20.500.12556/RUL-160142 Raziskava funkcionalnosti in performanc odprtokodne PCL knjižnice za lokalizacijo izdelkov v razsutem stanju Exploring the functionality and performance of the open-source PCL library for localization of products in bulk V magistrski nalogi smo raziskali funkcionalnost in performance funkcij za lokalizacijo izdelkov v razsutem stanju, kot jih nudi odprtokodna PCL knjižnica. V sklopu knjižnice je na voljo večje število funkcij in posledično možnih rešitev, zato smo v magistrski nalogi izvedli eksperimente, s katerimi smo ovrednotili njihovo točnost in hitrost delovanja. Različne programske rešitve smo testirali na primeru iskanja kovinskih predmetov, položenih na tekoč trak. Pri tem smo spreminjali postavitev in stopnjo prekritosti iskanih predmetov. Rezultati testiranja kažejo, da z izbiro prave kombinacije funkcij iz knjižnice in njihovih parametrov signifikantno vplivamo na računsko hitrost in točnost lokalizacije. Najboljše delovanje smo ugotovili pri kombinaciji funkcij Harris3D za določitev ključnih točk, SHOT za izračun opisnikov in GC za gručenje korespondenc. In the master's thesis, we explored the functionality and performance of functions for the localization of products in bulk as provided by the open-source PCL library. The library offers a larger number of functions and consequently multiple possible solutions, that is why we carried out experiments to evaluate their accuracy and operating speed. We tested different software solutions by searching for specific metal objects placed on a conveyor belt. During testing we changed the layout and degree of obscurity of the searched for objects. The results of the experiments show that by choosing the correct combination of the library's functions and their parameters, we significantly influence the computational speed and accuracy of the localization process. We detirmened that the best combination of functions was using Harris3D for determining keypoints, SHOT for calculating descriptors and GC for correspondence grouping. lokalizacija izdelkov oblaki točk PCL ključne točke opisniki product localization point clouds PCL keypoints descriptors true false false Slovenski jezik Angleški jezik Magistrsko delo/naloga 2024-08-22 08:30:44 2024-08-22 08:30:47 2024-12-06 11:20:38 0000-00-00 00:00:00 2024 0 0 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 004.932.2:519.62(043.2) 263338 217984771 35084.pdf 35084.pdf 1 ED07F7266ED18BA3B61F287F4CF03B41 8add3db901fe9c0e57eea159446fe9395d5c85ad7c1d9e8546eeb9c899dce1f2 dae5fd76-604f-11ef-8f74-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=188633 Fakulteta za strojništvo 0 0 0