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Identifikace 3D objektů pro robotické aplikace / Identification of 3D objects for Robotic Applications

This thesis focuses on robotic 3D vision for application in Bin Picking. The new method based on Conformal Geometric Algebra (CGA) is proposed and tested for identification of spheres in Pointclouds created with 3D scanner. The speed, precision and scalability of this method is compared to traditional descriptors based method. It is proved that CGA maintains the same precision as the traditional method in much shorter time. The CGA based approach seems promising for the use in the future of robotic 3D vision for identification and localization of spheres.

Identiferoai:union.ndltd.org:nusl.cz/oai:invenio.nusl.cz:416605
Date January 2020
CreatorsHujňák, Jaroslav
ContributorsNávrat, Aleš, Matoušek, Radomil
PublisherVysoké učení technické v Brně. Fakulta strojního inženýrství
Source SetsCzech ETDs
LanguageCzech
Detected LanguageEnglish
Typeinfo:eu-repo/semantics/masterThesis
Rightsinfo:eu-repo/semantics/restrictedAccess

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