Percepcija okoline fuzijom podataka laserskog senzora udaljenosti i stereo kamere

master's thesis

• Title (english): Environment perception by fusing laser range sensor and stereo camera data
• Author: Karlo Liović
• Mentor: Ivan Marković (mentor)
• Committee member: Ivan Marković (predsjednik povjerenstva)
• Committee member: Ivan Petrović (član povjerenstva)
• Committee member: Marija Seder (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2020-07-09, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Senzorski sustavi koje čine kombinacija laserskih senzora i kamera dobiva na popularnosti
kao izbor za percepciju okoline na mobilnim robotima. Kako bi se ostvarila
uspješna i pouzdana percepcija okoline potrebno je povezati informacije iz oba senzora.
Također je potrebno kalibrirati senzore, odnosno pronaći njihov odnos u prostoru.
Zadatak rada je dobiti informacije o udaljenosti prepreka za oba senzora te odrediti
njihov odnos u svrhu fuzije podataka. U ovom radu je prvo dan uvod u Robotski
operacijski sustav (ROS). Zatim slijedi objašnjenje metode korištene za kalibraciju kamere
i objašnjenje parametara dobivenih kalibracijom. Na kraju je opisana metoda
kalibracije lidara i stereo kamere te su prikazani rezultati dobiveni fuzijom podataka iz
oba senzora.

Abstract (english)

Sensor system that consists of a combination of laser sensors and cameras has gained
in popularity as a choice for environment perception for mobile robots. To ensure
a successful and reliable environment perception it is necessary to fuse information
from both sensors. Also it is required to perform sensor calibration, in other words
find their spatial relation. The goal of this thesis is to acquire information about the
distance of obstacles from both sensors and to determine their relation for the purpose
of data fusion. In this thesis, firstly you are given an introduction to Robot Operating
System (ROS). Then follows the explanation of the method used for camera calibration
and the explanation of parameters acquired from the calibration. Finally, the method
used for calibrating lidar and stereo camera, is explained and results obtained from
data fusion are presented.

• Keywords: ROS; fuzija senzora; lidar; stereo kamera; kalibracija senzora
• Keywords (english): ROS; sensor fusion; lidar; stereo camera; sensor calibration
• Language: croatian
• URN:NBN: urn:nbn:hr:168:192769
• 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: 2023-01-13 12:53:53