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undergraduate thesis
Rekonstrukcija okoline zasnovana na slikama stereo kamere
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2019. urn:nbn:hr:168:508702
Pavičić, Pavle
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Pavičić, P. (2019). Rekonstrukcija okoline zasnovana na slikama stereo kamere (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:508702

Pavičić, Pavle. "Rekonstrukcija okoline zasnovana na slikama stereo kamere." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2019. https://urn.nsk.hr/urn:nbn:hr:168:508702

Pavičić, Pavle. "Rekonstrukcija okoline zasnovana na slikama stereo kamere." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2019. https://urn.nsk.hr/urn:nbn:hr:168:508702

Pavičić, P. (2019). 'Rekonstrukcija okoline zasnovana na slikama stereo kamere', Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 12 July 2024, https://urn.nsk.hr/urn:nbn:hr:168:508702

Pavičić P. Rekonstrukcija okoline zasnovana na slikama stereo kamere [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2019 [cited 2024 July 12] Available at: https://urn.nsk.hr/urn:nbn:hr:168:508702

P. Pavičić, "Rekonstrukcija okoline zasnovana na slikama stereo kamere", Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2019. Available at: https://urn.nsk.hr/urn:nbn:hr:168:508702

Metadata
TitleRekonstrukcija okoline zasnovana na slikama stereo kamere
Title (english)Environment reconstruction based on stereo camera images
AuthorPavle Pavičić
MentorIvan Marković (mentor)
Committee memberIvan Marković (predsjednik povjerenstva)
Committee memberGoran Popović (član povjerenstva)
Committee memberAntea Hadviger (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2019-09-06, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
U ovom radu obrađuje se prikazivanje okoline dobivene slikama iz stereo kamere. Za što vjerniji prikaz, potrebno je odabrati adekvatan način računanja dubine slike. Kako bi to bilo ostvarivo, dubina slike se dobiva pomoću mape dispariteta koja je generirana globalnom metodom SGM. Mapa dispariteta u kombinaciji s Q matricom koja je vezana uz fizičku izvedbu kamere daju prikaz uhvaćen na slikama u 3D prostoru. Takav prikaz naziva se oblak točaka. Za spajanje više slika, odnosno oblaka točaka, u svrhu rekonstrukcije većeg prostora, potrebno je vizualnom odometrijom izračunati matrice transformacije koje sjedinjuju sve stvorene točke u jedinstven oblak točaka. Implementacija ovog algoritma ostvarena je pomoću programskih paketa i programskog jezika C++.
Abstract (english)
This thesis deals with display of the surrounding obtained by the images from the stereo camera. For a more faithful display, it is necessary to choose an adequate way of calculating the depth of the image. For this to be feasible, the depth of the image is obtained using a disparity map generated by the global SGM method. A disparity map combined with a Q matrix, which relates to the physical construction of the camera, converts a captured image in a 3D view. This type of display is called point cloud. To merge multiple point clouds in purpose of reconstructing a larger space, it is necessary to calculate the transformation matrices using visual odometry. They unify all created points into a single point cloud. Implementation of this algorithm was achieved using programming language C++, as well as C++ programming libraries.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:508702
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 on2020-01-07 21:00:27