20.500.12556/DKUM-84978 Obdelava in prikaz zemljevida značilk, pridobljenega s postopkom ORB-SLAM2 diplomsko delo Processing and display of a sparce map obtained by the ORB-SLAM2 algorithm Diplomsko delo zajema opis kamere Microsoft Kinect in RealSense d_435, programskega jezika Python in knjižnice Open3d, algoritma ORB-SLAM2 in okolja ROS. Sledi opis postopka kalibracije kamere Kinect in opis programa za shranjevanje zemljevida značilk. Diplomsko delo vsebuje primerjavo globinskega dometa prej omenjenih kamer. Opisan je RANSAC algoritem in program za določitev ravnine iz oblaka točk. Vsebina diplomskega dela se konča z opisom postopka transformacije baznega koordinatnega sistema v oblaku točk. The diploma thesis covers the description of the Microsoft Kinect and RealSense d_435 cameras, the Python programming language and the Open3D library, the ORB-SLAM2 algorithm, and the ROS environment. It is followed by a description of the Kinect camera calibration process and a description of the program for saving feature maps. The thesis includes a comparison of the depth range of the aforementioned cameras. The RANSAC algorithm and a program for point cloud plane segmentation are also described. The content of the diploma thesis concludes with an explanation of the process of transforming the base coordinate system in the point cloud. ORB-SLAM2 oblak točk RANSAC matrična transformacija ORB-SLAM2 point cloud RANSAC matrix transformation true true false [G. Škraba] Slovenski jezik Angleški jezik Diplomsko delo/naloga 2023-08-11 20:17:17 2024-03-04 12:57:08 2024-03-23 03:14:38 0000-00-00 00:00:00 2023 0 Maribor 0 Maribor 1 spletni vir (1 datoteka PDF (IX, 55 f.)) 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 528.181:681.772(043.2) 189942275 Skraba_Gabrijel_Diploma.pdf Skraba_Gabrijel_Diploma.pdf 1 82C9394EE563525AC088E9C0B6D003EB 93e124b76d1f1e7c14cbe8621b6691673472fa41d97885d16db72262968d9d3a 14636965-da1e-11ee-acff-00155d000105 https://dk.um.si/Dokument.php?lang=slv&id=176541 Fakulteta za strojništvo 0 0 0