prikaz prve stranice dokumenta Percepcija okoline fuzijom podataka laserskog senzora udaljenosti i stereo kamere
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master's thesis
Percepcija okoline fuzijom podataka laserskog senzora udaljenosti i stereo kamere
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. urn:nbn:hr:168:192769
Liović, Karlo
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Liović, K. (2020). Percepcija okoline fuzijom podataka laserskog senzora udaljenosti i stereo kamere (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:192769

Liović, Karlo. "Percepcija okoline fuzijom podataka laserskog senzora udaljenosti i stereo kamere." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. https://urn.nsk.hr/urn:nbn:hr:168:192769

Liović, Karlo. "Percepcija okoline fuzijom podataka laserskog senzora udaljenosti i stereo kamere." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. https://urn.nsk.hr/urn:nbn:hr:168:192769

Liović, K. (2020). 'Percepcija okoline fuzijom podataka laserskog senzora udaljenosti i stereo kamere', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 12 July 2024, https://urn.nsk.hr/urn:nbn:hr:168:192769

Liović K. Percepcija okoline fuzijom podataka laserskog senzora udaljenosti i stereo kamere [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2020 [cited 2024 July 12] Available at: https://urn.nsk.hr/urn:nbn:hr:168:192769

K. Liović, "Percepcija okoline fuzijom podataka laserskog senzora udaljenosti i stereo kamere", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2020. Available at: https://urn.nsk.hr/urn:nbn:hr:168:192769

Metadata
TitlePercepcija okoline fuzijom podataka laserskog senzora udaljenosti i stereo kamere
Title (english)Environment perception by fusing laser range sensor and stereo camera data
AuthorKarlo Liović
MentorIvan Marković (mentor)
Committee memberIvan Marković (predsjednik povjerenstva)
Committee memberIvan Petrović (član povjerenstva)
Committee memberMarija Seder (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2020-07-09, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Senzorski sustavi koje čine kombinacija laserskih senzora i kamera dobiva na popularnosti kao izbor za percepciju okoline na mobilnim robotima. Kako bi se ostvarila uspješna i pouzdana percepcija okoline potrebno je povezati informacije iz oba senzora. Također je potrebno kalibrirati senzore, odnosno pronaći njihov odnos u prostoru. Zadatak rada je dobiti informacije o udaljenosti prepreka za oba senzora te odrediti njihov odnos u svrhu fuzije podataka. U ovom radu je prvo dan uvod u Robotski operacijski sustav (ROS). Zatim slijedi objašnjenje metode korištene za kalibraciju kamere i objašnjenje parametara dobivenih kalibracijom. Na kraju je opisana metoda kalibracije lidara i stereo kamere te su prikazani rezultati dobiveni fuzijom podataka iz oba senzora.
Abstract (english)
Sensor system that consists of a combination of laser sensors and cameras has gained in popularity as a choice for environment perception for mobile robots. To ensure a successful and reliable environment perception it is necessary to fuse information from both sensors. Also it is required to perform sensor calibration, in other words find their spatial relation. The goal of this thesis is to acquire information about the distance of obstacles from both sensors and to determine their relation for the purpose of data fusion. In this thesis, firstly you are given an introduction to Robot Operating System (ROS). Then follows the explanation of the method used for camera calibration and the explanation of parameters acquired from the calibration. Finally, the method used for calibrating lidar and stereo camera, is explained and results obtained from data fusion are presented.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:192769
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 12:53:53