Zvučna i vizualna percepcija okoline tijekom izviđačke misije NAO robota

master's thesis

• Title (english): Audio-visual Perception of Environment during NAO Robot Scouting Mission
• Author: Nikola Jagodin
• Mentor: Zdenko Kovačić (mentor)
• Committee member: Zdenko Kovačić (predsjednik povjerenstva)
• Committee member: Stjepan Bogdan (član povjerenstva)
• Committee member: Ivana Palunko (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2014-07-16, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing

Abstract

U obliku 2D mape definiran je prostor za kretanje humanoidnog robota NAO i obavljanje zadataka. Određen je skup zadataka koje robot obavlja u sklopu izviđačke misije, a izgrađeni prostor je opremljen objektima koji omogućavaju njihovo izvođenje. Osmišljeni su i implementirani sljedeći algoritmi: algoritam lociranja markera, algoritam detekcije zvuka alarma i različitih zvukova pare, algoritam detekcije ventila i određivanja je li detektirani ventil otvoren ili zatvoren, algoritam detekcije mjernog instrumenta i očitavanja vrijednosti koju pokazuje detektirani instrument te algoritam detekcije cijevi i detektiranja pukotina na cijevi. Opisane su značajke algoritama i predložena su moguća poboljšanja. Dane su upute za korištenje implementacije. Razvijeni moduli integrirani su s modulima za upravljanje misijama, a cjeloviti sustav je testiran na odabranoj izviđačkoj misiji.

Abstract (english)

A polygon for movement and task execution by the humanoid robot NAO was defined in the form of a 2D map. A series of tasks was designed for the robot to accomplish during its scouting mission and the testing polygon was equipped with necessary objects. The following algorithms were developed and implemented: an algorithm for landmarks detection, an algorithm for detection of the alarm sound and various steam sounds, an algorithm for detection of valves and determining whether the valve is open or closed, an algorithm for detection of the measuring instrument and reading the value shown on the instrument, an algorithm for detection of pipes and detection of cracks on the pipe. The algorithms were described and possible improvements were suggested. Instructions for usage of developed modules were given. The developed modules were integrated with modules for mission control and the whole system was tested on a chosen scouting mission.

• Keywords: NAO; humanoidni robot; računalni vid; obrada zvuka
• Keywords (english): NAO; humanoid robot; computer vision; sound processing
• Language: croatian
• URN:NBN: urn:nbn:hr:168:691921
• Study programme: Title: Computing; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka računarstva (magistar/magistra inženjer/inženjerka računarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2018-02-06 09:21:34