Jani Bizjak (2012) Object search using mobile platform and RGBD camera. EngD thesis.
Intelligent robots are nowadays making their way from laboratories to domestic homes. In this thesis, a vacuum cleaner robot iRobot Roomba is upgraded so it can search for objects in a room. Robot sensors alone are not good enough that is why a RGBD camera Kinect is added on top of the robot. For software part the robot meta operating system ROS is used. ROS connects the robot’s hardware and software together and is easily upgradable with custom packages for different tasks. This thesis is divided in two parts: object recognition and systematical search of space. For object recognition, a solution made by RoboEarth is used. The focus of this thesis is on navigating the robot and bringing the whole system together. For better representation of the robot’s actions, visualization and verbalization of these actions are added. Before the evaluation of the program on a real robot, exact parameters of the visual recognition system are measured and then used to create a test environment.
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