prikaz prve stranice dokumenta Određivanje položaja i smjera vizualnog senzora Realsense T265 i fuzija sa GPS-om
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undergraduate thesis
Određivanje položaja i smjera vizualnog senzora Realsense T265 i fuzija sa GPS-om
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. urn:nbn:hr:168:670499
Pardon, Josip
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Pardon, J. (2022). Određivanje položaja i smjera vizualnog senzora Realsense T265 i fuzija sa GPS-om (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:670499

Pardon, Josip. "Određivanje položaja i smjera vizualnog senzora Realsense T265 i fuzija sa GPS-om." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. https://urn.nsk.hr/urn:nbn:hr:168:670499

Pardon, Josip. "Određivanje položaja i smjera vizualnog senzora Realsense T265 i fuzija sa GPS-om." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. https://urn.nsk.hr/urn:nbn:hr:168:670499

Pardon, J. (2022). 'Određivanje položaja i smjera vizualnog senzora Realsense T265 i fuzija sa GPS-om', Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 20 May 2024, https://urn.nsk.hr/urn:nbn:hr:168:670499

Pardon J. Određivanje položaja i smjera vizualnog senzora Realsense T265 i fuzija sa GPS-om [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2022 [cited 2024 May 20] Available at: https://urn.nsk.hr/urn:nbn:hr:168:670499

J. Pardon, "Određivanje položaja i smjera vizualnog senzora Realsense T265 i fuzija sa GPS-om", Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2022. Available at: https://urn.nsk.hr/urn:nbn:hr:168:670499

Metadata
TitleOdređivanje položaja i smjera vizualnog senzora Realsense T265 i fuzija sa GPS-om
Title (english)Determining the position and direction of the Realsense T265 visual sensor and fusion with GPS
AuthorJosip Pardon
MentorZdenko Kovačić (mentor)
Committee memberZdenko Kovačić (član povjerenstva)
Committee memberDean Martinović (član povjerenstva)
Committee memberIvo Vatavuk (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2022-07-07, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Computing
Abstract
Implementirana je fuzija senzora. Korišteni senzori su bili kamera Realsense T265 i GPS uređaj Here+RTKGPS, montirani na mobilnogr obota s gusjenicama Viv. Sama fuzija je izvedena pomoću paketa sensor_fusion FER-ovog laboratorija LARICS, nad kojim su prethodno napravljena određena poboljšanja i promjene. Primjećeno je kako poruke objavljivane na GPS-ov topic(/viv/mavros/global_position/local) ne sadrže informaciju o položaju robota na Z osi (visina) , dok one objavljivane na topic kamere(/viv/T265/camera/odom/sample) sadrže. Iz tog razloga je po Z osi dano veliko povjerenje kameri, a skoro nikakvo GPS-u, čime je postignuta bolja estimacija visine robota. Po ostale dvije os i(X i Y) obama uređajima je dano jednako povjerenje.
Abstract (english)
Sensor fusion was implemented. The sensors used were a camera Realsense T265 and a GPS device Here+ RTK GPS, mounted on a mobile robot with tracks Viv. The fusion itself was performed using the sensor_fusion package of FER’s LARICS laboratory, on which certain improvements and changes were made. It was noticed that messages published on the GPS topic (/viv/mavros/global_position/local) do not contain information about the position of the robot on the Z axis (height), while those published on the camera topic (/viv/T265/camera/odom/sample) contain. For this reason, a lot of trust was given to the camera along the Z axis, and almost none to the GPS, which achieved a better estimation of the height of the robot. On the other two axes (X and Y) both devices were given equal trust.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:670499
Study programmeTitle: Computing
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
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Created on2023-01-15 10:58:14