Trodimenzionalna rekonstrukcija prostora iz RGB-D slika

master's thesis

• Title (english): Three-dimensional environment reconstruction from RGB-D images
• Author: Barbara Mikašek
• Mentor: Marija Seder (mentor)
• Committee member: Ivan Marković (član povjerenstva)
• Committee member: Juraj Peršić (član povjerenstva)
• Committee member: Luka Petrović (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2023-07-11, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Trodimenzionalna rekonstrukcija okruženja u kojemu se robot nalazi temeljni je preduvjet autonomnog djelovanja u svrhu izbjegavanja prepreka te izvršavanja kompleksnih radnji poput dohvaćanja predmeta. RGB-D kamera jedan je od najčešće korištenih senzora u robotici te je pogodna za trodimenzionalnu rekonstrukciju okruženja jer za svaku točku dvodimenzionalne slike daju informaciju o boji, ali i o dubini. Recentna istraživanja usmjerena su na generiranje oblaka točaka iz RGB-D slike te pretvaranje oblaka točaka u vjerojatnosnu trodimenzionalnu kartu prostora. U diplomskom je radu potrebno istražiti i analizirati jednu od metoda trodimenzionalne rekonstrukcije okruženja. Odabranu je metodu potrebno testirati na stvarnim RGB-D slikama dobivenih senzorom u laboratoriju unutar robotskog operacijskog sustava (ROS).

Abstract (english)

Three-dimensional reconstruction of the environment in which a robot is located is a fundamental prerequisite for autonomous action in order to avoid obstacles and perform complex tasks such as object retrieval. The RGB-D camera is one of the most commonly used sensors in robotics and is suitable for three-dimensional reconstruction of the environment because it provides information about color and depth for each point of the two-dimensional image. Recent research is focused on generating point clouds from RGB-D images and converting point clouds into a probabilistic three-dimensional map of the space. In the thesis, it is necessary to research and analyze one of the methods of three-dimensional reconstruction of the environment. The chosen method needs to be tested on actual RGB-D images obtained by a sensor in the laboratory within the Robot Operating System (ROS).

• Keywords: trodimenzionalna rekonstrukcija prostora; RGB-D; ROS; Voxblox; oblak točaka
• Keywords (english): three-dimensional environment reconstruction; RGB-D; ROS; Voxblox; point cloud
• Language: croatian
• URN:NBN: urn:nbn:hr:168:761634
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-10-11 09:49:33