Autonomni mobilni robotski sustav za izgradnju 3D toplinskoga modela prostora

master's thesis

• Title (english): Autonomous Mobile Robot System for Building 3D Thermal Model of the Environment
• Author: Bare Luka Žagar
• Mentor: Ivan Petrović (mentor)
• Committee member: Ivan Petrović (predsjednik povjerenstva)
• Committee member: Marija Seder (član povjerenstva)
• Committee member: Ivan Marković (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2017-07-17, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

3D toplinski model prostora prošireni je model prostora koji uz geometrijske informacije sadrži i informaciju o raspodjeli temperature u prostoru. Primjene su takvoga modela ispitivanje energetske učinkovitosti zgrada i orkrivanje kritičnih mjesta u izolaciji. Autonomni robotski sustav za izgradnju 3D toplinskog modela prostora sastoji se od mobilnog robota opremljenog senzorima za navigaciju i senzorima za izgradnju toplinskog 3D modela. U tu svrhu koriste se 3D laserski senzor udaljenosti i termovizijska kamera. Potrebno je postaviti cjelokupni senzorski sustav na mobilnu platformu Clearpath Husky. Senzore je potrebno umjeriti kako bi se podaci dobiveni iz različitih senzora mogli interpretirati u konačnom modelu. Dodatno je potrebno ispitati autonomni robotski sustav za izgradnju 3D toplinskog modela prostora.

Abstract (english)

Three-dimensional heat map is an extended space model which, along with geometric information, contains heat distribution information.
The applications of such map are energy efficiency surveying of buildings and examination of thermal insulation. An autonomous robotic system for creating 3D heat distribution maps consists of a mobile robot equipped with navigation sensors and sensors for creating such a map. For this purpose 3D laser scanner and thermal camera are used.
It is required to set up the entire sensor system on the robotic platform Clearpath Husky. Sensor calibration is necessary because the acquired data from the sensors is combined to create 3D heat distribution maps. In addition it is required to look into the autonomous robotic system for creating 3D heat distribution maps.

• Keywords: 3D toplinska karta prostora; unakrsna kalibracija; kalibracija termalne kamere; snimanje 3D laserom
• Keywords (english): 3D thermal mapping; cross-calibration; thermal camera calibration; 3D laser scanning
• Language: english
• URN:NBN: urn:nbn:hr:168:381803
• 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: 2019-03-14 02:23:18