prikaz prve stranice dokumenta Detekcija objekta na slici snimljenoj 3D kamerom i određivanje njegovog položaja
  Download
PDF 1.91 MB
master's thesis
Detekcija objekta na slici snimljenoj 3D kamerom i određivanje njegovog položaja
2019. urn:nbn:hr:200:834500
Živčić, Dominik
Josip Juraj Strossmayer University of Osijek
Faculty of Electrical Engineering, Computer Science and Information Technology Osijek
Department of Computer Engineering and Automation
Chair of Automation and Robotics

Cite this document

Živčić, D. (2019). Detekcija objekta na slici snimljenoj 3D kamerom i određivanje njegovog položaja (Master's thesis). Retrieved from https://urn.nsk.hr/urn:nbn:hr:200:834500

Živčić, Dominik. "Detekcija objekta na slici snimljenoj 3D kamerom i određivanje njegovog položaja." Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, 2019. https://urn.nsk.hr/urn:nbn:hr:200:834500

Živčić, Dominik. "Detekcija objekta na slici snimljenoj 3D kamerom i određivanje njegovog položaja." Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, 2019. https://urn.nsk.hr/urn:nbn:hr:200:834500

Živčić, D. (2019). 'Detekcija objekta na slici snimljenoj 3D kamerom i određivanje njegovog položaja', Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, accessed 28 November 2020, https://urn.nsk.hr/urn:nbn:hr:200:834500

Živčić D. Detekcija objekta na slici snimljenoj 3D kamerom i određivanje njegovog položaja [Master's thesis]. Osijek: Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek; 2019 [cited 2020 November 28] Available at: https://urn.nsk.hr/urn:nbn:hr:200:834500

D. Živčić, "Detekcija objekta na slici snimljenoj 3D kamerom i određivanje njegovog položaja", Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, Osijek, 2019. Available at: https://urn.nsk.hr/urn:nbn:hr:200:834500

Islandora Bookmark - Please login to use this feature
Metadata
TitleDetekcija objekta na slici snimljenoj 3D kamerom i određivanje njegovog položaja
Title (english)Object Detection and Pose Estimation in 3D Images
AuthorDominik Živčić
MentorRobert Cupec (mentor)
Committee memberRobert Cupec (predsjednik povjerenstva)
Committee memberEmmanuel Karlo Nyarko (član povjerenstva)
Committee memberDamir Filko (član povjerenstva)
GranterJosip Juraj Strossmayer University of Osijek
Faculty of Electrical Engineering, Computer Science and Information Technology Osijek
(Department of Computer Engineering and Automation)
(Chair of Automation and Robotics)
Osijek
Defense date and country2019-10-07, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Automation and Robotics
Abstract
U ovom radu istražene su i implementirane dvije metode prepoznavanja objekta od interesa u svrhu određivanja putanje robotskog manipulatora po površini objekta. Implementirane su LINE-MOD i tabletop metode prepoznavanja objekta. Objekt od interesa je zadan u obliku mreže trokuta. Metode za prepoznavanje objekata su implementirane u ROS okruženje te koriste informacije dobivene od RGB-D kamere za prepoznavanje. Kako bi se mogla planirati putanja robota po površini objekta, potrebno je znati gdje se nalazi objekt u odnosu na koordinatni sustav robota. U tu svrhu je u programskom rješenju implementirana hand-eye kalibracija. Na kraju je provedeno testiranje sustava koji se sastoji od industrijskog robota ABB IRB 2400L i Orbbec Astra S kamere kako bi se odredila točnost cijelog sustava.
Abstract (english)
In this thesis, two methods for object recognition are examined and implemented for the purpose of determining the path of a robotic manipulator end effector along the object surface. LINE-MOD and tabletop methods are implemented. The developed program requires the object of interest to be provided in the form of a triangular mesh. Methods for object recognition are implemented in ROS framework and they use information obtained from an RGB-D camera. In order to be able to plan the path of a robot end effector along the surface of an object, it is necessary to know where the object is located relative to the coordinate system of the robot. For that purpose, hand-eye calibration was implemented in the software solution. Finally, testing of the ABB IRB 2400L robot and Orbbec Astra S camera system was performed to determine the accuracy of the system.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:200:834500
Study programmeTitle: Graduate University Study Programme in Computer Engineering
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka računarstva (magistar/magistra inženjer/inženjerka računarstva)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2019-12-19 13:33:30