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undergraduate thesis
Postprocesiranje rezultata 3D mapiranja pomoću ICP algoritma
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2024. urn:nbn:hr:168:840901
Korić, Karmen
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Korić, K. (2024). Postprocesiranje rezultata 3D mapiranja pomoću ICP algoritma (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:840901

Korić, Karmen. "Postprocesiranje rezultata 3D mapiranja pomoću ICP algoritma." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2024. https://urn.nsk.hr/urn:nbn:hr:168:840901

Korić, Karmen. "Postprocesiranje rezultata 3D mapiranja pomoću ICP algoritma." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2024. https://urn.nsk.hr/urn:nbn:hr:168:840901

Korić, K. (2024). 'Postprocesiranje rezultata 3D mapiranja pomoću ICP algoritma', Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 22 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:840901

Korić K. Postprocesiranje rezultata 3D mapiranja pomoću ICP algoritma [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2024 [cited 2024 November 22] Available at: https://urn.nsk.hr/urn:nbn:hr:168:840901

K. Korić, "Postprocesiranje rezultata 3D mapiranja pomoću ICP algoritma", Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2024. Available at: https://urn.nsk.hr/urn:nbn:hr:168:840901

Metadata
TitlePostprocesiranje rezultata 3D mapiranja pomoću ICP algoritma
Title (english)Postprocessing of 3D mapping data by ICP algorithm
AuthorKarmen Korić
MentorStjepan Bogdan (mentor)
Committee memberStjepan Bogdan (predsjednik povjerenstva)
Committee memberAntonio Vasilijević (član povjerenstva)
Committee memberRobert Milijaš (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2024-02-16, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Computing
Abstract
Ovaj rad istražuje zamršeni proces 3D mapiranja pomoću različitih tehnologija i sveobuhvatnog procesa transformacije. Predstavlja metodologiju za obradu LiDAR podataka, detaljno opisujući proces ekstrakcije, transformaciju putanje i integraciju s modeliranjem temeljenim na URDF. Algoritam Iterativne najbliže točke (ICP) igra ključnu ulogu u obradi, usklađujući prikupljene podatke. Prikupljanje podataka i prethodna obrada dalje naglašavaju izazove uključene u rukovanje velikim skupovima podataka, naglašavajući obradu podataka o putanji za točno usklađivanje i uključivanje modeliranja temeljenog na URDF-u. Korištenje ROS-a (Robot Operating System) i PCL-a (Point Cloud Library) u zadanim isječcima koda prikazuje ekstrakciju poruka oblaka točaka, ekstrakciju TF (Transform) poruka i transformaciju lidarskih podataka na temelju ekstrahiranih transformacija. Implementacija ICP algoritma je detaljno objašnjena, pokrivajući parametre, postavke, integraciju s podacima lidara i postupke provjere valjanosti. Rad zaključuje naglašavanjem važnosti takvog 3D mapiranja i transformacija uključujući robotiku, praćenje okoliša i urbano planiranje.
Abstract (english)
This paper explores the intricate process of 3D mapping using various technologies and a comprehensive transformation process. It introduces a methodology for LiDAR data processing, detailing the extraction process, trajectory transformation and integration with URDF-based modeling. The Iterative Closest Point (ICP) algorithm plays a key role in the processing, matching the collected data. Data acquisition and preprocessing further highlight the challenges involved in handling large datasets, emphasizing the processing of trajectory data for accurate alignment and the inclusion of URDF-based modeling. Using ROS (Robot Operating System) and PCL (Point Cloud Library) in given code snippets shows extraction of point cloud messages, extraction of TF (Transform) messages and transformation of lidar data based on the extracted transforms. The implementation of the ICP algorithm is explained in detail, covering parameters, settings, integration with lidar data, and validation procedures. The paper concludes by emphasizing the importance of such 3D mapping and transformations including robotics, environmental monitoring and urban planning.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:840901
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 on2024-03-28 07:49:09