| Title |
Programos sukūrimas Microsoft Kinect įrangai ir jos taikymas lokalizacijai patalpoje / |
| Translation of Title |
Software development for Microsoft Kinect and its application for Indoor localization. |
| Authors |
Ruplėnas, Giedrius |
| Full Text |
|
| Pages |
52 |
| Keywords [eng] |
planar localization ; Microsoft „Kinect“ ; known landmarks ; visual recognition ; optical parameters identification |
| Abstract [eng] |
In this Master’s thesis a new localization method based on known landmarks and their viewing angle is created, programmed and tested. This method relies on equations based on circumscribed circles as defined in the law of sines. To solve these equation minimum square and Newton-Raphson methods are used. The method is programmed using Microsoft Visual Studio with C# programing language. Localization method is tested in two ways: geometrical and experimental. For these tests a landmark map is created using Solid Edge 2d. In geometrical test landmark viewing angle is measured using Solid Edge 2d. In experimental test landmark viewing angle is measured using Microsoft “Kinect” camera. Microsoft “Kinect” camera’s internal optical parameters are required to measure viewing angles. Since they are not provided by the developer they are experimentally tested and defined using a new calibration method based on “Black-Box” assumption for “Pinhole” camera model. The calibration method is verified by applying its results for width measurement test. For landmark detection “Interest point filter” is applied for use with Microsoft “Kinect” camera. |
| Dissertation Institution |
Kauno technologijos universitetas. |
| Type |
Master thesis |
| Language |
Lithuanian |
| Publication date |
2017 |
