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undergraduate thesis
Izgradnja 3D modela prostorije pomoću robotske ruke i 3D kamere
2021. urn:nbn:hr:200:577162
Kolačko, Deni
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

Kolačko, D. (2021). Izgradnja 3D modela prostorije pomoću robotske ruke i 3D kamere (Undergraduate thesis). Retrieved from https://urn.nsk.hr/urn:nbn:hr:200:577162

Kolačko, Deni. "Izgradnja 3D modela prostorije pomoću robotske ruke i 3D kamere." Undergraduate 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:200:577162

Kolačko, Deni. "Izgradnja 3D modela prostorije pomoću robotske ruke i 3D kamere." Undergraduate 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:200:577162

Kolačko, D. (2021). 'Izgradnja 3D modela prostorije pomoću robotske ruke i 3D kamere', Undergraduate thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, accessed 25 May 2022, https://urn.nsk.hr/urn:nbn:hr:200:577162

Kolačko D. Izgradnja 3D modela prostorije pomoću robotske ruke i 3D kamere [Undergraduate thesis]. Osijek: Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek; 2021 [cited 2022 May 25] Available at: https://urn.nsk.hr/urn:nbn:hr:200:577162

D. Kolačko, "Izgradnja 3D modela prostorije pomoću robotske ruke i 3D kamere", Undergraduate 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:200:577162

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Metadata
TitleIzgradnja 3D modela prostorije pomoću robotske ruke i 3D kamere
Title (english)3D modelling of indoor environments using robotic arm and 3D camera
AuthorDeni Kolačko
MentorRobert Cupec (mentor)
Committee memberRobert Cupec (predsjednik povjerenstva)
Committee memberGoran Knežević (član povjerenstva)
Committee memberIrena Galić (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 country2021-09-30, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Computing
Data Processing
Abstract
Cilj ovoga rada je automatska izgradnja 3D modela prostorije. Kako bi dobili 3D model prostorije, prvo je bilo potrebno napisati programski kod koji će omogućiti interakciju izmeĎu robotske ruke UR5 i Intel RealSense™ LiDAR KAMERE L515 u programskom jeziku Python koji će na osnovu predanih joj parametara za zglobove robota, isplanirati i postaviti robota u zadani položaj i onda uzeti dubinsku sliku prostorije, pretvoriti je u 3D oblak točaka te ju spremiti na računalo u .ply formatu. U radu je opisana povijest i uloga ROS-a u današnjem svijetu, opis glavnih obilježja UR5 robotske ruke te karakteristike i svojstva LiDAR kamere L515. Nadalje, rad sadrži opis programskog koda u razvojnom okruženju Visual Studio Code. Na kraju je prikazana 3D rekonstrukcija prostorije pomoću programskog alata Meshlab.
Abstract (english)
The goal of this thesis was to develop a robotic system for automated reconstruction of indoor environments in the form of 3D models. In order to obtain a 3D model of a room, it was necessary to write a programming code which will enable interaction between a UR5 robotic arm and an Intel RealSense ™ LiDAR CAMERA L515 in the Python programming language. The developed program plans robot motion and places the robot in an appropriate position. Then the camera acquires a point cloud and saves it in the .ply format on a computer. The thesis describes the history and role of ROS in today's world, the description of the main features of the UR5 robotic arm, as well as the characteristics and properties of the LiDAR CAMERA L515. Furthermore, it contains a description of the program code written in the Visual Studio Code environment. Finally, a 3D room reconstruction is presented using the Meshlab tool.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:200:577162
Study programmeTitle: Undergraduate University Study Programme in Computer Engineering
Study programme type: university
Study level: undergraduate
Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva)
Type of resourceText
File originBorn digital
Access conditionsOpen access
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Created on2021-11-19 11:41:09