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master's thesis
Praćenje objekta u prostoru na temelju markera
2021. urn:nbn:hr:179:320828
Opačak, Luka
University of Split
Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture
Department of Mechanical Engineering and Naval Architecture

Cite this document

Opačak, L. (2021). Praćenje objekta u prostoru na temelju markera (Master's thesis). Split: University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:179:320828

Opačak, Luka. "Praćenje objekta u prostoru na temelju markera." Master's thesis, University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture, 2021. https://urn.nsk.hr/urn:nbn:hr:179:320828

Opačak, Luka. "Praćenje objekta u prostoru na temelju markera." Master's thesis, University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture, 2021. https://urn.nsk.hr/urn:nbn:hr:179:320828

Opačak, L. (2021). 'Praćenje objekta u prostoru na temelju markera', Master's thesis, University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture, accessed 14 January 2025, https://urn.nsk.hr/urn:nbn:hr:179:320828

Opačak L. Praćenje objekta u prostoru na temelju markera [Master's thesis]. Split: University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture; 2021 [cited 2025 January 14] Available at: https://urn.nsk.hr/urn:nbn:hr:179:320828

L. Opačak, "Praćenje objekta u prostoru na temelju markera", Master's thesis, University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture, Split, 2021. Available at: https://urn.nsk.hr/urn:nbn:hr:179:320828

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Metadata
TitlePraćenje objekta u prostoru na temelju markera
Title (english)Object tracking using markers
AuthorLuka Opačak
MentorMilan Ćurković https://orcid.org/0000-0003-0100-7928 (mentor)
GranterUniversity of Split
Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture
(Department of Mechanical Engineering and Naval Architecture)
Split
Defense date and country2021-09-20, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
Proces praćenja objekta ili nekog njegovog dijela je ostvaren interakcijom kamere s markerima. Praćenje markera se obavlja transformacijom koordinata iz 3D sustava okoline markera u 2D sustav slike na kojoj je detektiran marker. Za potpunu transformaciju koordinata, prvo su potrebni intrinzični parametri kamere koji se određuju kalibracijom kamere. Za kalibraciju kamere je korištena Zhang metoda s kalibracijskom pločom. Nakon što se odrede unutarnji parametri kamere, slijedi detekcija i estimacija položaja ArUco markera koji su se koristili u radu. Izlazni translacijski i rotacijski vektori predstavljaju ekstrinzične parametre koji opisuju odnos koordinatnog sustava kamere u odnosu na koordinatni sustav markera u okolini. Cilj rada se ostvario fiksiranjem kamere i kretanjem objekta s nalijepljenim markerima po određenim konturama. U rezultatima su prikazane moguće aplikacije praćenja ovom metodom kao i analiza točnosti rezultata. Svi algoritmi i matematički modeli u radu su detaljno objašnjeni i implementirani u OpenCV knjižnici funkcija koja se koristi u primjenama računalnog vida i obradi slike.
Abstract (english)
The process of object tracking, or part of that object is done with interaction of the camera with markers. Tracking of markers is a coordinate transformation of a 3D world coordinate system into the 2D image coordinate system where the marker is being detected. Full transformation of coordinates is done with intrinsic parameters of the camera which are determined with the camera calibration process. Camera calibration is done with Zhang's method using a calibration board. After internal parameters of the camera are determined, the next part is the detection and pose estimation of ArUco markers which are used in this work. Translation and rotation vectors represent extrinsic parameters that describe the relationship between the coordinate system of the camera and the coordinate system of markers observed in the scene. Tracking process in this thesis is done in a way that the camera is held stationary while the object with markers is being moved around the contours of fixed geometry. In the chapter that shows the results of this work, potential applications of tracking with this method are presented with an analysis of obtained results. All algorithms and mathematical models used in this work are described and then implemented in the OpenCV library used in computer vision and image processing applications.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:179:320828
Study programmeTitle: Mechanical Engineering; specializations in: Structures and Energy Technology, Computer Aided Design and Engineering, Production Mechanical Engineering
Course: Computer Aided Design and Engineering
Study programme type: university
Study level: graduate
Academic / professional title: Magistar/magistra inženjer/inženjerka strojarstva (Magistar/magistra inženjer/inženjerka strojarstva)
Type of resourceText
File originBorn digital
Access conditionsAccess restricted to authenticated users
Terms of useLicence In copyright icon
Created on2022-11-07 11:34:05