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master's thesis
Rekonstrukcija objekata metodom registracije oblaka točaka
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. urn:nbn:hr:168:210771
Gregurić, Davor
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Gregurić, D. (2021). Rekonstrukcija objekata metodom registracije oblaka točaka (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:210771

Gregurić, Davor. "Rekonstrukcija objekata metodom registracije oblaka točaka." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. https://urn.nsk.hr/urn:nbn:hr:168:210771

Gregurić, Davor. "Rekonstrukcija objekata metodom registracije oblaka točaka." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. https://urn.nsk.hr/urn:nbn:hr:168:210771

Gregurić, D. (2021). 'Rekonstrukcija objekata metodom registracije oblaka točaka', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 17 July 2024, https://urn.nsk.hr/urn:nbn:hr:168:210771

Gregurić D. Rekonstrukcija objekata metodom registracije oblaka točaka [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2021 [cited 2024 July 17] Available at: https://urn.nsk.hr/urn:nbn:hr:168:210771

D. Gregurić, "Rekonstrukcija objekata metodom registracije oblaka točaka", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2021. Available at: https://urn.nsk.hr/urn:nbn:hr:168:210771

Metadata
TitleRekonstrukcija objekata metodom registracije oblaka točaka
Title (english)Point cloud registration for object reconstruction
AuthorDavor Gregurić
MentorMatko Orsag (mentor)
Committee memberMatko Orsag (predsjednik povjerenstva)
Committee memberZdenko Kovačić (član povjerenstva)
Committee memberGoran Vasiljević (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2021-09-23, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Rad se bavi rekonstrukcijom objekata u obliku 3D modela u virtualnom okruženju, korištenjem registracije oblaka točaka kao osnove. Sustav se sastoji od PlantScan uređaja za 3D skeniranje i rekonstrukciju objekata, primarno biljaka, pomoću RGB-D kamere, i pripadne programske podrške. Rješavanje problema registracije oblaka točaka podijeljeno je na probleme transformacije položaja kamere, pohrane oblaka i registracije oblaka u ROS okruženju. Problem transformacije riješen je dodavanjem funkcija za računanje i odašiljanje transformacije u skriptu za pomicanje motora iz sustava PlantScan. Problem pohrane oblaka riješen je korištenjem skripte za pohranu slika i oblaka objekta u rosbag zapis. Na kraju, problem registracije oblaka i rekonstrukcije u 3D model riješen je korištenjem dobivenih transformacija i oblaka točaka kako bi se, pomoću metode iterativne najbliže točke, oblaci spojili u 3D model. U sklopu rada prikazana je teorijska podloga navedenih problema i njihovih rješenja.
Abstract (english)
The thesis deals with object reconstruction in the form of 3D models in virtual environment, using point cloud registration as basis. The system consists of the PlantScan device for 3D object scanning and reconstruction, with plants as primary subject, via RGB-D camera and the accompanying software. Resolving the problem of point cloud registration is further divided into the problems of camera position transform, point cloud storage and cloud registration in ROS environment. The transform problem is solved by incorporating the transform calculation and broadcast functions into the motor movement script from the PlantScan system. The storage problem is solved using the script for object image and cloud storage in the rosbag format. Finally, the cloud registration and 3D model reconstruction problem is solved using the obtained transforms and point clouds to merge them into a 3D model with the aid of the iterative closest point method. The thesis includes theoretical background for all of the aforementioned problems and their solutions.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:210771
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 on2023-01-13 09:07:33