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undergraduate thesis
Video SLAM tehnologija u podmorju
Rijeka: University of Rijeka, Faculty of Engineering, 2022. urn:nbn:hr:190:107141
Vičević, Dominik
University of Rijeka
Faculty of Engineering
Department of Computer Engineering

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

Cite this document

Vičević, D. (2022). Video SLAM tehnologija u podmorju (Undergraduate thesis). Rijeka: University of Rijeka, Faculty of Engineering. Retrieved from https://urn.nsk.hr/urn:nbn:hr:190:107141

Vičević, Dominik. "Video SLAM tehnologija u podmorju." Undergraduate thesis, University of Rijeka, Faculty of Engineering, 2022. https://urn.nsk.hr/urn:nbn:hr:190:107141

Vičević, Dominik. "Video SLAM tehnologija u podmorju." Undergraduate thesis, University of Rijeka, Faculty of Engineering, 2022. https://urn.nsk.hr/urn:nbn:hr:190:107141

Vičević, D. (2022). 'Video SLAM tehnologija u podmorju', Undergraduate thesis, University of Rijeka, Faculty of Engineering, accessed 02 May 2024, https://urn.nsk.hr/urn:nbn:hr:190:107141

Vičević D. Video SLAM tehnologija u podmorju [Undergraduate thesis]. Rijeka: University of Rijeka, Faculty of Engineering; 2022 [cited 2024 May 02] Available at: https://urn.nsk.hr/urn:nbn:hr:190:107141

D. Vičević, "Video SLAM tehnologija u podmorju", Undergraduate thesis, University of Rijeka, Faculty of Engineering, Rijeka, 2022. Available at: https://urn.nsk.hr/urn:nbn:hr:190:107141

Metadata
TitleVideo SLAM tehnologija u podmorju
Title (english)Video SLAM Technology in Underwater Environment
AuthorDominik Vičević
MentorJonatan Lerga (mentor)
Committee memberKristijan Lenac (predsjednik povjerenstva)
Committee memberJonatan Lerga (član povjerenstva)
GranterUniversity of Rijeka
Faculty of Engineering
(Department of Computer Engineering)
Rijeka
Defense date and country2022, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Computing
Data Processing
Abstract
Korištenje SLAM tehnologije u podmorju podrazumijeva izazove zbog dinamičnosti podvodnih okolina. Zbog selektivne apsorpcije svjetla u moru, na većim dubinama se vidi sve manje boja. Cilj ovog rada je proučiti izradu podvodnih 3D modela video SLAM tehnologijom razdvajanjem slike na R, G, B kanale. Osim proučavanja izgradnje 3D modela, potrebno je opisati glavne značajke video SLAM tehnologije i prednosti i mane korištenja iste u podvodnim okruženjima. Zbog selektivne apsorpcije mora prva se gubi crvena boja (već na 5 metara dubine) i, kao takva, ne može se koristiti za izradu 3D modela. Dakle, mogu se koristiti zeleni i plavi kanal, no plavi se obično preferira. Zbog količine plave boje pod morem, najviše detalja slike se nalazi upravo u tom kanalu. U usporedbi s punom RGB slikom, najveći nedostatak plavog kanala leži u konzistenciji. Sami plavi kanal ne može imati detalja koliko i puna RGB slika, što odmaže lokalizaciji.
Abstract (english)
The usage of SLAM technology in underwater environments presents unique challenges due to its dynamic nature. Because of the selective absorption of light by the sea, greater depths equate to a further loss of color. This thesis aims to study the creation of underwater 3D models using visual SLAM technology by splitting the image into separate R, G, B channels. In addition to studying the construction of 3D models, it is necessary to describe the main features of video SLAM technology and the advantages and disadvantages of using it in underwater environments. Due to the selective absorption of the sea, the red color is lost first (already at 5 meters), and as such, it cannot be used for creating 3D models. Both green and blue channels can be used, but blue is preferred. Because of the amount of blue colors under the sea, most details of the image are found in that channel. Compared to a full RGB image, the biggest drawback of the blue channel lies in consistency. The blue channel alone cannot achieve as much detail as a full RGB image, which corrupts the localization.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:190:107141
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 conditionsOpen access
Terms of useLicence Attribution 4.0 International (CC BY 4.0) icon
Created on2022-09-20 16:02:48