20.500.12556/RUL-29562 Detekcija ovir z zlivanjem senzorske informacije za avtonomna plovila diplomsko delo Obstacle detection through sensor fusion is unmanned surface vehicles V diplomskem delu obravnavamo problem avtonomne navigacije plovil. Predpostavljamo, da je plovilo opremljeno s senzorji kot so GPS, IMU, kompas, stereo sistem dveh kamer ter procesno enoto na kateri se izvajajo algoritmi segmentacije in planiranja poti. Začnemo s predstavitvijo algoritma segmentacije, ki skupaj z naprednimi metodami računalniškega vida iz slik kamer oceni morebitne ovire (boje, plavalci, ladje, obala). Osredotočimo se na del, kjer s pomočjo meritev inercijske merilne naprave ocenimo horizont na slikah kamer in s tem pripomoremo k robustnejši oceni morja. Za izboljšano lokalizacijo ovir, s pomočjo kalibriranega stereo sistema kamer ocenimo oddaljenost pikslov na sliki v 3D prostoru. Slike morajo biti za računanje globine rekticirane, saj s tem poenostavimo iskanje korespondenc na enodimenzionalen problem. V nadaljevanju predstavimo, implementiramo in ovrednotimo nase predloge za izboljsavo ter predstavimo smernice za nadaljni razvoj. In our diploma thesis we issue a navigation problem of autonomous surface vehicles. Presume we have a vessel appointed with sensors, such as GPS, IMU, compass, a stereo sistem of two cameras and a standalone processing unit that combines sensor data and performs segmentation and planning in real time. We begin by introducing the algorithm of segmentation, that along with help of advanced computer vision methods extracts useful visual information, therefore avoids obstacles in its path (boats, swimmers, buoys). Then, we focus on horizon estimation by taking into account data of innertial measurement unit, with whom we improve the estimation of a sea border. To improve localization of obstacles in front of the vessel, we calculate depth of every pixel in the image. Image pairs are first rectified as we simplify the correspondence search to single dimension. Furthermore, we present, implement and evaluate our methods. We conclude by discussing further work that can be done. stereo sistem 3D inferenca inercijska merilna naprava hori- zont segmentacija računalništvo računalništvo in informatika univerzitetni študij diplomske naloge stereo system 3D inference inertial measurement unit horizon seg- mentation computer science computer and information science diploma true false false [F. Oven] Slovenski jezik Angleški jezik Diplomsko delo/naloga 2014-09-23 17:45:05 2014-09-23 17:45:05 2024-08-12 16:15:03 0000-00-00 00:00:00 2014 0 0 58 str. 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 13926 1536127939 Oven_Franc_-_Detekcija_ovir_z_zlivanjem_senzorske_informacije_za_avtonomna_plovila.pdf Oven_Franc_-_Detekcija_ovir_z_zlivanjem_senzorske_informacije_za_avtonomna_plovila.pdf 1 731969E81E892220BD4DABBE26BF5C3E f1389d8f48b5b5951c8c92cd2f73fe0ef6d8860748519a4381a7a93f2ed26841 511f8db1-a1a8-11eb-a523-00155dcfd717 20.500.12556/rul/99d0f5ea-1970-4833-ac66-59f0339fac1a https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=29558 Fakulteta za računalništvo in informatiko 0 0 0