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master's thesis
Detekcija i praćenje ljudi u radnom okruženju robota pomoću RGB-D kamere i YOLO algoritma
2021. urn:nbn:hr:200:241217
Svirac, Damian
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

Svirac, D. (2021). Detekcija i praćenje ljudi u radnom okruženju robota pomoću RGB-D kamere i YOLO algoritma (Master's thesis). Retrieved from https://urn.nsk.hr/urn:nbn:hr:200:241217

Svirac, Damian. "Detekcija i praćenje ljudi u radnom okruženju robota pomoću RGB-D kamere i YOLO algoritma." Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, 2021. https://urn.nsk.hr/urn:nbn:hr:200:241217

Svirac, Damian. "Detekcija i praćenje ljudi u radnom okruženju robota pomoću RGB-D kamere i YOLO algoritma." Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, 2021. https://urn.nsk.hr/urn:nbn:hr:200:241217

Svirac, D. (2021). 'Detekcija i praćenje ljudi u radnom okruženju robota pomoću RGB-D kamere i YOLO algoritma', Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, accessed 09 September 2021, https://urn.nsk.hr/urn:nbn:hr:200:241217

Svirac D. Detekcija i praćenje ljudi u radnom okruženju robota pomoću RGB-D kamere i YOLO algoritma [Master's thesis]. Osijek: Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek; 2021 [cited 2021 September 09] Available at: https://urn.nsk.hr/urn:nbn:hr:200:241217

D. Svirac, "Detekcija i praćenje ljudi u radnom okruženju robota pomoću RGB-D kamere i YOLO algoritma", Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, Osijek, 2021. Available at: https://urn.nsk.hr/urn:nbn:hr:200:241217

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Metadata
TitleDetekcija i praćenje ljudi u radnom okruženju robota pomoću RGB-D kamere i YOLO algoritma
Title (english)Human detection and tracking in robot workspace using RGB-D camera and YOLO algorithm
AuthorDamian Svirac
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 country2021-10-16, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Automation and Robotics
Abstract
Robotski sustavi općenito bi trebali biti sigurni za okolinu u kojoj rade. Ako se u toj okolini nalaze i ljudi, tada se javlja potreba za sigurnosnim sustavima koji će osigurati zaštitu čovjeka i spriječiti koliziju čovjeka i robota koji se kreće. U ovome radu prikazan je prijedlog rješenja jednog sigurnosnog sustava. Sigurnosni sustav sastoji se od RGB-D kamere i robotskog manipulatora. Pomoću RGB-D kamere detektiraju se ljudi koji se nalaze u okolini robotskog sustava te se estimira njihova pozicija, smjer i brzina kretanja. S obzirom na poziciju, smjer i brzinu kretanja čovjeka, upravlja se radom robotskom manipulatora. Sustav je implementiran u ROS-u te je integriran s Microsoft Kinect RGB-D kamerom i ABB IRB 2400L robotskim manipulatorom. Uspješnost razvijenog sigurnosnog sustava ispitana je na posebno izgrađenom skupu podataka kojim se ispituju zahtjevi prema kojima je izrađen sigurnosni sustav. Prikazani su rezultati testiranja te mogućnosti poboljšanja rezultata i samog sigurnosnog sustava.
Abstract (english)
In general, robotic systems should be safe for the environment they are working in. If humans are working in such environments, safety systems are needed which will ensure human protection and prevent collision between human and moving robot. In this paper, a solution proposal of a safety system is represented. The safety system includes an RGB-D camera and a robot manipulator. With the RGB-D camera, the safety system can detect humans located near the robot manipulator and estimate their position, walking speed and direction. With respect to the human position, speed and direction, working mode of the robot manipulator is regulated. The safety system is implemented in ROS and integrated with Microsoft Kinect RGB-D camera and ABB IRB 2400L robot manipulator. Performance of the developed safety system is tested on a dataset designed for testing the conditions according to which the safety system is created. The results of the developed safety system are shown with adduced possibilities for improvement of both the results and the safety system.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:200:241217
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 on2021-09-06 12:09:57