prikaz prve stranice dokumenta Mapiranje prostora korištenjem senzora Pepper robota
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undergraduate thesis
Mapiranje prostora korištenjem senzora Pepper robota
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. urn:nbn:hr:168:206918
Cihlar, Karlo Valentin
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Cihlar, K. V. (2020). Mapiranje prostora korištenjem senzora Pepper robota (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:206918

Cihlar, Karlo Valentin. "Mapiranje prostora korištenjem senzora Pepper robota." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. https://urn.nsk.hr/urn:nbn:hr:168:206918

Cihlar, Karlo Valentin. "Mapiranje prostora korištenjem senzora Pepper robota." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. https://urn.nsk.hr/urn:nbn:hr:168:206918

Cihlar, K. V. (2020). 'Mapiranje prostora korištenjem senzora Pepper robota', Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 20 May 2024, https://urn.nsk.hr/urn:nbn:hr:168:206918

Cihlar KV. Mapiranje prostora korištenjem senzora Pepper robota [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2020 [cited 2024 May 20] Available at: https://urn.nsk.hr/urn:nbn:hr:168:206918

K. V. Cihlar, "Mapiranje prostora korištenjem senzora Pepper robota", Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2020. Available at: https://urn.nsk.hr/urn:nbn:hr:168:206918

Metadata
TitleMapiranje prostora korištenjem senzora Pepper robota
Title (english)Mapping of environment with Pepper robot sensors
AuthorKarlo Valentin Cihlar
MentorZdenko Kovačić (mentor)
Committee memberZdenko Kovačić (predsjednik povjerenstva)
Committee memberJuraj Oršulić (član povjerenstva)
Committee memberIvan Hrabar (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
Kako bi robot Pepper mogao obavljati funkciju welcome managera na Fakultetu elektrotehnike i računarstva, potrebno je izgraditi mapu zauzeća prostora fakulteta kako bi se robot mogao efikasno lokalizirati i navigirati u prostoru. U tu svrhu uspoređena su 3 različita postupka mapiranja korištenjem Pepperovih senzora: mapiranje korištenjem lasera, mapiranje korištenjem dubinske kamere i mapiranje korištenjem fuzije oba senzora. Rezultati pokazuju da je mapiranje laserima za bilo kakav složeniji i veći prostor veoma loše kvalitete te je nedostatno za primjenu u željenoj funkciji robota. Uzrok tome je mala gustoća lasera i pogreška u rotacijskoj odometriji. Mape dobivene korištenjem 3D kamere zadovoljavajuće su kvalitete i mogle bi se koristiti u funkciji Peppera kao welcome managera. Kod mapa dobivenih fuzijom pojavljuje se dodatno rasipanje zbog istovremenog korištenja lasera i dubinske kamere. Mape su slične onima dobivenim iz dubinske kamere, uz dodatnu pogrešku. Iako bi i ovaj način mapiranja u nekim primjenama bio dostatne kvalitete, predlaže se da se u funkciji Peppera kao welcome managera koriste mape dobivene dubinskom kamerom, zbog jednostavnijeg postupka mapiranja i veće točnosti mape.
Abstract (english)
In order for the Pepper robot to be able to perform the function of a welcome manager at the Faculty of Electrical Engineering and Computing, it is necessary to build a map of the faculty interior so that the robot can be localized and navigated in space. For this purpose, 3 different mapping procedures using Pepper sensors were compared: mapping using lasers, mapping using a depth camera and mapping using the fusion of both sensors. The results show that mapping with lasers for a bit more complex, larger spaces is of insufficient quality for application in the desired robot function. This is caused by the low density of the laser scans and the error in the rotational odometry. The maps obtained using the 3D camera are of satisfactory quality and could be used with Pepper functioning as a welcome manager. In fusion maps, additional scattering occurs due to the simultaneous use of lasers and a depth camera. The maps are similar to those obtained from a depth camera, with added error. Although this way of mapping would be of sufficient quality in some applications, it is suggested that in the Pepper's function as a welcome manager, maps obtained with a depth camera be used, due to the simpler mapping process and greater accuracy of the map.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:206918
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 on2023-01-13 14:40:46