master's thesis
Building a 3D Model of Environment Based on Planar Segments by Fusion of Multiple Depth Images Using Visual Odometry

Dinko Lubina (2014)
Sveučilište Josipa Jurja Strossmayera u Osijeku
Fakultet elektrotehnike, računarstva i informacijskih tehnologija Osijek
Zavod za računalno inženjerstvo i automatiku
Katedra za automatiku i robotiku
Metadata
TitleIzgradnja 3D modela okoline zasnovanog na ravninskim segmentima fuzijom više snimki pomoću vizualne odometrije
AuthorDinko Lubina
Mentor(s)Robert Cupec (thesis advisor)
Damir Filko (thesis advisor)
Abstract
U radu su opisani pojmovi RGB-D kamere, vizualne odometrije i ravninskih segmenata kao značajki za lokalizaciju, te je opisana integracija sustava za vizualnu odometriju i sustava za lokalizaciju temeljenog na ravninskim segmentima kao značajkama za lokalizaciju. Na temelju navedene integracije je napravljen sustav za izgradnju 3D modela unutrašnjih prostora. Integracija je implementirana na način da se sustav za vizualnu odometriju pokreće u posebnoj niti koja šalje podatke sustavu za lokalizaciju. Provedeni su pokusi s razvijenim sustavom te je dana analiza dobivenih rezultata
KeywordsRGB-D sensor visual odometry planar segments building a 3D environment model triangle mesh
Parallel title (English)Building a 3D Model of Environment Based on Planar Segments by Fusion of Multiple Depth Images Using Visual Odometry
Committee MembersRobert Cupec (committee chairperson)
Josip Job (committee member)
Damir Filko (committee member)
GranterSveučilište Josipa Jurja Strossmayera u Osijeku
Fakultet elektrotehnike, računarstva i informacijskih tehnologija Osijek
Lower level organizational unitsZavod za računalno inženjerstvo i automatiku
Katedra za automatiku i robotiku
PlaceOsijek
StateCroatia
Scientific field, discipline, subdisciplineTECHNICAL SCIENCES
Computing
Process Computing
Study programme typeuniversity
Study levelgraduate
Study programmeGraduate University Study Programme in Computer Engineering
Academic title abbreviationmag.ing.comp.
Genremaster's thesis
Language Croatian
Defense date2014-10-02
Parallel abstract (English)
In this paper concepts RGB-D cameras, visual odometry and planar segments as features for localization are described. Integration of a system for visual odometry and a localization system based on planar segments is described. As the result, a system for building of 3D models of indoor environments is created. The system for visual odometry is started in a seperated thread which sends data to the localization system. Thread synchronization is achieved using mutex. Experimental evaluation of the developed system is performed and the analysis of the obtained results is presented.
Parallel keywords (Croatian)RGB-D senzor vizualna odometrija ravninski segmenti izgradnja 3D modela okoline mreža trokuta
Resource typetext
Access conditionOpen access
Terms of usehttp://rightsstatements.org/vocab/InC/1.0/
URN:NBNhttps://urn.nsk.hr/urn:nbn:hr:200:750527
CommitterAnka Ovničević