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master's thesis
Detekcija i praćenje ljudi u svrhu sigurnog kretanja čovjeka u radnom prostoru robota
Osijek: Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, 2021. urn:nbn:hr:200:127248
Mihelčić, Dario
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

Institutional repository: Faculty of Electrical Engineering, Computer Science and Information Technology Osijek

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Mihelčić, D. (2021). Detekcija i praćenje ljudi u svrhu sigurnog kretanja čovjeka u radnom prostoru robota (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:200:127248

Mihelčić, Dario. "Detekcija i praćenje ljudi u svrhu sigurnog kretanja čovjeka u radnom prostoru robota." 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:200:127248

Mihelčić, Dario. "Detekcija i praćenje ljudi u svrhu sigurnog kretanja čovjeka u radnom prostoru robota." 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:200:127248

Mihelčić, D. (2021). 'Detekcija i praćenje ljudi u svrhu sigurnog kretanja čovjeka u radnom prostoru robota', Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, accessed 20 February 2025, https://urn.nsk.hr/urn:nbn:hr:200:127248

Mihelčić D. Detekcija i praćenje ljudi u svrhu sigurnog kretanja čovjeka u radnom prostoru robota [Master's thesis]. Osijek: Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek; 2021 [cited 2025 February 20] Available at: https://urn.nsk.hr/urn:nbn:hr:200:127248

D. Mihelčić, "Detekcija i praćenje ljudi u svrhu sigurnog kretanja čovjeka u radnom prostoru robota", 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:200:127248

Metadata
TitleDetekcija i praćenje ljudi u svrhu sigurnog kretanja čovjeka u radnom prostoru robota
Title (english)Human detection and tracking for safe motion in robot workspace
AuthorDario Mihelčić
MentorRobert Cupec (mentor)
Committee memberRobert Cupec (predsjednik povjerenstva)
Committee memberDamir Filko (član povjerenstva)
Committee memberEmmanuel Karlo Nyarko (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 country2021-07-27, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Automation and Robotics
Abstract
U ovom radu opisana je izrada sustava za detekciju i praćenje ljudi u svrhu sigurnog kretanja u okolini robotskog manipulatora. Realizirani sustav zasnovan je na ROS-u. Za prikupljanje podataka iz okoline koristi se Kinect RGB-D senzor. Korištenjem SPENCER razvojnog okvira, implementirana je metoda detekcije i praćenja ljudi koja računa opisne informacije o promatranim ljudima na temelju podataka snimljenih Kinect kamerom. Definirana su pravila za ograničenje kretanja robotskog manipulatora koji obavlja radnje u prostoru dijeljenom s ljudima. Informacije dobivene metodom detekcije i praćenja ljudi koriste se za provjeru uvjeta koji određuju ograničenja postavljena na kretanje robota. Ostvareno je upravljanje ABB IRB 2400L robotskim manipulatorom povezivanjem osobnog računala s IRC5 kontrolerom robota. Rad izrađenog sustava testiran je novim skupom podataka snimljenim Kinect kamerom.
Abstract (english)
In this thesis, development of a human detection and tracking system for the purpose of safe movement in the robot environment is described. The developed system is based on ROS. Environment data is gathered using a Kinect RGB-D sensor. Using the SPENCER framework, a human detection and tracking method was implemented, which calculates descriptive information about observed humans using the data recorded with the Kinect camera. Rules for movement restriction of a robotic manipulator, operating in a workspace shared with humans, were defined. Conditions, that define the restrictions imposed to the manipulator movement, are checked using data from the human detection and tracking method. Control of the ABB IRB 2400L robotic manipulator was realized using a connection between a personal computer and an IRC5 robot controller. The developed system is tested using a new dataset recorded with a Kinect sensor
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:200:127248
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 on2021-08-16 09:03:52