Blar i SINTEF Open på forfatter "Thielemann, Jens T"
-
6D pose estimation for subsea intervention in turbid waters
Mohammed, Ahmed; Kvam, Johannes; Thielemann, Jens T; Haugholt, Karl H.; Risholm, Petter (Peer reviewed; Journal article, 2021)Manipulation tasks on subsea instalments require extremely precise detection and localization of objects of interest. This problem is referred to as “pose estimation”. In this work, we present a framework for detecting and ... -
A flexible and highly configurable 3D vision system targeted for in-line product inspection is presented. The system includes a low cost 3D camera based on structured light and a set of flexible software tools that automate the measurement process. The specification of the measurement tasks is done in a first manual step. The user selects regions of the point cloud to analyze and specifies primitives to be characterized within these regions. After all the measurement tasks have been specified, m
Skotheim, Øystein; Nygaard, Jens Olav; Thielemann, Jens T; Vollset, Thor (Chapter, 2008)A flexible and highly configurable 3D vision system targeted for in-line product inspection is presented. The system includes a low cost 3D camera based on structured light and a set of flexible software tools that automate ... -
A Motion based Real-time Foveation Control Loop for Rapid and Relevant 3D Laser Scanning
Breivik, Gøril M.; Thielemann, Jens T; Berge, Asbjørn; Skotheim, Øystein; Kirkhus, Trine (Lecture, 2011)We present an implementation of a novel foveating 3D sensor concept, inspired by the human eye, which intends to allow future robots to better interact with their surroundings. The sensor is based on a time-of-flight laser ... -
A Motion based Real-time Foveation Control Loop for Rapid and Relevant 3D Laser Scanning
Breivik, Gøril Margrethe; Thielemann, Jens T; Berge, Asbjørn; Skotheim, Øystein; Kirkhus, Trine (Chapter, 2011)We present an implementation of a novel foveating 3D sensor concept, inspired by the human eye, which intends to allow future robots to better interact with their surroundings. The sensor is based on a time-of-flight laser ... -
A Robotic Concept for Remote Maintenance Operations: A Robust 3D Object Detection and Pose Estimation Method and a Novel Robot Tool
Transeth, Aksel Andreas; Skotheim, Øystein; Schumann-Olsen, Henrik; Johansen, Gorm Idar; Thielemann, Jens T; Kyrkjebø, Erik (Peer reviewed; Journal article, 2010) -
Adaptive Structured Light with Scatter Correction for High-Precision Underwater 3D Measurements
Risholm, Petter; Kirkhus, Trine; Thielemann, Jens T; Thorstensen, Jostein Bruun (Peer reviewed; Journal article, 2019): High-precision underwater 3D cameras are required to automate many of the traditional subsea inspection, maintenance and repair (IMR) operations. In this paper we introduce a novel multi-frequency phase stepping ... -
Apricot anatomy. Measures of pinbones in fish fillets using CT
Bakken, Marianne; Schulerud, Helene; Thielemann, Jens T (SINTEF Rapport;, Research report, 2012)The objectives of this project have been to provide detailed information about the size, orientation and location of pinbones in fillets of cod, haddock, saithe and salmon. For each spices 16 fillets were CT scanned and ... -
Automatic length estimation of free-swimming fish using an underwater 3D range-gated camera
Risholm, Petter; Mohammed, Ahmed Kedir; Kirkhus, Trine; Clausen, Sigmund; Vasilyev, Leonid; Folkedal, Ole; Johnsen, Øistein; Haugholt, Karl Henrik; Thielemann, Jens T (Peer reviewed; Journal article, 2022)Camera estimation of fish size in aquaculture production and fisheries is crucial for enabling knowledge-based decision making. Automatic estimation of fish lengths on an individual and population basis are key steps to ... -
High-quality dense 3D point clouds with active stereo and a miniaturizable interferometric pattern projector
Thorstensen, Jostein Bruun; Thielemann, Jens T; Risholm, Petter; Gjessing, Jo; Dahl-Hansen, Runar Plunnecke; Tschudi, Jon (Peer reviewed; Journal article, 2021)We have built and characterized a compact, simple and flexible 3D camera based on interferometric fringe projection and stereo reconstruction. The camera uses multi-frame active stereo as basis for 3D reconstruction, ... -
Modelling and Compensating Measurement Errors Caused by Scattering in Time-Of-Flight Cameras
Kavli, Tom; Kirkhus, Trine; Thielemann, Jens T; Jagileski, Borys (Chapter, 2008)Recently, Range Imaging (RIM) cameras have become available that capture high resolution range images at video rate. Such cameras measure the distance from the scene for each pixel independently based upon a measured time ... -
Pipeline Landmark Detection for Autonomous Robot Navigation using Time-of-Flight Imagery
Thielemann, Jens T; Breivik, Gøril M.; Berge, Asbjørn (Lecture, 2008)3D imaging systems provide valuable information for autonomous robot navigation based on landmark detection in pipelines. This paper presents a method for using a time-of-flight (TOF) camera for detection and tracking of ... -
Pipeline Landmark Detection for Autonomous Robot Navigation using Time-of-Flight Imagery
Thielemann, Jens T; Breivik, Gøril M.; Berge, Asbjørn (Chapter, 2008)3D imaging systems provide valuable information for autonomous robot navigation based on landmark detection in pipelines. This paper presents a method for using a time-of-flight (TOF) camera for detection and tracking of ... -
Range-Gated Imaging System for Underwater Monitoring in Ocean Environment
Mariani, Patrizio; Quincoces, Inaki; Haugholt, Karl Henrik; Chardard, Yves; Visser, André W.; Yates, Chris; Piccino, Giuliano; Reali, Giancarlo; Risholm, Petter; Thielemann, Jens T (Journal article; Peer reviewed, 2018)High-quality video observations are very much needed in underwater environments for the monitoring of several ecosystem indicators and to support the sustainable development and management of almost all activities in the ... -
Real-time super-resolved 3D in turbid water using a fast range-gated CMOS camera
Risholm, Petter; Thorstensen, Jostein Bruun; Thielemann, Jens T; Kaspersen, Kristin; Tschudi, Jon; Yates, Chris; Softley, Chris; Abrosimov, Igor; Alexander, Jonathan; Haugholt, Karl Henrik (Journal article; Peer reviewed, 2018)We present a range-gated camera system designed for real-time (10 Hz) 3D estimation underwater. The system uses a fast-shutter CMOS sensor (1280×1024 1280×1024 ) customized to facilitate gating with 1.67 ns (18.8 cm in ... -
Robotvaktmesteren er på vei
Transeth, Aksel; Thielemann, Jens T; Holhjem, Øystein Hov; Tønseth, Svein (Others, 2017)Kunstige superøyne og antikrasj-teknologi kan gjøre roboter til hjelpere ved inspeksjon og vedlikehold i farlige omgivelser. Det vil gi HMS-gevinst og kostkutt. -
ROV Navigation in a Fish Cage with Laser-Camera Triangulation
Bjerkeng, Magnus Christian; Kirkhus, Trine; Caharija, Walter; Thielemann, Jens T; Amundsen, Herman Biørn; Ohrem, Sveinung Johan; Grøtli, Esten Ingar (Peer reviewed; Journal article, 2021)Aquaculture net cage inspection and maintenance is a central issue in fish farming. Inspection using autonomous underwater vehicles is a promising solution. This paper proposes laser-camera triangulation for pose estimation ...