Ankara : The Department of Electrical and Electronics Engineering and the Institute of Engineering and Sciences of Bilkent University, 2010.Thesis (Master's) -- Bilkent University, 2010.Includes bibliographical references leaves 68-75.3-D models of environments can be very useful and are commonly employed in
areas such as robotics, art and architecture, environmental planning and documentation.
A 3-D model is typically comprised of a large number of measurements.
When 3-D models of environments need to be transmitted or stored,
they should be compressed efficiently to use the capacity of the communication
channel or the storage medium effectively. In this thesis, we propose a novel
compression technique based on compressive sampling, applied to sparse representations
of 3-D laser range measurements. The main issue here is finding
highly sparse representations of the range measurements, since they do not have
such representations in common domains, such as the frequency domain. To
solve this problem, we develop a new algorithm to generate sparse innovations
between consecutive range measurements acquired while the sensor moves. We
compare the sparsity of our innovations with others generated by estimation and
filtering. Furthermore, we compare the compression performance of our lossy
compression method with widely used lossless and lossy compression techniques.
The proposed method offers small compression ratio and provides a reasonable
compromise between reconstruction error and processing time.Dobrucalı, OğuzcanM.S
