Vision based precise localization of robotic manipulator

Rad se bavi problemom računanja udaljenosti između pasivnih markera kroz simulacijski i eksperimentalni dio. Simulacija je provedena u Gazebo okruženju, gdje je kamera bila pričvršćena na robota. Robot je periodično mijenjao položaj relativno s obzirom na postavljene markere. Praćena je promjena u očitanoj udaljenosti s obzirom na položaj kamere. U svrhu provođenja eksperimenta su izrađeni pinovi na koje su pričvršćeni AR markeri. U eksperimentalnom dijelu je promatrana ovisnost detektirane udaljenosti između vrhova pinova o rotaciji pina. Postupak je pokazao zadovoljavajući u točnost, s izuzetkom određenih rubnih slučajeva.The thesis deals with the distance calculation between two distinct points in 3D space by using pre-existing computer vision algorithms. Points are marked with AR markers and detected with help of ar_track_alvar. Simulation is conducted in Gazebo environment. Camera was mounted on the robot and the robot was moving periodically in order to capture markers from different angles. As expected, correlation between the position of the camera and the calculated distance was shown. During the experimental phase, two 3D pins were printed and AR markers were attached to them. Distance was calculated between the top of the pins, while observing the position of the markers. Correlation between the rotation of one of the pins and the calculated distance was confirmed. The results of the procedure were satisfying