diplomsko delo
Leo Ogrizek (Author), Vitomir Štruc (Mentor), Janez Perš (Co-mentor)

Abstract

V tem delu razvijemo in ovrednotimo postopek kalibracije stereo kamer, namenjen združevanju oblakov točk iz stereo globinskih podatkov, kar omogoča njihovo uporabo v naprednih sistemih zaznave. Naš pristop temelji na zaznavi vzorcev šahovnice v slikah za izračun intrinzičnih in ekstrinzičnih parametrov kamer, na podlagi položajev oglišč šahovnice znotraj parov posnetih slik. Dodatno robustnost kalibracijskemu procesu zagotavljamo z uvedbo metode za preverjanje in zagotavljanje konsistentnosti orientacije zaznanih oglišč šahovnic. Oblake točk združimo s pomočjo pridobljenih ekstrinzičnih parametrov kamer in ocenimo njihovo kvaliteto. Točnost naše kalibracijske metode ocenjujemo z uporabo kvantitativnih meritev, specifično napak reprojekcije in globinske napake, ter s kvalitativnimi merili preko vizualnega pregleda, da temeljito potrdimo učinkovitost naših metod. Poleg tega izvedemo analizo časovne učinkovitosti uporabljenih algoritmov, s čimer preverimo njihovo primernost za uporabo v aplikacijah, ki delujejo v realnem času.

Keywords

stereo vid;stereo kalibracija;oblak točk;zaznava vzorca šahovnice;univerzitetni študij;Elektrotehnika;diplomske naloge;

Data

Language: Slovenian
Year of publishing:
Typology: 2.11 - Undergraduate Thesis
Organization: UL FE - Faculty of Electrical Engineering
Publisher: [L. Ogrizek]
UDC: 004.93(043.2)(0.034.2)
COBISS: 199549955 Link will open in a new window
Views: 54
Downloads: 21
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Other data

Secondary language: English
Secondary title: Development of a sensor system and calibration algorithms for spatial sensing in collaborative roboticss
Secondary abstract: In this thesis, we develop a process for calibrating stereo cameras aimed at merging point clouds obtained from stereo depth data for use in sensing systems. Our process is based on the detection of a chessboard pattern in images and the calculation of camera parameters through the positions of chessboard corners in the image pairs. We achieve more robust calibration by additionally verifying the orientations of the chessboards. Point clouds are merged through the calculated extrinsic parameters of the cameras. We evaluate the accuracy of our calibration method using quantitative measures, specifically reprojection and depth errors, alongside qualitative measures via visual inspection, to thoroughly validate our method. We measure the computational complexity of the algorithms and analyze their applicability in real-time systems.
Secondary keywords: stereo vision;stereo calibration;point cloud;chessboard pattern detection;
Type (COBISS): Bachelor thesis/paper
Study programme: 1000313
Thesis comment: Univ. v Ljubljani, Fak. za elektrotehniko
Pages: 1 spletni vir (1 datoteka PDF (XVIII, 63 str.))
ID: 24398900