Praćenje objekta mobilnim robotom primjenom računalnog vida

undergraduate thesis

• Title (english): Object tracking with a mobile robot using computer vision
• Author: Filip Miklaužić
• Mentor: Marko Švaco (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2022-09-28, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

Kretanje mobilnog robota kroz prostor vrlo je složen zadatak. Snalaženje i planiranje trajektorije u istomu može biti zasnivano na različitim sustavima percepcije kao što je LIDAR te 2D i 3D vizijski sustavi. S ciljem prepoznavanja i praćenja određenog objekta u mobilnoj robotici zbog dostupnosti i relativno niske cijene najčešće se koriste vizijski sustavi. Vizijski sustav omogućava stvaranje percepcije radnog okruženja dok se za obradu i interpretaciju iste koriste algoritmi strojnog vida i umjetne inteligencije.
Glavni zadatak ovog završnog rada je upoznati se s radom robotskog operativnog sustava (engl. Robot Operating System - ROS) te istražiti, proučiti i implementirati algoritme prepoznavanja i praćenja na postojećeg mobilnog robota u Laboratoriju za računalnu inteligenciju. Također je potrebno osmisliti, razviti te implementirati planer pomoću kojega će mobilni robot održavati traženi prostorni položaj (poziciju i orijentaciju) u odnosu na objekt kojeg prati.

Abstract (english)

Moving a mobile robot through space is a very complex task. Finding the right way and planning a trajectory can be based on different perception systems such as LIDAR, 2D and 3D vision systems. Whit a goal of recognizing and tracking a certian object, due to availability and relatively low cost, vision systems are most commonly used. The vision systems enables the perception of the working environment, while machine vision and artificial intelligence algorithms are used for its processing and interpretation.
The main task of this final paper is to become familiar with the ROS system and to research, study and implement recognition and tracking algorithms on an existing mobile robot in the Computer Intelligence Laboratory. It is also necessary to design, develop and implement a planner by means of which the mobile robot will be able to maintain the reauired spatial position and orientation in relation to the object it follows.

• Keywords: mobilni robot; robotski operativni sustav (ROS); sustav percepcije; vizijski sustav; prepoznavanje; praćenje; planer
• Keywords (english): mobile robot; robot operating system; perception system; vision system; recognition; tracking; planner
• Language: croatian
• URN:NBN: urn:nbn:hr:235:655922
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2022-09-21 17:27:23