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undergraduate thesis
Primjena neuronskih mreža u ekstrinzičnoj kalibraciji robotskog in-hand stereo-vizijskog sustava
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. urn:nbn:hr:235:019312
Samaržija, Lea
University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

Institutional repository: Repository of Faculty of Mechanical Engineering and Naval Architecture University of Zagreb

Cite this document

Samaržija, L. (2024). Primjena neuronskih mreža u ekstrinzičnoj kalibraciji robotskog in-hand stereo-vizijskog sustava (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:019312

Samaržija, Lea. "Primjena neuronskih mreža u ekstrinzičnoj kalibraciji robotskog in-hand stereo-vizijskog sustava." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. https://urn.nsk.hr/urn:nbn:hr:235:019312

Samaržija, Lea. "Primjena neuronskih mreža u ekstrinzičnoj kalibraciji robotskog in-hand stereo-vizijskog sustava." Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. https://urn.nsk.hr/urn:nbn:hr:235:019312

Samaržija, L. (2024). 'Primjena neuronskih mreža u ekstrinzičnoj kalibraciji robotskog in-hand stereo-vizijskog sustava', Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 23 November 2024, https://urn.nsk.hr/urn:nbn:hr:235:019312

Samaržija L. Primjena neuronskih mreža u ekstrinzičnoj kalibraciji robotskog in-hand stereo-vizijskog sustava [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2024 [cited 2024 November 23] Available at: https://urn.nsk.hr/urn:nbn:hr:235:019312

L. Samaržija, "Primjena neuronskih mreža u ekstrinzičnoj kalibraciji robotskog in-hand stereo-vizijskog sustava", Undergraduate thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2024. Available at: https://urn.nsk.hr/urn:nbn:hr:235:019312

Metadata
TitlePrimjena neuronskih mreža u ekstrinzičnoj kalibraciji robotskog in-hand stereo-vizijskog sustava
Title (english)Application of Neural Networks in Extrinsic Calibration of Robotic In-Hand Stereo Vision System
AuthorLea Samaržija
MentorFilip Šuligoj (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2024-09-26, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
U ovom završnom radu obrađuje se primjena neuronskih mreža u procesu ekstrinzične kalibracije stereo-vizijskih sustava unutar robotske ruke. Sustav stereo-vizijskih kamera omogućava preciznu lokalizaciju objekata u prostoru, a kalibracija igra ključnu ulogu u osiguravanju točnosti tih mjerenja. Tradicionalne metode kalibracije često su kompleksne i dugotrajne, stoga se u ovom radu koriste neuronske mreže za automatizaciju i pojednostavljenje procesa kalibracije. U ovom radu setovi podataka napravljeni su simulacijom modela stereo kamere. Stoga ovaj rad obuhvaća pregled teorije kamera i stereo kamera, te prikazuje model stereo kamere korišten za simulaciju potrebnih setova podataka. Nakon toga, rad se fokusira na razvoj i testiranje više modela neuronskih mreža, uključujući višeslojni perceptron (MLP) i konvolucijske neuronske mreže (CNN), s ciljem poboljšanja preciznosti pozicioniranja objekata u stvarnim aplikacijama poput autonomnih vozila i robotske manipulacije.
Abstract (english)
This thesis addresses the application of neural networks in the process of extrinsic calibration of stereo vision systems within a robotic arm. The stereo vision camera system enables precise localization of objects in space, with calibration playing a crucial role in ensuring the accuracy of these measurements. Traditional calibration methods are often complex and time-consuming, therefore, this paper employs neural networks to automate and simplify the calibration process. The data sets used in this research were generated by simulating a stereo camera model. Consequently, the thesis includes an overview of camera and stereo camera theory, as well as a presentation of the stereo camera model used for data set simulation. Following this, the work focuses on the development and testing of several neural network models, including a multilayer perceptron (MLP) and convolutional neural networks (CNN), aiming to improve the accuracy of object positioning in real-world applications such as autonomous vehicles and robotic manipulation.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:019312
Study programmeTitle: Mechanical Engineering
Study programme type: university
Study level: undergraduate
Academic / professional title: sveučilišni/a prvostupnik/prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva (sveučilišni/a prvostupnik/prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2024-09-25 09:45:01