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Razvoj sistema za določanje lege objektov na osnovi globinske kamere : diplomsko delo Visokošolskega strokovnega študijskega programa I. stopnje StrojništvoBurger, AljošaSodobni industrijski roboti so pogosto uporabljeni za manipulacijo različnih objektov. Za uspešno delovanje pa potrebujejo informacije iz okolice. En od pristopov za zbiranje podatkov in njihovo ... procesiranje v takem sistem je računalniški vid. V diplomskem delu je zasnovan sistem za prepoznavanje oblike, velikosti in pozicije objekta, ki se premika po tekočem traku, s pomočjo globinske kamere. Predstavljena je teorija zapisa 2D slike, globinske slike, pridobljene s pomočjo stereo vida, ter osnovna predstavitev programskega ogrodja ROS. Razvito je programje, ki je povezano v delovnem okolju ROS. Programska oprema deluje v simulatorju Gazebo ter v realnem okolju s pomočjo Intel D435 globinske kamere. Narejena je primerjava med rezultati v simuliranem in realnem okolju, kjer se vidi pomanjkljivost globinskih podatkov če kamera ni pravilno postavljena glede na delovno območje, in če vplivi okolice niso pravilno upoštevani. Največja težava za procesiranje dvodimenzionalnih podatkov pa je razmerje med ločljivostjo kamere ter območjem interesa. Na koncu so podani še napotki za nadaljnje delo.Type of material - undergraduate thesis ; adult, seriousPublication and manufacture - Ljubljana : [A. Burger], 2021Language - slovenianCOBISS.SI-ID - 76678147
Author
Burger, Aljoša
Other authors
Vrabič, Rok |
Bračun, Drago
Topics
diplomske naloge |
robotika |
slikovni sistemi |
OpenCV |
zaznavanje oblike objektov |
Robotski operacijski sistem |
C++ |
thesis |
robotics |
computer vision |
OpenCV |
object shape recognition |
Robot operating system |
C++
Library/institution |
City | Acronym | For loan | Other holdings |
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Faculty of Mechanical Engineering, Ljubljana | Ljubljana | FSLJ |
reading room 1 cop.
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JCR | SNIP | JCR | SNIP | JCR | SNIP | JCR | SNIP |
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DRS, in which the journal is indexed
Database name | Field | Year |
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Links to authors' personal bibliographies | Links to information on researchers in the SICRIS system |
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Burger, Aljoša | |
Vrabič, Rok | 30914 |
Bračun, Drago | 18327 |
Source: Personal bibliographies
and: SICRIS
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