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master's thesis
Estimacija kinematičkih parametara objekata s pokretnim dijelovima
2022. urn:nbn:hr:200:791782
Ivezić, Dijana
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

Ivezić, D. (2022). Estimacija kinematičkih parametara objekata s pokretnim dijelovima (Master's thesis). Osijek: Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek. Retrieved from https://urn.nsk.hr/urn:nbn:hr:200:791782

Ivezić, Dijana. "Estimacija kinematičkih parametara objekata s pokretnim dijelovima." Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, 2022. https://urn.nsk.hr/urn:nbn:hr:200:791782

Ivezić, Dijana. "Estimacija kinematičkih parametara objekata s pokretnim dijelovima." Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, 2022. https://urn.nsk.hr/urn:nbn:hr:200:791782

Ivezić, D. (2022). 'Estimacija kinematičkih parametara objekata s pokretnim dijelovima', Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, accessed 15 November 2024, https://urn.nsk.hr/urn:nbn:hr:200:791782

Ivezić D. Estimacija kinematičkih parametara objekata s pokretnim dijelovima [Master's thesis]. Osijek: Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek; 2022 [cited 2024 November 15] Available at: https://urn.nsk.hr/urn:nbn:hr:200:791782

D. Ivezić, "Estimacija kinematičkih parametara objekata s pokretnim dijelovima", Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, Osijek, 2022. Available at: https://urn.nsk.hr/urn:nbn:hr:200:791782

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Metadata
TitleEstimacija kinematičkih parametara objekata s pokretnim dijelovima
Title (english)Estimation of kinematic parameters of articulated objects
AuthorDijana Ivezić
MentorRobert Cupec (mentor)
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 country2022-09-27, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Computing
Artificial Intelligence
Abstract
Objekti sa pokretnim dijelovima su svuda oko nas. Korisno je omogućiti robotima da ih prepoznaju i s njima upravljaju na odgovarajući način što je još uvijek otvorena tema u znanstvenoj zajednici. Mjesta za napredak ima. Razvoj neuronskih mreža, robotskih sustava i senzora kroz godine omogućio je dosadašnja i otvara vrata budućim dostignućima. Motivacija ovoga rada je opisati i ispitati algoritme i metode koji se mogu primijeniti za detekciju objekata s pokretnim dijelovima, segmentaciju takvih objekata i estimaciju njihovih kinematičkih parametara kako bi se mogli dizajnirati inteligentni roboti u budućnosti koji sve bolje manipuliraju navedenim tipom objekata. Ukoliko robot uspješno manipulira objektom s pokretnim dijelovima, tada je moguće dizajnirati robote koji uspješno rješavaju ljudima korisne zadatke kao što su otvaranje vrata, otvaranje i postavljanje naočala na osobu koja to ne može samostalno i sl. Algoritmi razmatrani u ovom radu osmišljeni su za rješavanje problema estimacije osi objekata s pokretnim dijelovima, za koliko je taj objekt već zakrenut ili pomaknut i detekcije dijelova objekta za koje robot mora uhvatit svojim alatom.
Abstract (english)
Articulated objects are everywhere around us. It is useful to enable robots to recognise and manipulate them in an appropriate way which is still an open subject in the scientific community. There is room for improvement. Development of neural networks, robotics systems and sensors throught the years has enabled past and future achievements. The motivation for this work is to describe and test algorithms and methods that detect articulated objects, segment them into parts and estimate their pose in order to enable future robot design which enables better manipulation of those objects. If a robot successfully manipulates articulated objects, then it is possible to design robots that successfully solve useful tasks, such as opening doors, opening and placing glasses on a person which cannot do so independently etc.. The algorithms considered in this work aim to solve the problem of estimating the axis of articulated objects, how far the object has already been rotated or moved, and the detection of parts of the object that the robot must grasp with its tool.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:200:791782
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 on2022-10-19 07:19:15