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master's thesis
Trodimenzionalna rekonstrukcija prostora iz RGB-D slika
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2023. urn:nbn:hr:168:761634
Mikašek, Barbara
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Mikašek, B. (2023). Trodimenzionalna rekonstrukcija prostora iz RGB-D slika (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:761634

Mikašek, Barbara. "Trodimenzionalna rekonstrukcija prostora iz RGB-D slika." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2023. https://urn.nsk.hr/urn:nbn:hr:168:761634

Mikašek, Barbara. "Trodimenzionalna rekonstrukcija prostora iz RGB-D slika." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2023. https://urn.nsk.hr/urn:nbn:hr:168:761634

Mikašek, B. (2023). 'Trodimenzionalna rekonstrukcija prostora iz RGB-D slika', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 12 July 2024, https://urn.nsk.hr/urn:nbn:hr:168:761634

Mikašek B. Trodimenzionalna rekonstrukcija prostora iz RGB-D slika [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2023 [cited 2024 July 12] Available at: https://urn.nsk.hr/urn:nbn:hr:168:761634

B. Mikašek, "Trodimenzionalna rekonstrukcija prostora iz RGB-D slika", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2023. Available at: https://urn.nsk.hr/urn:nbn:hr:168:761634

Metadata
TitleTrodimenzionalna rekonstrukcija prostora iz RGB-D slika
Title (english)Three-dimensional environment reconstruction from RGB-D images
AuthorBarbara Mikašek
MentorMarija Seder (mentor)
Committee memberIvan Marković (član povjerenstva)
Committee memberJuraj Peršić (član povjerenstva)
Committee memberLuka Petrović (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2023-07-11, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Trodimenzionalna rekonstrukcija okruženja u kojemu se robot nalazi temeljni je preduvjet autonomnog djelovanja u svrhu izbjegavanja prepreka te izvršavanja kompleksnih radnji poput dohvaćanja predmeta. RGB-D kamera jedan je od najčešće korištenih senzora u robotici te je pogodna za trodimenzionalnu rekonstrukciju okruženja jer za svaku točku dvodimenzionalne slike daju informaciju o boji, ali i o dubini. Recentna istraživanja usmjerena su na generiranje oblaka točaka iz RGB-D slike te pretvaranje oblaka točaka u vjerojatnosnu trodimenzionalnu kartu prostora. U diplomskom je radu potrebno istražiti i analizirati jednu od metoda trodimenzionalne rekonstrukcije okruženja. Odabranu je metodu potrebno testirati na stvarnim RGB-D slikama dobivenih senzorom u laboratoriju unutar robotskog operacijskog sustava (ROS).
Abstract (english)
Three-dimensional reconstruction of the environment in which a robot is located is a fundamental prerequisite for autonomous action in order to avoid obstacles and perform complex tasks such as object retrieval. The RGB-D camera is one of the most commonly used sensors in robotics and is suitable for three-dimensional reconstruction of the environment because it provides information about color and depth for each point of the two-dimensional image. Recent research is focused on generating point clouds from RGB-D images and converting point clouds into a probabilistic three-dimensional map of the space. In the thesis, it is necessary to research and analyze one of the methods of three-dimensional reconstruction of the environment. The chosen method needs to be tested on actual RGB-D images obtained by a sensor in the laboratory within the Robot Operating System (ROS).
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:761634
Study programmeTitle: Electrical Engineering and Information Technology
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
Type of resourceText
File originBorn digital
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Created on2023-10-11 09:49:33