prikaz prve stranice dokumenta 3D mapiranje u ROSu
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master's thesis
3D mapiranje u ROSu
2018. urn:nbn:hr:190:923817
Tuco, Ferhad
University of Rijeka
Faculty of Engineering
Department of Computer Engineering
Section of Intelligent Computing Systems

Cite this document

Tuco, F. (2018). 3D mapiranje u ROSu (Master's thesis). Rijeka: University of Rijeka, Faculty of Engineering. Retrieved from https://urn.nsk.hr/urn:nbn:hr:190:923817

Tuco, Ferhad. "3D mapiranje u ROSu." Master's thesis, University of Rijeka, Faculty of Engineering, 2018. https://urn.nsk.hr/urn:nbn:hr:190:923817

Tuco, Ferhad. "3D mapiranje u ROSu." Master's thesis, University of Rijeka, Faculty of Engineering, 2018. https://urn.nsk.hr/urn:nbn:hr:190:923817

Tuco, F. (2018). '3D mapiranje u ROSu', Master's thesis, University of Rijeka, Faculty of Engineering, accessed 16 November 2024, https://urn.nsk.hr/urn:nbn:hr:190:923817

Tuco F. 3D mapiranje u ROSu [Master's thesis]. Rijeka: University of Rijeka, Faculty of Engineering; 2018 [cited 2024 November 16] Available at: https://urn.nsk.hr/urn:nbn:hr:190:923817

F. Tuco, "3D mapiranje u ROSu", Master's thesis, University of Rijeka, Faculty of Engineering, Rijeka, 2018. Available at: https://urn.nsk.hr/urn:nbn:hr:190:923817

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Metadata
Title3D mapiranje u ROSu
Title (english)3D mapping in ROS
AuthorFerhad Tuco
MentorKristijan Lenac (mentor)
Committee memberKristijan Lenac (predsjednik povjerenstva)
Committee memberIvo Ipšić (član povjerenstva)
Committee memberGoran Mauša (član povjerenstva)
GranterUniversity of Rijeka
Faculty of Engineering
(Department of Computer Engineering)
(Section of Intelligent Computing Systems)
Rijeka
Defense date and country2018-09-21, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Computing
Abstract
Središnju temu ovog diplomskog rada predstavlja istraživanje izvedivosti i pouzdanosti primjene RGB-D osjetila u svrhu 3D mapiranja i navigacije mobilnog robota u zatvorenom prostoru. Problem istovremenog mapiranja (kartiranja) nepoznate okoline i lokaliziranja unutar izrađene karte u robotici je poznat pod nazivom SLAM (engl. Simultaneous localization and mapping). U prvom dijelu rada predstavljeni su neki od postojećih SLAM sustava koji koriste RGB-D osjetila za rad u stvarnom vremenu. U nastavku je dan pregled korištenog hardvera i programske platforme uz opis njihove konfiguracije unutar distribuirane arhitekture. U zadnjem dijelu rada opisana je parametrizacija i metoda testiranja dva ROS-om podržana SLAM algoritma te su izneseni eksperimentalni rezultati. U završnoj diskusiji ukazano je na zapažene probleme te su ponuđeni načini njihovog ublažavanja ili otklanjanja uz dodatne prijedloge za nadogradnju postojećih sustava daljnjim radom.
Abstract (english)
The central theme of this graduate thesis is the study of feasibility and reliability of RGB-D sensors for 3D mapping and mobile indoor navigation. Within robotics, the problem of building a map of unknown environment while simultaneously tracking agent’s location within it is known as SLAM (Simultaneous localization and mapping). In the first part of thesis, some of existing SLAM approaches which use RGB-D sensors in real time are presented. In continuation, a review of used hardware and software with a description of the configuration within a distributed architecture is given. In the last part, the parameterization and testing methods of two SLAM algorithms integrated with ROS are described and experimental results are presented. In the final discussion, the problems noted during the test are pointed out and ways of mitigating or eliminating them were proposed, with additional suggestions for upgrading existing systems through further work.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:190:923817
Study programmeTitle: Computer Engineering
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka računarstva (magistar/magistra 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 on2018-09-25 07:19:04