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undergraduate thesis
3D modeliranje zatvorenih okruženja sa mobilnim robotom
Rijeka: University of Rijeka, Faculty of Engineering, 2020. urn:nbn:hr:190:480287
Domitrović, Leo
University of Rijeka
Faculty of Engineering
Department of Computer Engineering
Section of Software Engineering

Institutional repository: Repository of the University of Rijeka, Faculty of Engineering

Cite this document

Domitrović, L. (2020). 3D modeliranje zatvorenih okruženja sa mobilnim robotom (Undergraduate thesis). Rijeka: University of Rijeka, Faculty of Engineering. Retrieved from https://urn.nsk.hr/urn:nbn:hr:190:480287

Domitrović, Leo. "3D modeliranje zatvorenih okruženja sa mobilnim robotom." Undergraduate thesis, University of Rijeka, Faculty of Engineering, 2020. https://urn.nsk.hr/urn:nbn:hr:190:480287

Domitrović, Leo. "3D modeliranje zatvorenih okruženja sa mobilnim robotom." Undergraduate thesis, University of Rijeka, Faculty of Engineering, 2020. https://urn.nsk.hr/urn:nbn:hr:190:480287

Domitrović, L. (2020). '3D modeliranje zatvorenih okruženja sa mobilnim robotom', Undergraduate thesis, University of Rijeka, Faculty of Engineering, accessed 02 May 2024, https://urn.nsk.hr/urn:nbn:hr:190:480287

Domitrović L. 3D modeliranje zatvorenih okruženja sa mobilnim robotom [Undergraduate thesis]. Rijeka: University of Rijeka, Faculty of Engineering; 2020 [cited 2024 May 02] Available at: https://urn.nsk.hr/urn:nbn:hr:190:480287

L. Domitrović, "3D modeliranje zatvorenih okruženja sa mobilnim robotom", Undergraduate thesis, University of Rijeka, Faculty of Engineering, Rijeka, 2020. Available at: https://urn.nsk.hr/urn:nbn:hr:190:480287

Metadata
Title3D modeliranje zatvorenih okruženja sa mobilnim robotom
Title (english)3D modeling of indoor environments with mobile robot
AuthorLeo Domitrović
MentorKristijan Lenac (mentor)
Committee memberKristijan Lenac (predsjednik povjerenstva)
GranterUniversity of Rijeka
Faculty of Engineering
(Department of Computer Engineering)
(Section of Software Engineering)
Rijeka
Defense date and country2020-09-16, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Computing
Abstract
U ovom radu zadatak je bio izraditi 3D mapu jednog kata prostora fakulteta korištenjem ROS paketa octomap_server i rtabmap_ros. Prvi dio sadrži opis robotskog sustava, njegove hardverske i softverske komponente. U drugom dijelu slijedi detaljan opis paketa za 3D mapiranje u ROS-u: octomap_server i rtabmap_ros njihova usporedba i opis metode ponovnog posjećivanja. Opisan je način rada pojedinog paketa te funkcionalnosti koje pruža korisniku. Zatim slijede upute za pokretanje mapiranja sa pravim robotom ili u 3D simulatoru te u sljedećem poglavlju detaljni opis parametara, stavki i argumenata prvi pokretanju mapiranja. Izvan glavnog sadržaja dokumenta nalazi se prilog sa uputama za instalaciju ROS-a.
Abstract (english)
In this paper task was to make 3D map of three rooms of faculty building using ROS packages octomap_server and rtabmap_ros. At the beginning of the document is description of robotic system, its hardware and software components. Second part contains detailed descriptions of ROS packages for 3D mapping: octomap_server and rtabmap_ros, their comparison and description of RTAB-Map loop closure method. For each package it is defined how it works and its features. Then there are steps I have done while mapping, pictures of rooms that are mapped and guidline how to start each mapping procces on simulator or with real robot and parametars that are changed. At the end are results of each 3D mapping package and problems that are faced during it. Outside of main content of the document there are instructions for installing ROS.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:190:480287
Study programmeTitle: Computer Engineering
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)
Type of resourceText
File originBorn digital
Access conditionsAccess restricted to students and staff of home institution
Terms of useLicence In copyright icon
Created on2021-09-30 06:52:24