Ispravljanje distorzije rotirajućeg 3D laserskog senzora udaljenosti uzrokovane gibanjem mobilnoga robota

master's thesis

• Title (english): Distortion correction of 3D laser sensor measurements caused by mobile robot motion
• Author: Demijan Jurić
• Mentor: Ivan Petrović (mentor)
• Committee member: Ivan Petrović (predsjednik povjerenstva)
• Committee member: Ivan Marković (član povjerenstva)
• Committee member: Marija Seder (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2018-07-13, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U diplomskom radu opisana je implementacija regresije Gaussovih procesa za estimiranje
stanje u kontinuiranom vremenu. Estimacija gibanja mobilnog robota je simulirana i
korištena za korekciju distorzije rotirajućeg 3D laserskog senzora. Teoretski zasnovan
algoritam je razmotren. Korištenjem ROS-a za snimanje senzorskih mjerenja i algoritma
zasnovanog na ICP estimaciji vlastitog gibanja u C/C++, dobiveno je okružje za provjeru
algoritma. Poboljšanje ICP algoritma pri pravocrtnom gibanju uz smanjenje pogreške
u odnosu na smjerove okomite na smjer gibanja, predstavlja korisne rezultate.

Abstract (english)

This thesis describes an implementation of Gaussian process regression for continuous
time state estimation. The estimation of mobile robot motion has been simulated
and used as a tool in correcting the distorsion of the rotating 3D laser sensor. A
theoretically established algorithm is preseted and discussed. Using ROS for sensor
data acquisition and the ICP based robot ego motion algorithm in C/C++, we get a real-world
setup for algorithm validation. Improving the ICPs performance on straight line
experiments by decreasing error in directions perpendicular to the motion, is valuable
results that emerge.

• Keywords: Gaussov proces; estimacija stanja; 3D laserski senzor; distorzija; trajektorija kontinuiranog vremena
• Keywords (english): GPR; state estimation; 3D laser sensor; distortion; continuous time trajectory
• Language: english
• URN:NBN: urn:nbn:hr:168:129360
• 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: 2019-03-13 21:20:03