20.500.12556/RUL-109817 Razvoj krmilnika za simulirano avtonomno vozilo na osnovi kamere in lidarja Development of a controller for a simulated autonomous vehicle based on camera and lidar V sklopu naloge je obravnavan problem krmilnika avtonomnega vozila v simuliranem okolju. Na vozilu je namešcena kamera, s katero zajemamo slike okolice vozila, ki jih obdelamo s pomočjo strojnega vida. Na ta način lahko krmilnik regulira položaj vozila, da ta sledi vozišču. Na podoben način je implementirano tudi ustavljanje vozila na semaforju. Na vozilu je nameščen tudi lidar sistem, ki nam posreduje podatke o okolici vozila. Te podatke obdelamo, da zaznamo ovire na vozišču in se jim izognemo. Problem je rešen v simuliranem okolju WeBots s pomočjo programskega jezika C. This thesis deals with a controller of an autonomous vehicle in a simulated environment. The vehicle has a mounted camera that captures images of the environment around the vehicle. The images are then processed by passing them through a machine vision algorithm. This allows the controller to regulate the position of the vehicle to follow the driveway. Another feature of the controller, stopping at traffic lights, is implemented in a similar fashion. The vehicle also has a mounted lidar system that supplies us with information of objects in the proximity of the vehicle. This data is then processed in order to detect and avoid obstacles on the driveway. The solution is coded in the C programming language in the WeBots robotics simulator. avtonomna vozila strojni vid lidar simulatorji robotike klasifikacija segmentacija autonomous vehicles computer vision lidar robotics simulators classification segmentation true false false [Ž. Likar] Slovenski jezik Angleški jezik Zaključna naloga 2019-09-09 07:15:05 2019-09-09 07:15:09 2022-08-21 03:44:41 0000-00-00 00:00:00 2019 0 Ljubljana 0 X, 33 f. 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 007.52:681.5(043.2) 216198 16934427 4237.pdf 4237.pdf 1 1E24B1EE5EF509B8918EBD89C9A8818E 955e8c43282d5e398830fd992faaf7fbe9f93e9b5be73d497d684c22f4709feb f7298a52-a1b6-11eb-a523-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=121418 4238.c 4238.c 1 32EEE1975E7E1063D8AD1D1DCA2F836B 95935279b4908414c80883e37fc36cd7db9bb2fbafd3912592046abc01607889 f737dba7-a1b6-11eb-a523-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=121419 Fakulteta za strojništvo 0 0 0