Diploma and Master Theses (authored and supervised):

A. Barclay:
"On Robust Homography Estimation Across the 2D/3D Modalities";
Supervisor: H. Kaufmann; Institut für Softwaretechnik und Interaktive Systeme, 2015; final examination: 2015-06-19.

English abstract:
Co-registered intensity and range imaging is one example of complementary multi-modality that
has been extensively explored for 3D reconstruction, yet not fully researched for robust estimation.
The classic RANdom SAmple Consensus and its variants such as PROSAC, Preemptive RANSAC
and SCRAMSAC, to name a few, have been the most commonly applied approaches to visionbased
homography estimation, with single modality input as a precondition.
In this thesis, RANSAC- based homography estimation that builds on the properties of both the 2D
intensity modality and 3D spatial modality is to be explored, extended and evaluated with focus on
robust estimation. The outcome of this thesis is an extension to the RANSAC algorithm, termed
FT-RANSAC, that builds on state-of-the art in RANSAC approaches, and enables a robust
homography estimation using both the 2D intensity modality and the 3D point cloud modality
inputs. The proposed FT-RANSAC approach has demonstrated its ability to exceed singlemodality
state-of-the art in robustness and stability, with implementations as a stand-alone and as
an ROS node, and with cross-platform functionality on both Intel x86 and ARM Cortex-A15

German abstract:
Im Rahmen dieser Diplomarbeit, wurde eine Erweiterung des RANSAC Algorithmus, genannt FTRANSAC,
entwickelt, die auf den state-of-the-Art in RANSAC Verfahren, wie PROSAC, Preemptive
RANSAC oder SCRAMSAC aufbaut, und eine robuste Homographie Schätzung basierend auf 2DIntensität
und 3D-Punktwolke Modalitäten ermoeglicht. Dabei sind einige Faktoren wie die Punkte-
Merkmale, Korrespondenz-Schätzung, RANSAC und planare Homographie Schätzung zu beachten. Das
entwickelte FT- RANSAC Verfahren ist in der Lage, Single-Modalität state-of-the-Art in Robustheit und
Stabilität, zu übertreffen. Der FT-RANSAC Prototyp ist als Stand-alone und als ROS-Knoten auf Intel x86
und ARM Cortex-A15-Architekturen implementiert.

Electronic version of the publication:

Created from the Publication Database of the Vienna University of Technology.