Određivanje položaja slučajno bačenih loptica pomoću robotskog vida

undergraduate thesis

• Title (english): Positioning of Accidentally Dropped Balls Using Robotic Vision
• Author: Dominik Keča
• Mentor: Ana Sović Kržić (mentor)
• Committee member: Ana Sović Kržić (predsjednik povjerenstva)
• Committee member: Matea Đonlić (član povjerenstva)
• Committee member: Liljana Pushkar (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2019-07-12, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Završni rad analizira problem određivanja položaja slučajno bačenih loptica pomoću robotskog vida. Na pokretnog Alphabot robota postavlja se ugradbeni računalni sustav Raspberry Pi i USB kamera. Robot se nalazi na ulazu ograđenog prostora u koji su postavljene loptice prema kojima se kreće. Zadatak je programski riješen u programskom jeziku Python. Korištenjem modula računalnog vida (OpenCV-a) i modula za upravljanje priključcima (GPIO) Raspberry Pi-a, kontrolira se kretanje robota i prepoznavanje objekata kamerom. Objašnjeni su postupci bežičnog povezivanja s robotom kao i brojni problemi uočeni tokom rješavanja zadatka.

Abstract (english)

The bachelor thesis analysis the problem of defining a position of randomly dropped balls using robotic vision. Embedded system Raspberry Pi and a USB camera are installed on a mobile robot Alphabot. The robot is placed on an entry to enclosed area where the balls, which Alphabot needs to find and come to, are dropped. Programming language used to implement this problem is Python. Object detection and robot's moving are controlled with computer vision (OpenCV) and GPIO interface modules. While working with robot and camera, many problems were noticed. They are all described in this thesis alongside wireless connection methods.

• Keywords: Računalni vid; Obrada i analiza slike; Ugradbeni računalni sustav; Loptica; kamera i ograđeni prostor; Žarišna duljina; Žarišna točka; Gaussova funkcija; Gaussov filtar; Houghova transformacija; Houghova kružna transformacija; Modulacija širine impulsa; Servo; Frekvencija; radni ciklus; period; Alphabot; Raspberry Pi; GPIO sučelje; IP adresa; Bežično povezivanje; Mobilna pristupna točka; Rezolucija kamere; Šum; Detekcija objekta
• Keywords (english): Computer vision (CV); Image processing and analysis; Embedded computer systems; Ball; camera; enclosed area; Focal length; Focal point; Gaussian function; Gaussian filter; Hough transform; Circle Hough Transform (CHT); Pulse Width Modulation (PWM); Servo; Frequency; duty cycle; period; Alphabot; Raspberry Pi; GPIO interface; IP adress; Wireless connection; Mobile hotspot; Camera resolution; Noise; Object detection
• Language: croatian
• URN:NBN: urn:nbn:hr:168:696441
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2020-01-07 19:03:21