Prostorna lokalizacija objekta korištenjem metode triangulacije

Horvat, Ivana (2013) Prostorna lokalizacija objekta korištenjem metode triangulacije. = Spatial object localization using triangulation method. Master's thesis (Bologna) , Sveučilište u Zagrebu, Fakultet strojarstva i brodogradnje, UNSPECIFIED. Mentor: Jerbić, Bojan.

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07_02_2013_diplomski_rad_ivana_horvat.pdf Jezik dokumenta:Croatian

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Abstract (Croatian)

U ovom diplomskom radu bilo je potrebno, istražujući dostupnu literaturu, pronaći metodu, kojom će se odrediti prostorni položaj predmeta. Za odabranu metodu trebalo je razviti algoritam u programskom paketu MATLAB te potvrditi njegovu valjanost za realne slučajeve. Metoda, koja je odabrana za određivanje prostornog položaja predmeta, je metoda triangulacije. Metodom triangulacije se na predmet postavljaju tri markera kružnog oblika, čija središta čine jednakostranični trokut. Prostorne koordinate tih markera određuju se pomoću informacija dobivenih od 2D vizijskog sustava. Ako su poznati parametri kamere te međusobne prostorne udaljenosti markera na predmetu, moguće je metodom triangulacije pronaći povezanost između 2D koordinata dobivenih sa slike i prostornih koordinata središta markera. Kad se one dobiju, moguće je odrediti položaj predmeta u odnosu na koordinatni sustav kamere.

Abstract

Relying on available literature and data the objective of this thesis was to determine the method which would define the position of object in 3D space. For the chosen method it was necessary to develop an algorithm in MATLAB and prove its validity and credibility in practice. The method which was chosen to define object in 3D space was the triangulation method. Triangulation method involved placing three circular markers, whose centres make an equilateral triangle, on the object. Space coordinates of these markers were determined on the basis of the information obtained from the 2D visual system. Where camera parameters and space distances between the markers on the object are known, it was possible, applying the triangulation method, to make out the relationship between the 2D coordinates obtained from the picture and the space coordinates defining the centres of the markers. Once this was established, the position of object may be defined relative to the camera coordinate system.

Item Type: Thesis (Master's thesis (Bologna))
Uncontrolled Keywords: vizijski sustav; prostorni položaj predmeta; triangulacija; markeri; robotika
Keywords (Croatian): visual system, orientation and position of objects, triangulation, markers, robotics
Divisions: 900 Department of Robotics and Production System Automation > 920 Chair of Manufacturing and Assembly System Planning
Date Deposited: 22 Sep 2014 18:00
Last Modified: 16 Oct 2015 12:51
URI: http://repozitorij.fsb.hr/id/eprint/2109

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