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Echtzeit Objekterkennung auf low power embedded systems by Oberhammer, Roland

Echtzeit Objekterkennung auf low power embedded systems

by Roland Oberhammer
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Book cover type: Paperback
  • ISBN13: 9783638916639
  • Binding: Paperback
  • Subject: N/A
  • Publisher: Grin Verlag
  • Publisher Imprint: Grin Verlag
  • Publication Date:
  • Pages: 156
  • Original Price: USD 65.9
  • Language: German
  • Edition: N/A
  • Item Weight: 214 grams
  • BISAC Subject(s): General

Diplomarbeit aus dem Jahr 2007 im Fachbereich Elektrotechnik, Note: 1.0, Technische Universität Wien (Institut für Computertechnik), Sprache: Deutsch, Abstract: Objekterkennung ist ein weit gefächertes Gebiet und umfasst eine Vielzahl von Verfahren zur Vermessung und Kategorisierung von Objekten mittels unterschiedlichster Sensorsysteme, die je nach Umgebung, Beleuchtung und Art der Objekte die detektiert oder vermessen werden sollen, unterschiedlich geeignet sind und ensprechend ihre Vor- und Nachteile besitzen. Diese Diplomarbeit beschäftigt sich mit der Objekterkennung im Rahmen der Robotik, speziell im Roboterfu ball, welcher sich in den letzten Jahren, aufgrund der sich daraus ergebenden Forschungsmöglichkeiten, immer grö erer Beliebtheit erfreut. Der Roboter soll den Regeln der Mirosot Kategorie der internationalen Organisation zur Förderung des Roboterfu balls FIRA entsprechen. Als Sensor für die Objekterkennung dient eine Digitalkamera. So wird in dieser Arbeit ausgehend von den Einschränkungen in den Abmessungen, bestimmt durch die Regeln der Kategorie Mirosot, eine geeignete Hardware-Plattform erarbeitet und Gründe für den Entscheid zur Wahl bestimmter Komponenten dargelegt. Ausgehend von gängigen Methoden der Bildverarbeitung und der Aufwandsabschätzung für diese Algorithmen, wird nach einem Softwarekonzept gesucht, das auf der gewählten Plattform den gestellten Anforderungen entspricht. Ziel ist in erster Linie die Erkennung des Spielballes, ein oranger Golfball und der farbig markierten Tore. Da Standardverfahren aber nicht auf die spezielle Hardware optimiert sind und auch ansonsten hohe Anforderungen an die Rechenleistung stellen, wird ein Konzept vorgestellt, das es erlaubt einfache geometrische Formen wie Kreise oder Rechtecke zu detektieren und zu vermessen. Dieses neue Konzept greift teilweise auf in der Fachliteratur bekannte Methoden zurück die hierfür entsprechend optimiert werden, enthält aber auch einen neuen Ansatz, der es erlaubt den Anf

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