Aktivna rekonstrukcija 3D modela objekta primjenom robotske ruke

master's thesis

• Title (english): Active Reconstruction of the 3D Model of an Object Using a Robotic Arm
• Author: Tarik Krivošija
• Mentor: Tamara Petrović (mentor)
• Committee member: Tamara Petrović (predsjednik povjerenstva)
• Committee member: Goran Vasiljević (član povjerenstva)
• Committee member: Frano Petric (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2024-07-19, Croatia

Abstract

U ovom radu istražena je aktivna rekonstrukcija 3D modela objekta pomoću robotske ruke. Korištena je Kinova Gen 3 robotska ruka s LiDaR-om i ROS Kortex programskim paketom za upravljanje rukom. Za 3D mapiranje korištena je Octomap biblioteka. Implementirane su strategije koje odlučuju o najboljem idućem pogledu robotske ruke na temelju procjene nove volumetrijske informacije, kako bi se stvorio što detaljniji 3D model u što kraćem vremenu. Metode su testirane u simulacijskom okruženju i uspoređene na tri predmeta različitog oblika. Za različite načine računanja volumetrijskih informacija mjereno je vrijeme izvršavanja te kvaliteta konačnog modela, te je izvršena usporedba rezultata sa sličnim radom iz literature.

Abstract (english)

In this paper, active reconstruction of a 3D model of an object using a robotic arm was investigated. Kinova Gen 3 robotic arm with LiDaR and ROS Kortex software package was used for reconstruction. The Octomap library was used for 3D mapping. Strategies have been implemented that decide on the next best view of the robotic arm based on the assessment of new volumetric information, in order to create the most detailed 3D model in the shortest possible time. The methods were tested in a simulation environment and compared on three objects of different shapes. For different ways of calculating volumetric information, the execution time and the quality of the final model were measured, and the results were compared with similar work from the literature.

• Keywords: Kinova; ROS kortex; Octomap; kreiranje 3D mape voxela; odabir sljedećeg pogleda
• Keywords (english): Kinova; ROS kortex; Octomap; 3D voxel map creation; next view selection
• Language: croatian
• URN:NBN: urn:nbn:hr:168:152813
• Study programme: Title: Information and Communication Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka informacijske i komunikacijske tehnologije (magistar/magistra inženjer/inženjerka informacijske i komunikacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2024-10-12 21:12:24