20.500.12556/DKUM-96462 Kalibracija 3D kamere in robota v sistemu ROS2 magistrsko delo Calibration of a 3D Camera and Robot in a ROS2 System Kalibracija kamere in robota ima ključno vlogo v robotskih vizualnih sistemih, saj omogoča natančno uskladitev med robotom in kamero. V magistrskem delu je predstavljen razvoj in analiza postopka kalibracije 3D kamere in robotske roke v okolju ROS2 v konfiguraciji, kjer je kamera fiksno nameščena glede na delovno okolje. Sistem vključuje robotski manipulator UR5e, kamero Azure Kinect ter lastno razvito ROS2 vozlišče za zajem slik in pozicij robota. Preizkušene so bile izbrane metode kalibracije, pri čemer je analiziran vpliv števila kalibracijskih točk na natančnost transformacije med koordinatnimi sistemi. Postopek je bil najprej izveden v simulaciji in nato preverjen na realnem sistemu. Rezultati potrjujejo dobro natančnost in robustnost predlagane rešitve. Hand-eye calibration plays a crucial role in robotic vision systems, enabling accurate spatial alignment between a robot and a camera. This master’s thesis presents the development and analysis of a 3D camera–robot calibration procedure in a ROS2 environment, using a configuration in which the camera is fixed relative to the workspace. The system consists of a UR5e manipulator, an Azure Kinect camera, and a custom ROS2 node for acquiring images and robot poses. Several calibration methods were evaluated, focusing on the influence of the number of calibration points on the accuracy of the estimated transformation. The procedure was first validated in simulation and later verified on a real robot. The results confirm the high accuracy and robustness of the proposed approach. ROS2 kalibracija kamere in robota kolaborativni robot UR5e robotski vid OpenCV ROS2 hand-eye calibration collaborative robot UR5e robot vision OpenCV true true false [L. Šipek] Slovenski jezik Angleški jezik Magistrsko delo/naloga 2026-01-12 22:05:14 2026-02-26 14:02:07 2026-03-14 03:13:07 0000-00-00 00:00:00 2026 0 Maribor 0 Maribor 1 spletni vir (1 datoteka PDF (XII, 81 f.)) 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 007.52(043.2) 271568387 MAG_Sipek_Luka_2026.pdf MAG_Sipek_Luka_2026.pdf 1 80494A058E5C534AE8CEB7AEB6A8C342 955200b9193749516205ec47d81ed31a58de3265acd130f27b129c30bf555d11 093adf99-122b-11f1-a540-00155d580e1a https://dk.um.si/Dokument.php?lang=slv&id=203825 Fakulteta za strojništvo 0 0 0