Lokalizacija mobilnih robota pomoću događajnih kamera

undergraduate thesis

• Title (english): Mobile robot localization using event cameras
• Author: Ante Sladić
• Mentor: Ivan Marković (mentor)
• Committee member: Ivan Marković (član povjerenstva)
• Committee member: Karlo Koledić (član povjerenstva)
• Committee member: Antea Hadviger (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2022-07-01, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing

Abstract

Rad proučava primjenu stereo događajnih kamera pri rješavanju problema lokalizacije
robota pomoću vizualne odometrije. Rad prvo daje uvid u ROS i potrebne alate za
pokretanje metode i eksperimenata, zatim u događajne kamere, njihove karakteristike i
motivaciju za njima kako bi se shvatile kao senzor s kojim radimo te na kraju daje se
detaljnije objašnjenje primijenjene metode (ESVO). ESVO je sustav za interpretiranje i
predočavanje podataka iz stereo kamera koji se sastoji od više modula (moduli za
mapiranje i praćenje) koji svaki ima svoju ulogu i bez njega metoda ne bi radila.

Abstract (english)

The work considers stereo event cameras as a solution in solving the problem of robot
localization using visual odometry. The paper first provides an insight into ROS and the
necessary tools to run methods and expreriments, then event cameras, their characteristics
and motivation for them to be understood as a sensor we work with and finally a more
detailed explanation of the applied method (ESVO). ESVO is a system for interpreting and
presenting data from a stereo camera consisting of several modules (modules for mapping
and tracking), each of which has its own role and without it the method would not work.

• Keywords: senzori; računalni vid; događajne kamere; stereo kamere; odometrija; vizualna odometrija; roboti; lokalizacija
• Keywords (english): sensors; computer vision; event cameras; stereo cameras; odometry; visual odometry; robots; localization
• Language: croatian
• URN:NBN: urn:nbn:hr:168:162682
• 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 11:12:43