Izrada probabilističkog 3D modela predmeta iz zašumljenih mjerenja za planiranje gibanja manipulatora

master's thesis

• Title (english): Probabilistic 3D object model generation from noisy measurements for manipulator motion planning
• Author: Marko Cavalli
• Mentor: Matko Orsag (mentor)
• Committee member: Matko Orsag (predsjednik povjerenstva)
• Committee member: Stjepan Bogdan (član povjerenstva)
• Committee member: Damjan Miklić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2020-07-16, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing

Abstract

U ovom radu prikazan je postupak dobivanja 3D modela iz kontaktnih mjerenja optičkog taktilnog senzora generiranih u simulaciji. Model opne senzora je izrađen i objašnjen je postupak dobivanja istog. Simulacija opne senzora napravljena je u prilagođenoj verziji Unreal Enginea s NVIDIA Flex proširenjem. Prikazan je put od modela, preko deformacije modela do skupljanja mjerenja. Prikupljena su dva skupa podataka: oblak točaka kao kontaktna mjerenja predmeta s pozicijom i orijentacijom, te slike opne pod deformacijom prizmatičnog predmeta u različitim pozicijama i orijentacijama. Oblaci točaka su prikazani u trodimenzionalnom prostoru, te su kreirani odgovarajući 3D modeli iz tih mjerenja koji su približni originalnim predmetima istraživanja. Prikazano je i poklapanje različitih mjerenja oblaka točaka.

Abstract (english)

In this paper, the procedure of obtaining a 3D model from contact measurements of optical tactile sensor generated in the simulation is presented. A model of the sensor membrane was made and the procedure for obtaining it was explained. The sensor membrane simulation was made with a customized version of Unreal Engine with NVIDIA Flex extension. The journey from the model, through the deformation of the model, to the measurement collection is described. Two data sets were collected: point clouds as contact measurements of an object with positions and orientations, and images of the membrane under the deformation of a prismatic object in different positions and orientations. Point clouds were displayed in three-dimensional space, and corresponding 3D models were created from these measurements. Point cloud matching of different measurements was also shown.

• Keywords: dinamika mekih tijela; triangulacija; poklapanje oblaka točaka; Unreal Engine; NVIDIA Flex; računalna grafika
• Keywords (english): soft-body dynamics; surface reconstruction; point cloud matching; Unreal Engine; NVIDIA Flex; computer graphics
• Language: croatian
• URN:NBN: urn:nbn:hr:168:867380
• Study programme: Title: Computing; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka računarstva (magistar/magistra inženjer/inženjerka računarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-01-13 09:50:02