Određivanje relativnog položaja pokretnog objekta senzorom optičkog toka

master's thesis

• Title (english): Determination of relative position of mobile object using optical flow sensor
• Author: Tomislav Gavran
• Mentor: Darko Vasić (mentor)
• Committee member: Darko Vasić (predsjednik povjerenstva)
• Committee member: Vedran Bilas (član povjerenstva)
• Committee member: Tomislav Pribanić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2015-07-16, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U ovom radu provjerava se može li se senzorom optičkog toka (kamera) odrediti relativni položaj pokretnog objekta snimanjem kontinuiranih slika. Ideja za ovakav način određivanja položaja pokretnog objekta dobivena je proučavanjem rada optičkog miša.
Provjerava se mogućnost analize pokreta korištenjem algoritama normalizirane kros-korelacije i fazne korelacije. Na početku rada prikazana je teorijska podloga iz digitalne obrade i analize slike koja je potreba za rad i razumijevanje provjeravanih algoritama. Opisana je važnost obrade slike za bolje funkcioniranje algoritama. Pokusi su napravljeni s postepenom primjenom alata za obradu slike, kao što su detekcija rubova i pretvorba slike u binarnu, kako bi se prikazala važnost primjene svakog od njih u postizanju točne procjene pomaka između slika.
Na kraju je prikazan prijedlog mikrokontrolerske arhitekture na kojoj je moguće ostvariti sustav za određivanje relativnog položaja pokretnog objekta.

Abstract (english)

In this master thesis optical flow sensor (camera) use for determination of relative position of a mobile object is examined. The idea for this kind of position determination originates from studying optical mouse working principles.
Phase correlation and normalized cross-correlation algorithms are used for checking the possibility of determination movement analysis. At the beginning, necessary theoretical background of digital image processing is given. This theoretical background is very important for understanding and using of the developed algorithms. Also, the importance of using digital image processing tools as a first step in the algorithm application is described step by step. Experiments are made with the gradual use of digital image processing tools, such as edge detection or binary conversion of image, so that the importance of using every of these tools in achieving the correct movement estimation can be shown.
At the end, as an example, microcontroller architecture for implementation of movement analysis of mobile object application is shown.

• Keywords: Analiza pokreta; binarna slika; detekcija rubova; detektor metala; fazna korelacija; kamera; Matlab; normalizirana kros-korelacija; obrada slike; optički tok; slika
• Keywords (english): Movement analysis; binary image; edge detection; metal detector; phase correlation; camera; Matlab; normalized cross-correlation; image processing; optical flow; image
• Language: croatian
• URN:NBN: urn:nbn:hr:168:198585
• 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 08:51:45