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master's thesis
Određivanje trodimenzionalnog oblika i položaja transparentnih objekata u svrhu robotske manipulacije
Osijek: Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, 2023. urn:nbn:hr:200:906497
Mihić, Vlatka
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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Mihić, V. (2023). Određivanje trodimenzionalnog oblika i položaja transparentnih objekata u svrhu robotske manipulacije (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:200:906497

Mihić, Vlatka. "Određivanje trodimenzionalnog oblika i položaja transparentnih objekata u svrhu robotske manipulacije." Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, 2023. https://urn.nsk.hr/urn:nbn:hr:200:906497

Mihić, Vlatka. "Određivanje trodimenzionalnog oblika i položaja transparentnih objekata u svrhu robotske manipulacije." Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, 2023. https://urn.nsk.hr/urn:nbn:hr:200:906497

Mihić, V. (2023). 'Određivanje trodimenzionalnog oblika i položaja transparentnih objekata u svrhu robotske manipulacije', Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, accessed 21 May 2024, https://urn.nsk.hr/urn:nbn:hr:200:906497

Mihić V. Određivanje trodimenzionalnog oblika i položaja transparentnih objekata u svrhu robotske manipulacije [Master's thesis]. Osijek: Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek; 2023 [cited 2024 May 21] Available at: https://urn.nsk.hr/urn:nbn:hr:200:906497

V. Mihić, "Određivanje trodimenzionalnog oblika i položaja transparentnih objekata u svrhu robotske manipulacije", Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, Osijek, 2023. Available at: https://urn.nsk.hr/urn:nbn:hr:200:906497

Metadata
TitleOdređivanje trodimenzionalnog oblika i položaja transparentnih objekata u svrhu robotske manipulacije
Title (english)3D pose estimation of transparent objects for robot manipulation
AuthorVlatka Mihić
MentorPetra Pejić (mentor)
MentorMatej Džijan (sumentor)
Committee memberRobert Cupec (predsjednik povjerenstva)
Committee memberEmmanuel Karlo Nyarko (član povjerenstva)
Committee memberMatej Džijan (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 country2023-09-29, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Computing
Artificial Intelligence
Abstract
Ovaj rad istražuje problem određivanja trodimenzionalnog oblika i položaja transparentnih objekata za potrebe robotske manipulacije. Predstavljena je metoda ClearGrasp temeljena na neuronskim mrežama koja se koristi za detekciju transparentnih objekata. Metoda uključuje estimaciju površinskih normi, rubova i maski transparentnih objekata. U radu se korištenjem rekonstruiranog oblaka točaka dobivenog primjenom ClearGrasp metode uz pomoć metoda Open3D biblioteke dolazi do centra i oblika objekta koji daju informaciju o položaju i veličini objekta. Izračunati položaj i veličina objekta su korišteni pri manipulaciji objektom kako bi robotski manipulator znao gdje se objekt nalazi i na koji način ga uhvatiti. Eksperimentalni postav je opisan, uključujući korištene hardverske komponente i programski okvir. Nakon toga su prikazani rezultati eksperimenta, koji uključuju evaluaciju uspješnosti detekcije i manipulacije transparentnih objekata.
Abstract (english)
This paper explores the problem of determining the three-dimensional shape and pose of transparent objects for robotic manipulation purposes. A neural network-based method ClearGrasp is presented for the detection of transparent objects, involving the estimation of surface normals, edges, and masks. In this paper, the object's center and shape were determined by employing the reconstructed point cloud, which was generated through the application of the ClearGrasp method with the assistance of Open3D library methods. The calculated position and size of the object were then utilized in the manipulation of the object, allowing the robotic manipulator to be aware of the object's location and how to grasp it. The experimental setup is described, including the hardware components and the software framework utilized. Subsequently, the experimental results are presented, which include an evaluation of the success in detecting and manipulating transparent objects.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:200:906497
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 on2023-10-13 09:36:50