Shape Tracking Using Fourier-Chebyshev Double Series for 3D Distance Measurements
- In the past years, algorithms for 3D shape tracking using radial functions in spherical coordinates represented with different methods have been proposed. However, we have seen that mainly measurements from the lateral surface of the target can be expected in a lot of dynamic scenarios and only few measurements from the top and bottom parts leading to an error-prone shape estimate in the top and bottom regions when using a representation in spherical coordinates. We, therefore, propose to represent the shape of the target using a radial function in cylindrical coordinates, as these only represent regions of the lateral surface, and no information from the top or bottom parts is needed. In this paper, we use a Fourier-Chebyshev double series for 3D shape representation since a mixture of Fourier and Chebyshev series is a suitable basis for expanding a radial function in cylindrical coordinates. We investigate the method in a simulated and real-world maritime scenario with a CAD model of the target boat as a reference. We have found that shape representation in cylindrical coordinates has decisive advantages compared to a shape representation in spherical coordinates and should preferably be used if no prior knowledge of the measurement distribution on the surface of the target is available.
Author: | Tim BaurORCiD, Johannes ReuterORCiD, Antonio Zea, Uwe D. HanebeckORCiD |
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URN: | urn:nbn:de:bsz:kon4-opus4-49588 |
DOI: | https://doi.org/10.23919/FUSION52260.2023.10224120 |
ISBN: | 979-8-89034-485-4 |
ISBN: | 979-8-3503-1320-8 |
Parent Title (English): | 26th International Conference on Information Fusion (FUSION), 27-30 June 2023, Charleston, SC, USA |
Publisher: | IEEE |
Document Type: | Conference Proceeding |
Language: | English |
Year of Publication: | 2023 |
Release Date: | 2023/11/24 |
Tag: | 3D shape tracking; Fourier-Chebyshev double series; LiDAR |
Page Number: | 8 |
Institutes: | Institut für Systemdynamik - ISD |
Open Access?: | Ja |
Relevance: | Peer reviewed nach anderen Listungen (mit Nachweis zum Peer Review Verfahren) |
Licence (German): | Urheberrechtlich geschützt |