@inproceedings{SurmannSlommaGrobelnyetal.2021, author = {Surmann, Hartmut and Slomma, Dominik and Grobelny, Stefan and Grafe, Robert}, title = {Deployment of Aerial Robots after a major fire of an industrial hall with hazardous substances, a report}, series = {Konferenz: IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 25.-27. Oktober 2021 in New York}, booktitle = {Konferenz: IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 25.-27. Oktober 2021 in New York}, publisher = {IEEE}, address = {New York}, isbn = {978-1-6654-1765-5}, doi = {10.1109/SSRR53300.2021.9597677}, url = {http://nbn-resolving.de/urn:nbn:de:hbz:1010-opus4-40382}, pages = {40 -- 47}, year = {2021}, abstract = {This technical report is about the mission and the experience gained during the reconnaissance of an industrial hall with hazardous substances after a major fire in Berlin. During this operation, only UAVs and cameras were used to obtain information about the site and the building. First, a geo-referenced 3D model of the building was created in order to plan the entry into the hall. Subsequently, the UAVs were used to fly in the heavily damaged interior and take pictures from inside of the hall. A 360° camera mounted under the UAV was used to collect images of the surrounding area especially from sections that were difficult to fly into. Since the collected data set contained similar images as well as blurred images, it was cleaned from non-optimal images using visual SLAM, bundle adjustment and blur detection so that a 3D model and overviews could be calculated. It was shown that the emergency services were not able to extract the necessary information from the 3D model. Therefore, an interactive panorama viewer with links to other 360° images was implemented where the links to the other images depends on the semi dense point cloud and located camera positions of the visual SLAM algorithm so that the emergency forces could view the surroundings.}, language = {en} } @inproceedings{SurmannKaiserLeinweberetal.2021, author = {Surmann, Hartmut and Kaiser, Tiffany and Leinweber, Artur and Senkowski, Gerhard and Slomma, Dominik and Thurow, Marc}, title = {Small commercial UAVs for indoor Search and Rescue Missions}, series = {Konferenz: 7th International Conference on Automation, Robotics and Applications (ICARA), 4.-6. Februar 2021 in Prag (Tschechien)}, booktitle = {Konferenz: 7th International Conference on Automation, Robotics and Applications (ICARA), 4.-6. Februar 2021 in Prag (Tschechien)}, publisher = {IEEE}, address = {Prag}, isbn = {978-1-6654-4645-7}, doi = {10.1109/ICARA51699.2021.9376551}, url = {http://nbn-resolving.de/urn:nbn:de:hbz:1010-opus4-40529}, pages = {106 -- 113}, year = {2021}, abstract = {This technical report is about the architecture and integration of very small commercial UAVs (< 40 cm diagonal) in indoor Search and Rescue missions. One UAV is manually controlled by only one single human operator delivering live video streams and image series for later 3D scene modelling and inspection. In order to assist the operator who has to simultaneously observe the environment and navigate through it we use multiple deep neural networks to provide guided autonomy, automatic object detection and classification and local 3D scene modelling. Our methods help to reduce the cognitive load of the operator. We describe a framework for quick integration of new methods from the field of Deep Learning, enabling for rapid evaluation in real scenarios, including the interaction of methods.}, subject = {Robotik}, language = {en} } @misc{Surmann2021, author = {Surmann, Hartmut}, title = {Carolin, G{\"o}the, a traveling salesman and the art of computer science}, url = {http://nbn-resolving.de/urn:nbn:de:hbz:1010-opus4-40507}, year = {2021}, abstract = {At the beginning of the pandemic in Feb. 2020 I had a little time and wanted to do something new i.e. bring my 3D printer, AI and computer science together somehow. The result is a printed portrait with a lot of computer science. Using style transfer I transferred the etching style of a G{\"o}the portrait to a young girl I call Carolin. By means of image processing I made a black and white picture out of it. Then, using the problem of the traveling salesman, each black point in the picture is interpreted as a city and the whole picture is drawn by only one line. Since this line is very long, it is optimized and shortened by a so-called simulated annealing algorithm. The result is printed in 5 layers on a 3D printer.