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doctoral thesis
Moving objects detection and tracking by omnidirectional sensors of a mobile robot
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2014. urn:nbn:hr:168:307741
Marković, Ivan
University of Zagreb
Faculty of Electrical Engineering and Computing
Department of Control and Computer Engineering

Cite this document

Marković, I. (2014). Moving objects detection and tracking by omnidirectional sensors of a mobile robot (Doctoral thesis). Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:307741

Marković, Ivan. "Moving objects detection and tracking by omnidirectional sensors of a mobile robot." Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2014. https://urn.nsk.hr/urn:nbn:hr:168:307741

Marković, Ivan. "Moving objects detection and tracking by omnidirectional sensors of a mobile robot." Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2014. https://urn.nsk.hr/urn:nbn:hr:168:307741

Marković, I. (2014). 'Moving objects detection and tracking by omnidirectional sensors of a mobile robot', Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 27 March 2023, https://urn.nsk.hr/urn:nbn:hr:168:307741

Marković I. Moving objects detection and tracking by omnidirectional sensors of a mobile robot [Doctoral thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2014 [cited 2023 March 27] Available at: https://urn.nsk.hr/urn:nbn:hr:168:307741

I. Marković, "Moving objects detection and tracking by omnidirectional sensors of a mobile robot", Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2014. Available at: https://urn.nsk.hr/urn:nbn:hr:168:307741

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Metadata
TitleMoving objects detection and tracking by omnidirectional sensors of a mobile robot
Title (croatian)Otkrivanje i praćenje gibajućih objekata svesmjernim senzorima mobilnoga robota
AuthorIvan Marković
MentorIvan Petrović (mentor)
Committee memberDavor Petrinović (predsjednik povjerenstva)
Committee memberMato Baotić (član povjerenstva)
Committee memberRobert Cupec (član povjerenstva)
Committee memberFrançois Chaumette (član povjerenstva)
strani drzavljanin: Nije dostupno
Committee memberPatrick Danès (član povjerenstva)
strani drzavljanin: Nije dostupno
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
(Department of Control and Computer Engineering)
Zagreb
Defense date and country2014, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Automation and Robotics
Universal decimal classification
(UDC)		621.3 - Electrical engineering
Abstract
In mobile robotics measurements from various sensors often yield direction-only information. In this thesis we develop directional statistics based methods for moving object tracking by omnidirectional sensors of a mobile robot. Firstly, the speaker localization problem is solved by modeling the measurements of a microphone array with a convex combination of von Mises distributions and the tracking is solved by Bayesian estimation based solely on the von Mises mixture. Furthermore, in the thesis we analyze the voice activity detection problem from the standpoint of model based voice activity detection methods which are enhanced by supervised learning algorithms. Considering the omnidirectional camera, spherical projection model coupled with displacement information from motor encoders is proposed to segment out static and dynamic features and movement tracking is performed on the sphere with a Bayesian filter based on the von Mises-Fisher distribution. Finally, fusion of heterogenous sensors for object tracking is analyzed in a comparative study of the extended information filter, the unscented information filter and the particle filter.
Abstract (croatian)
U mobilnoj robotici mjerenja različitih senzora često daju informaciju samo o smjeru. U doktorskom radu razvijaju se metode praćenja gibajućih objekata zasnovane na usmjernoj statistici. Problem lokalizacije govornika poljem mikrofona riješen je modeliranjem mjerenja senzora konveksnim zbrojem von Misesovih razdioba te je potom praćenje riješeno Bayesovom estimacijom zasnovanoj samo na zbroju von Misesovih razdioba. U nastavku doktorskog rada razmatra se problem otkrivanja govorne aktivnosti koji je riješen modelsko-statističkim metodama koje su zatim unaprijeđene algoritmima nadziranog učenja. Nadalje, razmatra se problem otkrivanja i praćenja gibajućih objekata svesmjernom kamerom mobilnoga robota. Otkrivanje je riješeno koristeći sferni projekcijski model zajedno s podacima odometrije robota, a praćenje je ostvarno na sferi koristeći Bayesovu estimaciju s von Mises-Fisherovom razdiobom. Na kraju, razmatrana je fuzija heterogenih senzora s ciljem praćenja gibajućih objekata te je urađena komparativna studija proširenog i nederivacijskog informacijskog filtra te čestičnog filtra.
Keywords
Keywords (croatian)
Languageenglish
URN:NBNurn:nbn:hr:168:307741
Study programmeTitle: Electrical Engineering and Computing
Study programme type: university
Study level: postgraduate
Academic / professional title: Doktor znanosti elektrotehnike i računarstva (Doktor znanosti elektrotehnike i računarstva)
Catalog URLhttp://lib.fer.hr/cgi-bin/koha/opac-detail.pl?biblionumber=43103
Type of resourceText
Extent153 str. ; 30 cm.
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
RepositoryFER Repository
Created on2019-04-19 13:11:25

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