Određivanje položaja i smjera vizualnog senzora Realsense T265 i fuzija sa GPS-om

undergraduate thesis

• Title (english): Determining the position and direction of the Realsense T265 visual sensor and fusion with GPS
• Author: Josip Pardon
• Mentor: Zdenko Kovačić (mentor)
• Committee member: Zdenko Kovačić (član povjerenstva)
• Committee member: Dean Martinović (član povjerenstva)
• Committee member: Ivo Vatavuk (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2022-07-07, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing

Abstract

Implementirana je fuzija senzora. Korišteni senzori su bili kamera Realsense T265 i GPS uređaj Here+RTKGPS, montirani na mobilnogr obota s gusjenicama Viv. Sama fuzija je izvedena pomoću paketa sensor_fusion FER-ovog laboratorija LARICS, nad kojim su prethodno napravljena određena poboljšanja i promjene. Primjećeno je kako poruke objavljivane na GPS-ov topic(/viv/mavros/global_position/local) ne sadrže informaciju o položaju robota na Z osi (visina) , dok one objavljivane na topic kamere(/viv/T265/camera/odom/sample) sadrže. Iz tog razloga je po Z osi dano veliko povjerenje kameri, a skoro nikakvo GPS-u, čime je postignuta bolja estimacija visine robota. Po ostale dvije os i(X i Y) obama uređajima je dano jednako povjerenje.

Abstract (english)

Sensor fusion was implemented. The sensors used were a camera Realsense T265 and a GPS device Here+ RTK GPS, mounted on a mobile robot with tracks Viv. The fusion itself was performed using the sensor_fusion package of FER’s LARICS laboratory, on which certain improvements and changes were made. It was noticed that messages published on the GPS topic (/viv/mavros/global_position/local) do not contain information about the position of the robot on the Z axis (height), while those published on the camera topic (/viv/T265/camera/odom/sample) contain. For this reason, a lot of trust was given to the camera along the Z axis, and almost none to the GPS, which achieved a better estimation of the height of the robot. On the other two axes (X and Y) both devices were given equal trust.

• Keywords: Fuzija senzora; robotika; HEKTOR projekt; odometrija
• Keywords (english): Sensor fusion; robotics; HEKTOR projekt; odometry
• Language: croatian
• URN:NBN: urn:nbn:hr:168:670499
• Study programme: Title: Computing; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-01-15 10:58:14