Modul za prikaz in obdelavo oblakov točk

magistrsko delo magistrskega študijskega programa II. stopnje Strojništvo

Jošt Vadnjal (Author), Drago Bračun (Mentor)

Abstract

Za potrebe lokalizacije objektov pri robotskem pobiranju izdelkov v razsutem stanju je bilo potrebno razviti modul za prikaz in obdelavo oblakov točk. Modul temelji na uporabi algoritmov iz programske knjižnice Point Cloud Library. Za zajem oblakov točk je bil uporabljen laserski triangulacijski merilnik. Oblake točk smo očistili šuma, nato smo uporabili algoritme za izračun korespondenc ter izvedli registracijo. Prikazana je bila odvisnost rezultatov procesiranja od faktorjev vpliva. Za dve vrsti značilk so bile določene vrednosti parametrov, s katerimi je možno oceniti lego izdelka.

Keywords

magistrske naloge;lokalizacija objektov;oblaki točk;3D značilke;transformacije koordinatnih sistemov;programska oprema;

Data

Language:	Slovenian
Year of publishing:	2021
Typology:	2.09 - Master's Thesis
Organization:	UL FS - Faculty of Mechanical Engineering
Publisher:	[J. Vadnjal]
UDC:	004.925:007.52(043.2)
COBISS:	85228035
Views:	219
Downloads:	54
Average score:	0 (0 votes)
Metadata:

Other data

Secondary language:	English
Secondary title:	Point cloud visualisation and editing module
Secondary abstract:	The needs of object localisation in robotic bin-picking made it necessary to develop a software module for visualisation and processing of point clouds. The module is based on the use of algorithms from the Point Cloud Library. A laser triangulation measurement device was used to collect point clouds. After the point clouds were cleaned of noise, we used algorithms to calculate correspondences and performed registration. Dependence of processing results from control factors was shown. Values of parameters that can be used to assess a position of the product were established for two types of features.
Secondary keywords:	master thesis;objects localisation;point clouds;3D features;coordinate systems transformations;software;
Type (COBISS):	Master's thesis/paper
Study programme:	0
Embargo end date (OpenAIRE):	1970-01-01
Thesis comment:	Univ. Ljubljana, Fak. za strojništvo
Pages:	XXII, 57 str.
ID:	13790052