interest from practitioners in the field.


Trots all elektronisk utrustning på en modern skeppsbrygga händer det att navigatörerna förlorar orienteringen. Anledningen kan vara hög kognitiv belastning därför att för många olika instrument måste avläsas och integreras samtidigt, att informationen på instrumenten behöver tolkas på ett kognitivt krävande sätt, att tiden för att fatta beslut blir allt kortare på grund av högre hastigheter till sjöss eller på grund av trötthet.

I detta arbete presenteras tre nya koncept för visualisering av navigationsinformation: bryggperspektivet, djupvarningspolygoner och sjövägar.

Kartläsning kan ibland vara svårt på grund av de mentala rotationer en användare tvingas genomföra för att kunna jämföra kartan med verkligheten. Genom att göra det möjligt för en användare att se sjökortet ur ett egocentriskt bryggperspektiv, så onödiggörs dessa mentala rotationer. De kognitivt krävande beräkningar som navigatören behöver göra för att försäkra sig om att det finns tillräckligt med vatten under kölen, kan utföras av kartsystemet och resultatet visas istället som fria vattenytor och djupvarningsområden (NoGo areas). På land underlättas bilkörning av ett vägnät med körbanor, filer och skyltar. Detta system kan i högre utsträckning införas till sjöss för att underlätta säker navigering.

Dessa koncept har sedan testats genom ett laboratorieexperiment, genom intervjuer och i ett prototyputvecklingsprojekt. Resultaten var mycket lovande. Experimentet i en laboratorielabyrint visade klart att 3D-sjökortet var effektivare än både papperskartan och traditionell elektroniska kartor och intervjuerna och expertutvärderingarna visad på stort intresse från yrkesutövare i branschen.

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42

Chaurasia, Gaurav. "Algorithmes et analyses perceptuelles pour la navigation interactive basée image." Phd thesis, Université Nice Sophia Antipolis, 2014. http://tel.archives-ouvertes.fr/tel-00976621.

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Nous présentons une approche de rendu à base d'images (IBR) qui permet, à partir de photos, de naviguer librement et générer des points de vue quelconques dans des scènes urbaines. Les approches précédentes dépendent des modèles 3D et donnent lieu à des rendus de qualité réduite avec beaucoup d'artefacts. Dans cette thèse, nous proposons une approximation basée sur l'image pour compenser le manque de précision de la géométrie 3D. Nous utilisons un warp d'image guidé par des cartes de profondeur quasi-denses qui donnent lieu à beaucoup moins d'artefacts. En se basant sur cette approche, nous avons développé une méthode entièrement automatique permettant de traiter les scènes complexes. Nous sur-segmentons les images d'entrées en superpixels qui limitent les occlusions sur les bords des objets. Nous introduisons la synthèse de profondeur pour créer une approximation de cette profondeur mal reconstruite dans certaines régions et calculons les warps sur les superpixels pour synthétiser le résultat final. Nous comparons nos résultats à de nombreuses approches récentes. Nous avons analysé les artefacts de l'IBR d'un point de vue perceptif en comparant les artefacts générés par le mélange de plusieurs images avec ceux des transitions temporelles brusques et avons élaboré une méthodologie pour la sélection d'un compromis idéal entre les deux. Nous avons également analysé les distorsions perspectives et avons développé un modèle quantitatif qui permet de prédire les distorsions en fonction des paramètres de capture et de visualisation. Comme application, nous avons mis en œuvre un système de réalité virtuelle qui utilise l'IBR à la place de l'infographie traditionnelle.
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43

Sadeghi, Gol Mohsen. "The Use of Potential Fields as a Navigation System for Autonomous Helicopters in 3D Games." Thesis, Linnéuniversitetet, Institutionen för datavetenskap (DV), 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:lnu:diva-45927.

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The use of artificial potential fields is beneficial in most two dimensional environments but they are bound by limitations. Introduction of the third dimension eradicates some of the limitations and brings about a set of new problems. If the emergent problems are solved then the new approach can give way to smarter helicopters and consequently a new game-play experience or possibly safer flight. This thesis aims to solve the emergent problems and proposes a new solution for guidance of autonomous helicopter agents in 3D games based on artificial potential fields. This new approach is compared to the most used alternative the A* pathfinding algorithm. Our experiments reveal that potential fields is a formidable alternative for navigation of helicopters. It can perform many times faster than the A* alternative and has lower rate of collision.
Neoaxis PFA
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44

Wang, Yi. "Design and Evaluation of Contextualized Video Interfaces." Diss., Virginia Tech, 2010. http://hdl.handle.net/10919/28798.

