prikaz prve stranice dokumenta Detekcija zatvaranja petlje u SLAM-u temeljenom na podvodnim vizualnim podacima
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master's thesis
Detekcija zatvaranja petlje u SLAM-u temeljenom na podvodnim vizualnim podacima
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2015. urn:nbn:hr:168:261034
Bibulić, Aleksandar
University of Zagreb
Faculty of Electrical Engineering and Computing

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Bibulić, A. (2015). Detekcija zatvaranja petlje u SLAM-u temeljenom na podvodnim vizualnim podacima (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:261034

Bibulić, Aleksandar. "Detekcija zatvaranja petlje u SLAM-u temeljenom na podvodnim vizualnim podacima." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2015. https://urn.nsk.hr/urn:nbn:hr:168:261034

Bibulić, Aleksandar. "Detekcija zatvaranja petlje u SLAM-u temeljenom na podvodnim vizualnim podacima." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2015. https://urn.nsk.hr/urn:nbn:hr:168:261034

Bibulić, A. (2015). 'Detekcija zatvaranja petlje u SLAM-u temeljenom na podvodnim vizualnim podacima', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 30 June 2024, https://urn.nsk.hr/urn:nbn:hr:168:261034

Bibulić A. Detekcija zatvaranja petlje u SLAM-u temeljenom na podvodnim vizualnim podacima [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2015 [cited 2024 June 30] Available at: https://urn.nsk.hr/urn:nbn:hr:168:261034

A. Bibulić, "Detekcija zatvaranja petlje u SLAM-u temeljenom na podvodnim vizualnim podacima", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2015. Available at: https://urn.nsk.hr/urn:nbn:hr:168:261034

Metadata
TitleDetekcija zatvaranja petlje u SLAM-u temeljenom na podvodnim vizualnim podacima
Title (english)Loop-closure detection in SLAM based on underwater visual data
AuthorAleksandar Bibulić
MentorNikola Mišković (mentor)
Committee memberNikola Mišković (predsjednik povjerenstva)
Committee memberZoran Vukić (član povjerenstva)
Committee memberIvan Petrović (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2015-07-17, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Zbog nemogućnosti korištenja preciznih tehnologija za lokalizaciju kao što su GPS, u podvodnim sustavima se u tu svrhu koriste drukčije metode lokalizacije među kojima je i SLAM (simultana lokalizacija i mapiranje). Pomoću SLAM algoritma, autonomna podvodna ronilica može odrediti svoju trenutnu poziciju i prijeđenu trajektoriju. Zbog mogućnosti pogreške pri određivanju trenutne pozicije, za ispravljanje se dodatno koristi HALOC algoritam. HALOC algoritam koristi hash funkciju kako bi efikasno pronašao zatvaranje petlje, odnosno prepoznao poziciju ronilice usporedbom s prethodno snimljenim video okvirima na raznim pozicijama.
Abstract (english)
Because of the inability of using precise localization technologies such as GPS in the underwater world, localization is determined by other methods like SLAM (simultaneous localization and mapping). Using SLAM algorithm, autonomous underwater vehicle can determine its' current position and traveled trajectory. Because of the possibility of error in determining the position, we use HALOC algorithm to provide correction. HALOC algorithm uses a hash function to efficiently find the closing loop and recognize the position of the AUV comparing with previously recorded video frames at different positions.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:261034
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 on2018-02-06 07:53:14