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Večkamerni sistem za lokalizacijo objekta v prostoru
ID
BELIČIČ, ERNEST
(
Author
),
ID
Skočaj, Danijel
(
Mentor
)
More about this mentor...
URL - Presentation file, Visit
http://eprints.fri.uni-lj.si/3118/
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Abstract
Lokalizacija igra pomembno vlogo v številnih aplikacijah, na primer filmska in igračarska industrija uporabljata lokalizacijske sisteme za zajem gibanja telesa. V diplomskem delu implementiramo postopek lokalizacije v prostoru s pomočjo kamer. Objekt, ki ga lokaliziramo, je okrogel svetleči barvni označevalnik. Kameram določimo notranje in zunanje parametre ter jih tako umestimo v prostor, pri čemer notranje parametre določimo z MATLAB-ovim orodjem za kalibracijo kamer, zunanje pa izračunamo s pomočjo metode DLT in SVD. V realnem času zaznavamo označevalnik na slikah in s postopkom triangulacije določimo njegov položaj v prostoru. Sistem tudi ustrezno evalviramo in ocenimo napake lokalizacije. Izkaže se, da so napake v sistemu večinoma sistematične in se jih lahko popravi.
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Unknown
Keywords:
lokalizacija
,
triangulacija
,
večkamerni sistem
,
računalniški vid
,
kalibracija kamer
,
DLT
,
SVD
Work type:
Bachelor thesis/paper
Organization:
FRI - Faculty of Computer and Information Science
Year:
2015
PID:
20.500.12556/RUL-72605
COBISS.SI-ID:
1536518595
Publication date in RUL:
29.09.2015
Views:
1253
Downloads:
216
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Language:
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Title:
Multi-camera system for object localization in space
Abstract:
Localization plays a big role in many applications for example film and game industry are using localization systems for capturing of body movement. In this thesis we implement localization procedure using cameras. Localization object is a light emitting spherical color marker. We compute cameras intrinsic and extrinsic parameters effectively fitting camera in space. Intrinsic parameters are determined using MATLAB camera calibration tool. Extrinsic parameters are calculated using DLT and SVD methods. From images we detect marker in real time and use triangulation to determine its position in space. We properly evaluate the system and measure localization accuracy. It turns out that system errors are mostly systematic and can be corrected.
Keywords:
localization
,
triangulation
,
multi-camera system
,
computer vision
,
camera calibration
,
DLT
,
SVD
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