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pictures. Videos have been increasingly used in multiple applications, including surveillance, teleconferencing, learning and experience sharing. Since a video captures a scene from a particular viewpoint, it can often be understood better if presented within a larger spatial context. We call such interactive visualizations that combine videos with their spatial context â Contextualized Videosâ . Over recent years, multiple innovative Contextualized Video interfaces have been proposed to taking advantage of the latest computer graphics and video processing technologies. These interfaces opened a huge design space with numerous design possibilities, each with its own benefits and limitations. To avoid piecemeal understanding of the design space, this dissertation systematically designs and evaluates Contextualized Video interfaces based on a taxonomy of tasks that can potentially benefit from Contextualized Videos. This dissertation first formalizes a design space. New designs are created incrementally along the four major dimensions of the design space. These designs are then empirically compared through a series of controlled experiments using multiple tasks. The tasks are carefully selected from a task taxonomy, which helps to avoid piecemeal understanding of the effect of the designs. Our design practices and empirical evaluations result in a set of design guidelines on how to choose proper designs according to the characteristics of the tasks and the users. Finally, we demonstrate how to apply the design guidelines to prototype a complex interface for a specific video surveillance application.
Ph. D.
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45

Abuhadrous, Iyad. "Système embarqué temps réel de localisation et de modélisation 3D par fusion multi-capteur." Phd thesis, École Nationale Supérieure des Mines de Paris, 2005. http://pastel.archives-ouvertes.fr/pastel-00001118.

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Cette étude va se focaliser sur trois aspects. Dans un premier temps, un effort sera porté sur l'aspect "localisation précise" du véhicule en mouvement. Pour cela, il est nécessaire de se pencher sur l'intégration et le traitement de l'information issue de systèmes hétérogènes de navigation: GPS et centrale inertielle (INS) auxquels sera rajoutée ensuite l'odométrie. La raison de cette intégration est d'exploiter les avantages de chacun des systèmes utilisés. L'intégration utilise un filtrage numérique pour procéder à une compensation des erreurs en position, vitesse, et en attitude issues de chaque capteur. L'accent n'a pas seulement été mis sur l'intégration, mais aussi sur les notions de précision des résultats. Dans un deuxième temps, nous allons nous intéresser à la fois à la validation quantitative et qualitative des résultats et à l'élaboration d'une application exploitant notre travail. Les erreurs du système sont comparées avec une trajectoire de référence. Nous avons choisi de réaliser un système de numérisation tridimensionnelle de l'environnement couplé à un système de modélisation adapté au type d'environnement. L'étude se penchera sur le capteur d'acquisition de données télémétriques et son intégration à bord du véhicule. Un intérêt particulier est porté sur la qualité et les imprécisions des données retournées par le télémètre. L'acquisition des données se fera au vol et pendant le déplacement du véhicule. Enfin, le modèle obtenu sera exploité, de deux manières: la constitution d'un modèle géométrique et topologique précis puis l'extraction d'informations sémantiques du modèle (extraction de la route ou des obstacles fixes, identifications d'amers, caractérisation de la route, etc.).
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46

Joochim, Chanin [Verfasser]. "Autonomous navigation and mapping of mobile robots based on 2D/3D cameras combination / Chanin Joochim." Siegen : Universitätsbibliothek der Universität Siegen, 2011. http://d-nb.info/1017706239/34.

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47

Pan, Qing. "Techniques d'interactions mixtes isotonique et élastique pour la sélection 2D et la navigation / manipulation 3D." Thesis, Lille 1, 2008. http://www.theses.fr/2008LIL10093/document.

