3D SLAM metode i obrada skupova 3D podataka za stvaranje karte vinograda pogodne za navigaciju mobilnog manipulatora

undergraduate thesis

• Title (english): 3D SLAM methods and processing of 3D data sets to create a map of vineyard suitable for mobile manipulator navigation
• Author: Luka Braut
• Mentor: Zdenko Kovačić (mentor)
• Committee member: Zdenko Kovačić (član povjerenstva)
• Committee member: Dean Martinović (član povjerenstva)
• Committee member: Ivo Vatavuk (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2022-07-07, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing

Abstract

Unutar rada proučeno je trenutno stanje tehnike u području rekonstrukcije i mapiranja prostora 3D lidarom. Implementirana je izgradnja karte prostora kroz algoritme Lio-Sam i Cartographer nad podatcima prikupljenim unutar vinograda Jazbina. Podatci su prikupljeni robotskim sustavom uz pomoć 3D lidara te IMU senzora. Izgrađene karte prostora pohranjene su u obliku oblaka točaka, koji je pogodan za primjenu navigacije robota.

Abstract (english)

Within the paper, the current state of the art in the field of reconstruction and mapping of space with 3D lidar was studied. The construction of a space map was implemented through the Lio-Sam and Cartographer algorithms over data collected within the Jazbina vineyard. Data were collected by a robotic system with the help of 3D lidar and IMU sensor. Built space maps are stored in the form of point cloud, which is suitable for robot navigation applications.

• Keywords: 3D SLAM; Cartographer; Lio-Sam; Projekt HECTOR; oblak točaka
• Keywords (english): 3D SLAM; Cartographer; Lio-Sam; Project HECTOR; point cloud
• Language: croatian
• URN:NBN: urn:nbn:hr:168:988547
• Study programme: Title: Computing; 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 resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-01-15 09:50:09