20.500.12556/RUL-112645 Merjenje oddaljenosti in orientacije površine z lasersko skenirano glavo in videokamero Measuring distance and rotation of a surface using a laser scanning head and camera Delo obsega razvoj metode za merjenje razdalje in orientacije površine z uporabo laserske triangulacije s pilotnim žarkom medicinske laserske skenirne glave in v njo vgrajene kamere. Cilj naloge je omogočiti avtomatizirano upravljanje, sicer ročno operirane skenirne glave, z robotsko roko. Na zajetih slikah se najprej prepozna nahajanje pilotnega žarka, sledi natančno zaznavanje njegovega poteka, kar omogoči triangulacijo koordinat osvetljene površine. Preizkusi na testnih slikah so pokazali, da je sistem zmožen meriti s standardnim odklonom izmer razdalje pod 2 mm, ter orientacije tipično pod 5 stopinj. This thesis spans the development of methods for the purpose of measuring the distance and orientation of a surface through the use of laser triangulation between the pilot beam of a medical laser scanning head and an inbuilt camera. The goal is to enable automated handling of an otherwise handheld scanning head with an industrial robot arm. First, the approximate whereabouts of the pilot beam are extracted from the image, followed by precise detection of its centerline. Thusly it is possible to triangulate the coordinates of the beam-lit surface. Testing has shown the system to be capable of performing measurements with a standard deviation of the measured distance being under 2 mm, and typically under 5 degrees for the measured rotation. strojni vid laserska triangulacija digitalna obdelava slik segmentacija laserske skenirne glave machine vision laser triangulation digital image processing segmentation laser scanning head true false false [S. Dobelšek] Slovenski jezik Angleški jezik Magistrsko delo/naloga 2019-10-30 07:45:04 2019-10-30 07:45:09 2023-10-20 08:34:52 0000-00-00 00:00:00 2019 0 Ljubljana 0 XXV, 71 str. 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 681.7.08:004.9:681.5(043.2) 217868 16956699 4562.pdf 4562.pdf 1 8314175F2F3A56B07A84BB2F4CAF6452 4f0a6dca3320fb3d7d31f0374133c6e25d55c67a0157f937c55dce1894a1c23f ede598c6-a1b7-11eb-a523-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=124574 Fakulteta za strojništvo 0 0 0