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Le développement de interaction homme-machine aide les utilisateurs à travailler de manière plus efficace. Les technologies traditionnelles ne peuvent plus satisfaire les nouveaux besoins des applications variées. Enenvironnement 2D WIMP, les périphériques d'entrée isotonique combinés avec un contrôle en position tels que les souris ou touch-pad, souffrent de débrayages qui prennent du temps et rendent l'interaction moins lisse. C'est pire encore lors de l'utilisation d'un petit périphérique avec un grand écran. Les interactions 3D attirent l'attention de nombreux chercheurs. Toutefois, les techniques existantes qui permettent à la fois la navigation et de manipuler les objets ne sont pas naturelles ni suffisamment efficaces pour être totalement acceptées par les utilisateurs. De nouveaux périphériques d'entrée et des techniques d'interaction doivent être proposées afin d'améliorer la qualité de l'interaction. Dans cette thèse, nous proposons deux périphériques d'entrée composés d'une zone isotonique avec un contrôle en position et une zone élastique avec un contrôle en vitesse; La première méthode RubberEdge est une méthode en 2D pour réduire le débrayage et la seconde méthode Haptic Boundary est une méthode 3D qui rend plus efficace les manipulations d'objets et l'exploration de l'environnement virtuel. Pour RubberEdge, nous avons adopté la simulation de rotation d'un disque et un traitement mathématique dans sa fonction de transfert pour garantir un passage lisse du contrôle en position au contrôle en vitesse. Une évaluation d'une tache de sélection en 2D a été réalisée. Le résultat a montré que RubberEdge est 20% plus performant que le contrôle en position. Nous avons ensuite proposé deux modèles prédictifs pour le temps de sélection pour le contrôle en position ainsi que le contrôle hybride de RubberEdge. Nous avons présenté également une mise en oeuvre de RubberEdge pour ordinateur portable. Haptic Boundary permet des manipulations d'objets précises dans sa zone isotonique et la manipulation de la caméra sur sa paroi. Deux types de retour d'effort ont été adoptés pour fournir des mouvements de caméra plus riches et pour éviter un passage de mode explicite qui pourrait augmenter la charge mentale des utilisateurs. La taille et la forme de la zone isotonique ont été choisies avec soin afin de maximiser les avantages du contrôle en vitesse de deux types de retour d'effort. Une évaluation de la tache du montage d'une voiture virtuelle est réalisée. L'expérience a montré que Haptic Boundary est 50% plus performant que l'interface uni-manuelle avec un changement du mode explicite. Après analyse des résultats, un mode d'inspection en orbite est mis en place pour améliorer l'usage de l'Haptic Boundary
The development of human-computer interaction technologies help people to work more efficiently. Meanwhile, traditional technologies could not fulfill the new born requirements in diverse situations. ln 2D WIMP environment the popular isotonic position control device, such as mouse, touch pad, suffers from clutching which is time-consuming and makes the interaction less smooth. lt is getting worse when using a small input device to interact with a larger screen. 3D interactions attract attentions of many researchers. However, the existing techniques allowing both object and view manipulations are not natural or efficient enough to be totally accepted by users. New input devices and corresponding interaction techniques should be proposed to improve the interaction quality. ln this thesis, we propose two techniques based on isotonic-position and elastic-rate control spaces: 2D RubberEdge for reducing the clutching and 3D Haptic Boundary for efficient object manipulations and exploration in VE. For RubberEdge, we adopted a simulation of the ration of a disc, and a mathematical treatment in its mapping function to guarantee a smooth switch between position and rate control. An evaluation of a 2D selecting task was performed. The result showed that RubberEdge outperforms position-only control by 20%. We then proposed two predictive models for selection time with position-only control and with the hybrid control of RubberEdge. We also presented the first RubberEdge prototype for laptop touchpad. Haptic Boundary allows precise object manipulations inside its isotonic zone and camera manipulation on its boundary. Two kinds of force feedbacks were adopted to provide richer camera motions and to avoid the explicit mode switch which greatly increases user's mentalload. The shape and size of isotonic zone is carefully chosen to maximize the benefit of the rate control with both two force feedbacks. An evaluation of car assembling task was performed. The result showed that Haptic Boundary outperformed the unimanual interface with explicit switch by 50%. After analyze the experiment result, the orbiting inspection is combined to enhance the applicability of Haptic Boundary
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48

Runsten, Fredriksson Malin. "Player Exploration and Behaviors : The Influence of Player Navigation." Thesis, Uppsala universitet, Institutionen för speldesign, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-353041.

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Guiding a player through a 3D environment can be a difficult task, especially in a game with a choice of multiple paths. Because of this, designers are often forced to implement various navigational tools such as maps, user interface (UI) elements and written explanations to help the player get from one point to another. This study explores the possibility of using research of spatial design along with player exploration patterns to better influence how player navigates in game environments.Player background and player navigation pattern data were gathered through a survey taken by 97 participants. This survey contained 13 pictures with multiple pathways, where participants needed to choose a pathway for different stated contexts. The pictures themselves were based on research of design methods meant to help guide or communicate to the player via the environment.The result showed that it is possible to influence players if the
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49

Mehrtash, Alireza. "Needle Navigation for Image Guided Brachytherapy of Gynecologic Cancer." Thesis, KTH, Skolan för kemi, bioteknologi och hälsa (CBH), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-248042.

