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master's thesis
Istovremena lokalizacija i mapiranje bespilotnom letjelicom korištenjem Google Cartographer alata
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. urn:nbn:hr:168:371606
Marjanović, Zvonimir
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Marjanović, Z. (2020). Istovremena lokalizacija i mapiranje bespilotnom letjelicom korištenjem Google Cartographer alata (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:371606

Marjanović, Zvonimir. "Istovremena lokalizacija i mapiranje bespilotnom letjelicom korištenjem Google Cartographer alata." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. https://urn.nsk.hr/urn:nbn:hr:168:371606

Marjanović, Zvonimir. "Istovremena lokalizacija i mapiranje bespilotnom letjelicom korištenjem Google Cartographer alata." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. https://urn.nsk.hr/urn:nbn:hr:168:371606

Marjanović, Z. (2020). 'Istovremena lokalizacija i mapiranje bespilotnom letjelicom korištenjem Google Cartographer alata', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 03 June 2024, https://urn.nsk.hr/urn:nbn:hr:168:371606

Marjanović Z. Istovremena lokalizacija i mapiranje bespilotnom letjelicom korištenjem Google Cartographer alata [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2020 [cited 2024 June 03] Available at: https://urn.nsk.hr/urn:nbn:hr:168:371606

Z. Marjanović, "Istovremena lokalizacija i mapiranje bespilotnom letjelicom korištenjem Google Cartographer alata", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2020. Available at: https://urn.nsk.hr/urn:nbn:hr:168:371606

Metadata
TitleIstovremena lokalizacija i mapiranje bespilotnom letjelicom korištenjem Google Cartographer alata
Title (english)Simultaneous localisation and mapping by an UAV implementing Google Cartographer tool
AuthorZvonimir Marjanović
MentorStjepan Bogdan (mentor)
Committee memberStjepan Bogdan (predsjednik povjerenstva)
Committee memberMatko Orsag (član povjerenstva)
Committee memberTamara Petrović (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2020-07-16, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Rad opisuje korištenje skupine alata kao što su ROS, Gazebo, Google Cartographer i ArduPilot u svrhu autonomne navigacije i istovremene lokalizacije i mapiranja neistraženog prostora. Robot koji je korišten u radu jest model letjelice Bebop. Navodi se kako alati rade i koja im je svrha u ovom radu. U radu se također postoji obrada slike u vidu prepoznavanja i lokalizacije markera crvene, zelene i plave boje. Objašnjen je princip na kojem se bazira prepoznavanje i lokalizacija markera s prednje i donje kamere s letjelice. Na kraju su grafički prikazani i komentirani rezultati u vidu vremenskih trenutaka prepoznavanja markera, lokacija istih te generiranih mapa i oktomapa.
Abstract (english)
The thesis describes the use of a group of tools such as ROS, Gazebo, Google Cartographer and ArduPilot for autonomous navigation and simultaneous localization and mapping of an unexplored space. The robot used in the thesis is a model of the Bebop unmanned aerial vehicle. It states how the tools work and what their purpose is within this thesis. The thesis also contains image processing in the form of recognition and localization of red, green and blue markers. The way the recognition and localization of markers from the front- and down-facing cameras on the unmanned aerial vehicle work is explained. Finally, the results are graphically presented in the form of moments when the markers were recognized, the positions they were located at and generated map and octomap of the space.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:371606
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 13:00:10