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3D kartiranje in lokalizacija na mobilnem robotu na osnovi globinske kamere : magistrsko delo magistrskega študijskega programa II. stopnje StrojništvoSimičak Hafner, TimZa avtonomno navigacijo mora mobilni robot imeti dostop do karte prostora, ki vsebuje podatek o ovirah v okolici. Gradnja karte, v našem primeru, deluje na osnovi globinske kamere D435 ter kamere za ... sledenje T265, ki ju povežemo skupaj z algoritmom za hkratno lokalizacijo in kartiranje Rtabmap. Magistrsko delo obravnava razvoj robotskega sistema, ki prejema podatke o odometriji izključno iz sledilne kamere, torej brez uporabe podatkov iz enkoderjev na kolesih. Dodatno pomoč pri kartiranju ponuja funkcionalnost zaznavanja in vizualizacije Aruco oznak, ki znižujejo napako pri lokalizaciji. Razviti sistem deluje pri dobri osvetlitvi, vendar ima težave pri zaznavanju objektov v zahtevnejših svetlobnih pogojih temnejših prostorov, ter ob prisotnosti umazanije in madežev na kamerah.Type of material - master's thesis ; adult, seriousPublication and manufacture - Ljubljana : [T. Simičak Hafner], 2021Language - slovenianCOBISS.SI-ID - 84920067
Author
Simičak Hafner, Tim
Other authors
Vrabič, Rok
Topics
magistrske naloge |
robotika |
lokalizacija |
kartiranje |
globinske kamere |
sledilne kamere |
ROS |
Rtabmap |
master thesis |
robotics |
localisation |
mapping |
depth cameras |
tracking cameras |
ROS |
Rtabmap
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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Year | Impact factor | Edition | Category | Classification | ||||
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JCR | SNIP | JCR | SNIP | JCR | SNIP | JCR | SNIP |
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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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Simičak Hafner, Tim | |
Vrabič, Rok | 30914 |
Source: Personal bibliographies
and: SICRIS
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