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  • 1.
    Ghorbanloo, Sepideh
    Halmstad University, School of Information Technology.
    Localization of Cross-Junctions in Warehouse Beam Structure by Supervised Descent Method2016Independent thesis Advanced level (degree of Master (Two Years)), 80 credits / 120 HE creditsStudent thesis
    Abstract [en]

    A new application of the Supervised Descent Method (SDM) [26] optimization

    algorithm in order to find solutions for modeling a structured

    environment such as a warehouse is investigated in this work.

    For modeling a structured warehouse, a large number of front-view

    images of a warehouse are collected. This work investigates basic

    computational elements for building a two-dimensional map of the

    warehouse by the SDM algorithm suggesting to use a well-known

    technique as feature extraction, i.e. Scale Invariant Feature Transform

    (SIFT) [16]. The ground-truths are extracted manually on pillar-beam

    intersections from real-world warehouse images. To address the problem

    of modeling a warehouse, different modeling scenarios ranging

    from a complex to a simple model each with increasing the initial

    suggested displacement are investigated. As an important contribution,

    this work reports statistics concerning the divergence rate of

    SDM (combined with SIFT) performance in all scenarios for both

    sides of corridors of the warehouse images. This work has shown

    that the SDM transformation method in its original form is not sufficient

    enough to be used in general visual object location problems.

    Download full text (pdf)
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