Programska podrška za audio sučelje mobilnoga robota

master's thesis

• Title (english): Audio interface software for a mobile robot
• Author: Alen Kušec
• Mentor: Ivan Petrović (mentor)
• Committee member: Ivan Petrović (predsjednik povjerenstva)
• Committee member: Jadranko Matuško (član povjerenstva)
• Committee member: Marija Seder (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2014-07-09, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U ovom radu opisana je realizacija lokalizacije i praćenje izvora zvuka u trodimenzionalnom prostoru na temelju ManyEars radnog okružja, 8soundsUSB zvučne kartice te ROS programskih paketa. Napravljeni ROS programski paket omogućuje lokalizaciju zvuka metodom snopiranja signala te potom praćenje izvora zvuka trima metodama, praćenje čestičnim filterom, praćenje Bayesovim algoritmom s von Mises distribucijom i praćenje Bayesovim algoritmom s von Mises-Fisher distribucijom. Analiza metoda... More praćenja ostvarena je vizualizacijskim alatima ROS rviz i ROS rxplot te matematičkim korisničkim sučeljem pylab-om. Less

Abstract (english)

This master thesis describes the implementation process of sound localization and sound tracking in three-dimensional space based on ManyEars framework, 8soundsUSB sound card and ROS packages. The designed ROS package enables sound localization based on beamforming and sound tracking based on particle filtering, Bayes tracker with von Mises distribution and Bayes tracker with von Mises-Fisher distribution. The analysis of the tracking methods is made with visualization tools ROS... More rviz, ROS rxplot and mathematical user interface pylab. Less

• Keywords: Mobilni robot; audio programsko sučelje; lokalizacija zvuka; praćenje zvuka; ManyEars radno okružje; 8sounds zvučna kartica; Robotski operacijski sustav; von Mises razdioba; von Mises-Fisher razdioba
• Keywords (english): Mobile robot; audio interface software; sound localization; sound tracking; ManyEars framework; 8sounds soundcard; Robot operating sistem ROS; von Mises distribution; von Mises-Fisher distribution
• Language: croatian
• URN:NBN: urn:nbn:hr:168:784583
• 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: 2018-02-06 10:02:33