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Razvoj krmilnika za simulirano avtonomno vozilo na osnovi kamere in lidarja
Likar, Žiga (Author), Vrabič, Rok (Mentor) More about this mentor... This link opens in a new window

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Abstract
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.

Language:Slovenian
Keywords:avtonomna vozila, strojni vid, lidar, simulatorji robotike, klasifikacija, segmentacija
Work type:Final paper (mb12)
Tipology:2.11 - Undergraduate Thesis
Organization:FS - Faculty of Mechanical Engineering
Year:2019
Publisher:[Ž. Likar]
Number of pages:X, 33 f.
UDC:007.52:681.5(043.2)
COBISS.SI-ID:16934427 This link opens in a new window
Views:395
Downloads:227
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Secondary language

Language:English
Title:Development of a controller for a simulated autonomous vehicle based on camera and lidar
Abstract:
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.

Keywords:autonomous vehicles, computer vision, lidar, robotics simulators, classification, segmentation

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