20.500.12556/RUL-132696 Modul za prikaz in obdelavo oblakov točk Point cloud visualisation and editing module Za potrebe lokalizacije objektov pri robotskem pobiranju izdelkov v razsutem stanju je bilo potrebno razviti modul za prikaz in obdelavo oblakov točk. Modul temelji na uporabi algoritmov iz programske knjižnice Point Cloud Library. Za zajem oblakov točk je bil uporabljen laserski triangulacijski merilnik. Oblake točk smo očistili šuma, nato smo uporabili algoritme za izračun korespondenc ter izvedli registracijo. Prikazana je bila odvisnost rezultatov procesiranja od faktorjev vpliva. Za dve vrsti značilk so bile določene vrednosti parametrov, s katerimi je možno oceniti lego izdelka. The needs of object localisation in robotic bin-picking made it necessary to develop a software module for visualisation and processing of point clouds. The module is based on the use of algorithms from the Point Cloud Library. A laser triangulation measurement device was used to collect point clouds. After the point clouds were cleaned of noise, we used algorithms to calculate correspondences and performed registration. Dependence of processing results from control factors was shown. Values of parameters that can be used to assess a position of the product were established for two types of features. lokalizacija objektov oblaki točk 3D značilke transformacije koordinatnih sistemov programska oprema objects localisation point clouds 3D features coordinate systems transformations software true false false [J. Vadnjal] Slovenski jezik Angleški jezik Magistrsko delo/naloga 2021-10-31 08:30:42 2021-10-31 08:30:45 2022-09-12 04:13:25 0000-00-00 00:00:00 2021 0 Ljubljana 0 XXII, 57 str. 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 1970-01-01 004.925:007.52(043.2) 237464 85228035 13450.pdf 13450.pdf 1 A5953C19BB4B2DDFCF78E880A8AD3905 873482385779d61f46344cdbfaea75efa4bac585cb6c303156966961185c1485 6c5f7a55-3a1c-11ec-abdb-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=150369 Fakulteta za strojništvo 0 0 0