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undergraduate thesis
Algoritam precizne lokalizacije robotske ruke pomoću kamere
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. urn:nbn:hr:168:451936
Tabak, Jelena
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Tabak, J. (2018). Algoritam precizne lokalizacije robotske ruke pomoću kamere (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:451936

Tabak, Jelena. "Algoritam precizne lokalizacije robotske ruke pomoću kamere." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. https://urn.nsk.hr/urn:nbn:hr:168:451936

Tabak, Jelena. "Algoritam precizne lokalizacije robotske ruke pomoću kamere." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. https://urn.nsk.hr/urn:nbn:hr:168:451936

Tabak, J. (2018). 'Algoritam precizne lokalizacije robotske ruke pomoću kamere', Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 04 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:451936

Tabak J. Algoritam precizne lokalizacije robotske ruke pomoću kamere [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2018 [cited 2024 November 04] Available at: https://urn.nsk.hr/urn:nbn:hr:168:451936

J. Tabak, "Algoritam precizne lokalizacije robotske ruke pomoću kamere", Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2018. Available at: https://urn.nsk.hr/urn:nbn:hr:168:451936

Metadata
TitleAlgoritam precizne lokalizacije robotske ruke pomoću kamere
Title (english)Vision based precise localization of robotic manipulator
AuthorJelena Tabak
MentorMatko Orsag (mentor)
Committee memberMatko Orsag (predsjednik povjerenstva)
Committee memberMarko Car (član povjerenstva)
Committee memberFrano Petric (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
Rad se bavi problemom računanja udaljenosti između pasivnih markera kroz simulacijski i eksperimentalni dio. Simulacija je provedena u Gazebo okruženju, gdje je kamera bila pričvršćena na robota. Robot je periodično mijenjao položaj relativno s obzirom na postavljene markere. Praćena je promjena u očitanoj udaljenosti s obzirom na položaj kamere. U svrhu provođenja eksperimenta su izrađeni pinovi na koje su pričvršćeni AR markeri. U eksperimentalnom dijelu je promatrana ovisnost detektirane udaljenosti između vrhova pinova o rotaciji pina. Postupak je pokazao zadovoljavajući u točnost, s izuzetkom određenih rubnih slučajeva.
Abstract (english)
The thesis deals with the distance calculation between two distinct points in 3D space by using pre-existing computer vision algorithms. Points are marked with AR markers and detected with help of ar_track_alvar. Simulation is conducted in Gazebo environment. Camera was mounted on the robot and the robot was moving periodically in order to capture markers from different angles. As expected, correlation between the position of the camera and the calculated distance was shown. During the experimental phase, two 3D pins were printed and AR markers were attached to them. Distance was calculated between the top of the pins, while observing the position of the markers. Correlation between the rotation of one of the pins and the calculated distance was confirmed. The results of the procedure were satisfying.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:451936
Study programmeTitle: Electrical Engineering and Information Technology
Study programme type: university
Study level: undergraduate
Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije)
Type of resourceText
File originBorn digital
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Created on2019-03-14 01:30:00