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In the past twenty years, the combination of the advances in medical imaging technologies and therapeutic methods had a great impact in developing minimally invasive interventional procedures. Although the use of medical imaging for the surgery and therapy guidance dates back to the early days of x-ray discovery, there is an increasing evidence in using the new imaging modalities such as computed tomography (CT), magnetic reso- nance imaging (MRI) and ultrasound in the operating rooms. The focus of this thesis is on developing image-guided interventional methods and techniques to support the radiation therapy treatment of gynecologic cancers. Gynecologic cancers which involves malignan- cies of the uterus, cervix, vagina and the ovaries are one of the top causes of mortality and morbidity among the women in U.S. and worldwide. The common treatment plan for radiation therapy of gynecologic cancers is chemotherapy and external beam radiation therapy followed by brachytherapy. Gynecological brachytherapy involves placement of interstitial catheters in and around the tumor area, often with the aid of an applicator. The goal is to create an optimal brachytherapy treatment plan that leads to maximal radiation dose to the cancerous tissue and minimal destructive radiation to the organs at risk. The accuracy of the catheter placement has a leading effect in the success of the treatment. However there are several techniques are developed for navigation of catheters and needles for procedures such as prostate biopsy, brain biopsy, and cardiac ablation, it is obviously lacking for gynecologic brachytherapy procedures. This thesis proposes a technique which aims to increase the accuracy and efficiency of catheter placements in gynecologic brachytherapy by guiding the catheters with an electromagnetic tracking system. To increase the accuracy of needle placement a navigation system has been set up and the appropriate software tools were developed and released for the public use as a module in the open-source 3D Slicer software. The developed technology can be translated from benchmark to the bedside to offer the potential benefit of maximizing tumor coverage during catheter placement while avoiding damage to the adjacent organs including bladder, rectum and bowel. To test the designed system two independent experiments were designed and performed on a phantom model in order to evaluate the targeting accuracy of the tracking system and the mean targeting error over all experiments was less than 2.9 mm, which can be compared to the targeting errors in the available commercial clinical navigation systems.
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50

Ughini, Cleber Souza. "Criando roadmaps a partir de estados de configuração uniformemente distribuídos." reponame:Biblioteca Digital de Teses e Dissertações da UFRGS, 2007. http://hdl.handle.net/10183/10782.

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Abstract:
A geração de bons movimentos em tempo real para corpos com muitos graus de liberdade ainda é um desafio. Uma quantidade elevada de graus de liberdade aumenta de forma exponencial a quantidade de posições diferentes que um determinado corpo pode obter. Fazer uso dessa quantidade de possibilidades para gerar movimentos complexos pode ser extremamente útil para planejamento de movimentos de robôs ou personagens virtuais, porém incrivelmente caro em termos computacionais. Existem muitos algoritmos que se baseiam no uso de mapas de caminhos (chamados roadmaps) para trabalhar com corpos com muitos graus de liberdade. Um roadmap funciona como uma coletânea de poses de um corpo interligadas entre si, onde cada ligação representa uma possibilidade de transição livre de colisões. Geralmente as técnicas que utilizam roadmaps usam abordagens determinísticas ou aleatórias para atingir o objetivo. Através de métodos determinísticos é possível explorar de forma mais uniforme o espaço de configuração, garantindo uma melhor cobertura e qualidade do roadmap. Já as abordagens aleatórias, geralmente permitem um melhor desempenho e, principalmente, tornam viáveis a aplicação de uma solução para corpos com muitos graus de liberdade. Neste trabalho é proposto um método determinístico adaptável para a geração de roadmaps (ADRM) que provê uma cobertura adequada do espaço de configuração em um tempo perfeitamente aceitável em comparação a outros métodos. Para obter isso, é feita em primeiro lugar uma classificação de todos os DOFs do modelo e, então, essa classificação é usada como parâmetro para decidir quantas amostras serão geradas de cada DOF. A combinação entre as amostras de todos os DOFs gera a quantidade total de amostras. Para validação do novo método foram executados diversos testes em ambientes distintos. Os testes foram avaliados através da comparação com outras técnicas existentes, em quesitos como tempo de geração e cobertura do espaço de configuração. Os resultados demonstram que o método atinge uma cobertura do espaço de configuração muito boa, em um tempo aceitável.
The creation of good real time movements for bodies with many degrees of freedom (DOF) still remains a challenge. A great amount of DOFs increase, in an exponential way, the quantity of different positions that a body can assume. Making use of that amount of possibilities to generate complex movements can be useful for planning robots’ movements or even to animate virtual characters, however it is extremely expensive in computational terms. There are many algorithms that are based on the use of roadmaps to work with bodies with many degrees of freedom. A roadmap works as a collection of valid body’s positions interconnected, where each connection represents a possibility of a transaction free of collisions. Usually, the techniques which make use of roadmaps follow deterministic or probabilistic approaches to get to the objective. Trough deterministic methods it is possible to explore in a more uniform way the configuration’s space, assuring a better covering and quality of the roadmap. Therefore, probabilistic (or random) approaches allow a better performance and, mainly, make possibly the application of a solution for bodies with higher degrees of freedom. This work proposes a deterministic method applicable to roadmaps generation (ADRM) which provides an adequate covering of the configuration’s space in a completely acceptable time range comparing to other rates. To achieve this goal, first of all a classification of all of the DOFs of the model is made and, then, this classification is used as a parameter to decide how many samples will be generated of each DOF. The combining between the samples of all of the DOFs generates the total amount of samples. To validate the new method, several tests were executed at different environments. The tests were evaluated trough the comparison with other existents techniques, using criteria like the time spent in generating a roadmap and covering of the space of configuration. The results show us that the method achieves a satisfactory covering of the space configuration in an acceptable time range.
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