prikaz prve stranice dokumenta Ispravljanje distorzije rotirajućeg 3D laserskog senzora udaljenosti uzrokovane gibanjem mobilnoga robota
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master's thesis
Ispravljanje distorzije rotirajućeg 3D laserskog senzora udaljenosti uzrokovane gibanjem mobilnoga robota
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. urn:nbn:hr:168:129360
Jurić, Demijan
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Jurić, D. (2018). Ispravljanje distorzije rotirajućeg 3D laserskog senzora udaljenosti uzrokovane gibanjem mobilnoga robota (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:129360

Jurić, Demijan. "Ispravljanje distorzije rotirajućeg 3D laserskog senzora udaljenosti uzrokovane gibanjem mobilnoga robota." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. https://urn.nsk.hr/urn:nbn:hr:168:129360

Jurić, Demijan. "Ispravljanje distorzije rotirajućeg 3D laserskog senzora udaljenosti uzrokovane gibanjem mobilnoga robota." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. https://urn.nsk.hr/urn:nbn:hr:168:129360

Jurić, D. (2018). 'Ispravljanje distorzije rotirajućeg 3D laserskog senzora udaljenosti uzrokovane gibanjem mobilnoga robota', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 29 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:129360

Jurić D. Ispravljanje distorzije rotirajućeg 3D laserskog senzora udaljenosti uzrokovane gibanjem mobilnoga robota [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2018 [cited 2024 November 29] Available at: https://urn.nsk.hr/urn:nbn:hr:168:129360

D. Jurić, "Ispravljanje distorzije rotirajućeg 3D laserskog senzora udaljenosti uzrokovane gibanjem mobilnoga robota", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2018. Available at: https://urn.nsk.hr/urn:nbn:hr:168:129360

Metadata
TitleIspravljanje distorzije rotirajućeg 3D laserskog senzora udaljenosti uzrokovane gibanjem mobilnoga robota
Title (english)Distortion correction of 3D laser sensor measurements caused by mobile robot motion
AuthorDemijan Jurić
MentorIvan Petrović (mentor)
Committee memberIvan Petrović (predsjednik povjerenstva)
Committee memberIvan Marković (član povjerenstva)
Committee memberMarija Seder (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
U diplomskom radu opisana je implementacija regresije Gaussovih procesa za estimiranje stanje u kontinuiranom vremenu. Estimacija gibanja mobilnog robota je simulirana i korištena za korekciju distorzije rotirajućeg 3D laserskog senzora. Teoretski zasnovan algoritam je razmotren. Korištenjem ROS-a za snimanje senzorskih mjerenja i algoritma zasnovanog na ICP estimaciji vlastitog gibanja u C/C++, dobiveno je okružje za provjeru algoritma. Poboljšanje ICP algoritma pri pravocrtnom gibanju uz smanjenje pogreške u odnosu na smjerove okomite na smjer gibanja, predstavlja korisne rezultate.
Abstract (english)
This thesis describes an implementation of Gaussian process regression for continuous time state estimation. The estimation of mobile robot motion has been simulated and used as a tool in correcting the distorsion of the rotating 3D laser sensor. A theoretically established algorithm is preseted and discussed. Using ROS for sensor data acquisition and the ICP based robot ego motion algorithm in C/C++, we get a real-world setup for algorithm validation. Improving the ICPs performance on straight line experiments by decreasing error in directions perpendicular to the motion, is valuable results that emerge.
Keywords
Keywords (english)
Languageenglish
URN:NBNurn:nbn:hr:168:129360
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 on2019-03-13 21:20:03