}, subject = {Travelling-salesman-Problem}, language = {de} } @misc{SurmannDeleskiDigakisetal.2021, author = {Surmann, Hartmut and Deleski, Aleksander and Digakis, Niklas and Klasen, Julian and Kremer, Jan-Niklas and Leinweber, Artur and Senkowski, Gerhard and Slomma, Dominik and Thurow, Marc}, title = {Lokalisierung und monokulare Tiefensch{\"a}tzung von 360° Panoramen mittels KI}, url = {http://nbn-resolving.de/urn:nbn:de:hbz:1010-opus4-40555}, year = {2021}, abstract = {Durch Panoramen in Kombination mit dem ORB-SLAM ist ein schnelles Tracking m{\"o}glich, liefert jedoch ausschließlich sp{\"a}rliche Daten. Durch die Kombination mit einem neuronalen Netz soll der SLAM Algorithmus zu einem RGBD-SLAM erweitert werden, um ein besseres Tracking und eine dichtere Punktwolke zu gew{\"a}hrleisten.}, subject = {Robotik}, language = {de} } @misc{SurmannDeleskiDigakisetal.2021, author = {Surmann, Hartmut and Deleski, Aleksander and Digakis, Niklas and Klasen, Julian and Kremer, Jan-Niklas and Leinweber, Artur and Senkowski, Gerhard and Slomma, Dominik and Thurow, Marc}, title = {Rapide Berechnung einer 2D-Lagedarstellung aus Luftbildaufnahmen}, url = {http://nbn-resolving.de/urn:nbn:de:hbz:1010-opus4-40542}, year = {2021}, abstract = {Der Algorithmus liest die Metadaten aus den Luftbildaufnahmen und erstellt anhand von Kamera-Parametern sowie GPS- Koordinaten eine Karte in wenigen Sekunden. Neben der Karte werden weitere signifikante Metadaten in einem webbasierten interaktiven Flugbericht f{\"u}r Einsatzkr{\"a}fte dargestellt.}, subject = {Robotik}, language = {de} } @misc{SurmannDeleskiDigakisetal.2021, author = {Surmann, Hartmut and Deleski, Aleksander and Digakis, Niklas and Klasen, Julian and Kremer, Jan-Niklas}, title = {How to build an autonomous lawn mower; The hardware}, url = {http://nbn-resolving.de/urn:nbn:de:hbz:1010-opus4-40626}, year = {2021}, abstract = {How to build an autonomous lawn mower; The hardware}, subject = {Robotik}, language = {de} } @misc{SurmannDeleskiDigakisetal.2021, author = {Surmann, Hartmut and Deleski, Aleksander and Digakis, Niklas and Klasen, Julian and Kremer, Jan-Niklas}, title = {How to build an autonomous lawn mower; The software}, url = {http://nbn-resolving.de/urn:nbn:de:hbz:1010-opus4-40630}, year = {2021}, abstract = {How to build an autonomous lawn mower; The software}, subject = {Robotik}, language = {de} } @misc{SurmannDeleskiDigakisetal.2021, author = {Surmann, Hartmut and Deleski, Aleksander and Digakis, Niklas and Klasen, Julian and Kremer, Jan-Niklas}, title = {How to build an autonomous lawn mower; Introduction}, url = {http://nbn-resolving.de/urn:nbn:de:hbz:1010-opus4-40619}, year = {2021}, abstract = {How to build an autonomous lawn mower; Introduction}, subject = {Robotik}, language = {de} } @misc{SurmannDeleskiDigakisetal.2021, author = {Surmann, Hartmut and Deleski, Aleksander and Digakis, Niklas and Klasen, Julian and Kremer, Jan-Niklas}, title = {How to build an autonomous lawn mower; The app}, url = {http://nbn-resolving.de/urn:nbn:de:hbz:1010-opus4-40642}, year = {2021}, abstract = {How to build an autonomous lawn mower; The app}, subject = {Robotik}, language = {de} } @misc{SurmannDeutschesRettungsrobotikZentrum2021, author = {Surmann, Hartmut and Deutsches Rettungsrobotik Zentrum,}, title = {Einsturzszenario von der DRZ-Er{\"o}ffnung mit Bonusmaterial von Beta (UAV)}, year = {2021}, abstract = {Er{\"o}ffnung des deutschen Rettungsrobotik-Zentrums. Roboter im Einsturzszenario; Bonusmaterial}, subject = {Robotik}, language = {de} }