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undergraduate thesis
Praćenje položaja ljudskog kostura korištenjem fuzije više senzora
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. urn:nbn:hr:168:600442
Marić, Jelena
University of Zagreb
Faculty of Electrical Engineering and Computing

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Marić, J. (2020). Praćenje položaja ljudskog kostura korištenjem fuzije više senzora (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:600442

Marić, Jelena. "Praćenje položaja ljudskog kostura korištenjem fuzije više senzora." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. https://urn.nsk.hr/urn:nbn:hr:168:600442

Marić, Jelena. "Praćenje položaja ljudskog kostura korištenjem fuzije više senzora." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. https://urn.nsk.hr/urn:nbn:hr:168:600442

Marić, J. (2020). 'Praćenje položaja ljudskog kostura korištenjem fuzije više senzora', Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 22 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:600442

Marić J. Praćenje položaja ljudskog kostura korištenjem fuzije više senzora [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2020 [cited 2024 November 22] Available at: https://urn.nsk.hr/urn:nbn:hr:168:600442

J. Marić, "Praćenje položaja ljudskog kostura korištenjem fuzije više senzora", Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2020. Available at: https://urn.nsk.hr/urn:nbn:hr:168:600442

Metadata
TitlePraćenje položaja ljudskog kostura korištenjem fuzije više senzora
Title (english)Human skeleton pose tracking using multiple sensor fusion
AuthorJelena Marić
MentorIvan Marković (mentor)
Committee memberIvan Marković (predsjednik povjerenstva)
Committee memberFilip Marić (član povjerenstva)
Committee memberJuraj Peršić (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2020-09-02, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Computing
Abstract
Cilj ovog rada bio je postojećim estimatorom stanja izvršiti procjenu položaja ljudskog kostura koji je dobiven mjerenjima četiriju Kinect senzora. Odabrani estimator stanja, Kalmanov filtar, radi po principu koraka predviđanja stanja i korekcije tog predviđanja. Prije same procjene, mjerenja koja su na raspolaganju grupirana su po trenucima u kojima su dobivena te su spojena u otežanu uzoračku srednju vrijednost. Pri fuziji mjerenja trebalo je obratiti pažnju na trenutke koji nedostaju u trajanju jedne sekvence kretanja i na zrcaljenje koordinatnih sustava senzora kojima je osoba okrenuta leđima. Za analizu uspješnosti Kalmanova filtra napravljena je i procjena stanja jednostavnom aritmetičkom sredinom svih mjerenja. Ta metoda često rezultira položajem kostura koji nije takav u stvarnosti dok predloženi estimator stanja postiže bolje rezultate prikazujući dijelove kostura u realističnim omjerima.
Abstract (english)
The aim of the presented work was to estimate the position of person's skeleton gathered from measurements obtained by four Kinect sensors using an existing estimator. The chosen estimator, Kalman filter, works in a two stepped process that includes prediction and update of the prediction. Before the estimation, available measurements are grouped together considering the moment in which the measurements were acquired and are fused together with the weighted measurement fusion. Missing frames as well as flipping left and right sides (if a person is opposite od facing the sensor) had to be taken into account when fusing these measurements. Estimation was also provided using simple average method. This method often generates results that represent an unnatural pose of the tracked skeleton while the proposed estimator on the other hand accomplishes better results regarding bones ratios
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:600442
Study programmeTitle: Computing
Study programme type: university
Study level: undergraduate
Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva)
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File originBorn digital
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Created on2023-01-14 09:24:07