Filter združenog vjerojatnosnog pridruživanja podataka

undergraduate thesis

• Title (english): Joint probabilistic data association filter
• Author: Patrik Macukić
• Mentor: Ivan Marković (mentor)
• Committee member: Ivan Marković (član povjerenstva)
• Committee member: Luka Petrović (član povjerenstva)
• Committee member: Borna Bićanić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2023-07-03, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing

Abstract

Rad se temelji na primjeni Toposens TS3 senzora i JPDA filtera za praćenje više objekata u prostoru. U radu je detaljno opisan rad senzora Toposens TS3 i naglašena važnost konfiguracije parametara kako bi se postigla što veća preciznost mjerenja. Također, opisani su koraci JPDA filtera i njegova uloga u analizi podataka i generiranju putanja objekata.Za implementaciju je korišteno programsko rješenje napisano u programskom jeziku Python, uz korištenje Robotskog operacijskog sustava. Na kraju rada proveden je eksperiment kako bi se demonstrirala učinkovitost JPDA filtera i Toposens TS3 senzora u praćenju više objekata u prostoru. Eksperiment je pokazao da je ova kombinacija izuzetno moćna te omogućuje precizno praćenje i predviđanje putanja objekata.

Abstract (english)

The work is based on the application of Toposens TS3 sensor and JPDA filter for monitoring multiple objects in space. The paper describes in detail the operation of the Toposens TS3 sensor and emphasizes the importance of parameter configuration in order to achieve the highest measurement precision. Also, the steps of the JPDA filter and its role in data analysis and the generation of object trajectories are described. A programming solution written in the Python programming language was used for implementation, with the use of the Robot operating system. At the end of the work, an experiment was conducted to demonstrate the effectiveness of the JPDA filter and the Toposens TS3 sensor in tracking multiple objects in space. The experiment showed that this combination is extremely powerful and enables precise tracking and prediction of object trajectories.

• Keywords: Toposens; TS3; JPDA filter; Python
• Keywords (english): Toposens; TS3; JPDA filter; Python
• Language: croatian
• URN:NBN: urn:nbn:hr:168:869535
• 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: 2023-07-13 10:17:29