Rekonstrukcija 3D modela objekta primjenom robotske ruke

undergraduate thesis

• Title (english): Reconstruction of 3D object model using a robotic arm
• Author: Robert Travančić
• Mentor: Tamara Petrović (mentor)
• Committee member: Ana Milas (član povjerenstva)
• Committee member: Tamara Petrović (predsjednik povjerenstva)
• Committee member: Ivo Vatavuk (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2021-09-03, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Ovaj rad bavi se aktivnom 3D rekonstrukcijom objekta uz korištenje metode najvećeg informacijskog dobitka. Predstavljena je problematika 3D rekonstrukcije u području robotike. Pojašnjen je zadatak rada i komponente koje se koriste. Detaljno je opisana metoda i njeni potencijalni nedostatci. Opisano je simulacijsko okruženje u kojemu je moguće testirati metodu rekonstrukcije. Izvedene su simulacije 3D rekonstrukcije objekta uz opisan postupak. Analiziran je rezultat rekonstrukcije. Razmatrana je primjena ove metode za rekonstrukciju u vinogradu uz korištenje modela mobilnog robota VIV i Kinova robotske ruke za pozicioniranje kamere.

Abstract (english)

This project analyzes "Information Gain" based active 3D reconstruction of an object. Project starts with basic introduction to 3D reconstruction and it´s usage in robotics. Project contains brief goal description with introduction of components used in this project. "Information Gain" method is represented with high detail and potential drawbacks are discussed. Simulation environments that can be used for testing are introduced. Simulations using described method are made and analysed. Potential application of method in 3D reconstruction of vineyard with usage of mobile robot VIV and Kinova robotic arm for camera positioning is discussed.

• Keywords: Robotika; 3D rekonstrukcija objekta; metoda najvećeg informacijskog dobitka; Gazebo; Robot Operating System
• Keywords (english): Robotics; 3D reconstruction of an object; Information Gain based 3D reconstruction; Gazebo; Robot Operating System
• Language: croatian
• URN:NBN: urn:nbn:hr:168:361189
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-01-13 16:24:16