Upravljanje bespilotnom letjelicom za pronalazak objekta u 3D prostoru na temelju semantike prostora

master's thesis

• Title (english): UAV Control for Object Search in 3D Environment Based on Environment Semantics
• Author: Marin Maletić
• Mentor: Stjepan Bogdan (mentor)
• Committee member: Stjepan Bogdan (član povjerenstva)
• Committee member: Tamara Petrović (član povjerenstva)
• Committee member: Frano Petric (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2025-02-28, Croatia

Abstract

Diplomski rad opisuje osmišljeni algoritam pretraživanja prostora koristeći semantiku prostora izvedenu iz slike te velike jezične modele za razumijevanje okoline i određivanje smjera pretraživanja. Polazeći od pretpostavke da je mapa prostora unaprijed dostupna, letjelica pretražuje prostor i, na temelju povezanosti traženog predmeta i opaženih, ažurira svoj smjer kretanja. Smanjenje prostora pretraživanja na ciljno okruženje ubrzava pretragu u usporedbi s nasumičnim kretanjem po prostoru.

Abstract (english)

The thesis describes a designed space search algorithm using image-derived space semantics and large language models for understanding the environment and deducing the search direction. Starting from the assumption that a map of the space is available in advance, the spacecraft searches the space and, based on the connection between the searched object and the observed ones, updates its direction of movement. Reducing the search space to the target environment speeds up the search compared to random movement around the space.

• Keywords: Bespilotna letjelica; YOLO; Autonomno pretraživanje; Semantika prostora; LLM; Crazyflies; 3D navigacija; Računalni vid; LiDAR
• Keywords (english): Unmanned aerial vehicle; YOLO; Autonomous search; Space semantics; LLM; Crazyflies; 3D navigation; Computer vision; LiDAR
• Language: croatian
• URN:NBN: urn:nbn:hr:168:789688
• 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: Open access
• Created on: 2025-03-12 11:13:19