prikaz prve stranice dokumenta Estimacija vlastitog gibanja mobilnog robota rotirajućim 3D laserskim senzorom udaljenosti
No public access
master's thesis
Estimacija vlastitog gibanja mobilnog robota rotirajućim 3D laserskim senzorom udaljenosti
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. urn:nbn:hr:168:677924
Čirjak, Anđela
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Čirjak, A. (2018). Estimacija vlastitog gibanja mobilnog robota rotirajućim 3D laserskim senzorom udaljenosti (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:677924

Čirjak, Anđela. "Estimacija vlastitog gibanja mobilnog robota rotirajućim 3D laserskim senzorom udaljenosti." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. https://urn.nsk.hr/urn:nbn:hr:168:677924

Čirjak, Anđela. "Estimacija vlastitog gibanja mobilnog robota rotirajućim 3D laserskim senzorom udaljenosti." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. https://urn.nsk.hr/urn:nbn:hr:168:677924

Čirjak, A. (2018). 'Estimacija vlastitog gibanja mobilnog robota rotirajućim 3D laserskim senzorom udaljenosti', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 27 December 2024, https://urn.nsk.hr/urn:nbn:hr:168:677924

Čirjak A. Estimacija vlastitog gibanja mobilnog robota rotirajućim 3D laserskim senzorom udaljenosti [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2018 [cited 2024 December 27] Available at: https://urn.nsk.hr/urn:nbn:hr:168:677924

A. Čirjak, "Estimacija vlastitog gibanja mobilnog robota rotirajućim 3D laserskim senzorom udaljenosti", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2018. Available at: https://urn.nsk.hr/urn:nbn:hr:168:677924

Metadata
TitleEstimacija vlastitog gibanja mobilnog robota rotirajućim 3D laserskim senzorom udaljenosti
Title (english)Mobile robot ego motion estimation based on a rotating 3D laser range sensor
AuthorAnđela Čirjak
MentorIvan Marković (mentor)
Committee memberIvan Marković (predsjednik povjerenstva)
Committee memberMarija Seder (član povjerenstva)
Committee memberIvan Petrović (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2018-07-13, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Zadatak rada bio je razviti algoritam estimacije vlastitog gibanja mobilnog robota koji je zasnovan na mjerenjima rotirajućeg 3D laserskog senzora udaljenosti. Algoritam je implementiran u programskom jeziku C/C++ pod Robotskim operacijskim sustavom. Opisan je rad laserskog 3D rotacijskog senzora te dan opis algoritama za lasersku odometriju. Objašnjen je način izvlačenja bitnih značaji iz oblaka točaka senzora. Za izračun pomaka robota korišten je ICP algoritam koji računa transformaciju između dva oblaka točaka. Pokazana je implementacija uz pomoć biblioteke libpointmatcher te opisana njezina struktura. Na kraju su dani rezultati eksperimenta na mobilnom robotu Husky i senzoru Velodyne HDL-32E.
Abstract (english)
The aim of this work was to develop a mobile robot ego motion estimation algorithm based on measurements from a rotating 3D laser sensor. The algorithm was implemented in C/C++ programming language under Robot Operating System. As a part of the introduction, the rotating 3D sensor is described and the laser odometry algorithms are presented. Also, the feature extraction from sparse point clouds is described. Mobile robot ego motion is estimated with the ICP algorithm which compares two consecutive point clouds and calculates the transformation between them. The ICP algorithm is implemented in the Libpointmatcher library so its structure is also described. At the end, the results of the experiment with the mobile robot Husky and the Velodyne HDL-32E sensor are given.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:677924
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
Access conditionsClosed access
Terms of useLicence In copyright icon
Public note
Created on2019-03-13 19:44:48