Lociranje objekta z uporabo točkovnih oblakov

GRAD, BLAŽ (author), Mihelj, Matjaž (mentor)

Točkovni oblaki so nam omogočili predstavitev in obdelavo vidnega polja v treh dimenzijah, ta relativno nova tehnologija je dobila hiter razcvet v računalniškem oziroma robotskem vidu, saj imajo razvijalci za prihodnost v mislih omogočiti robotom pogled na svet ravno s to tehnologijo. Diplomska naloga temelji na uporabi knjižnice točkovnih oblakov (ang. Point Cloud Library oziroma PCL), in Robotskega Operacijskega Sistema (ang. Robot Operating System oziroma ROS). Skupaj nam pripravljata skupek funkcij oziroma metod, ki jih uporabljamo s pomočjo programskega jezika C++. Te metode nam omogočajo učinkovito reševanje problematike pri robotskem vidu.

• Language: Slovenian
• Keywords: ROS, PCL, C++, oblak točk, lociranje, segmentacija, transformacija
• Work type: Bachelor thesis/paper
• Organization: FE - Faculty of Electrical Engineering
• Year: 2016
• PID: 20.500.12556/RUL-84847
• Publication date in RUL: 06.09.2016

Secondary language

• Language: English
• Title: Object localization using point clouds

Abstract

The point clouds allowed us to get a representation and further processing of pictures in three dimensions. This relatively new technology gained a lot of momentum in the field of computer or rather robot vision since the developers share a vision where robots will utilize this technology to connect with the world. The thesis is based on the use of the Point Cloud Library and the Robot Operating System. Both of these two collections of libraries give us the needed function for use in the C++ programming language. This enables us to solve various problems in the field of robot vision.

• Keywords: ROS, PCL, C++, point cloud, locating, segmentation, transformation