| Meno: | Matej |
|---|---|
| Priezvisko: | Štauder |
| Názov: | Redrawing of Simple Black-and-White Sketches Using Humanoid Robot NICO |
| Vedúci: | prof. Ing. Igor Farkaš, Dr. |
| Rok: | 2026 |
| Kľúčové slová: | sketch reproduction, graph representation, path planning, robot vision, motion control |
| Abstrakt: | This thesis presents a robotic system for reproducing simple black-and-white sketches using the semi-humanoid robot NICO. The proposed system integrates visual percep tion, graph-based sketch representation, path planning, and motion execution into a unified pipeline that transforms a captured sketch into a physical drawing on a digital tablet. The perception stage focuses on reliable whiteboard detection and geometric recti fication using a marker-based approach. The extracted sketch is processed through a graph construction pipeline consisting of binarization, skeletonization, and vectoriza tion. The resulting graph representation is then used for trajectory generation, where several path planning strategies are explored to produce coherent and efficient drawing motions. Finally, the generated trajectories are executed on the humanoid robot using inverse kinematics and motion control techniques. We evaluated the system on a custom dataset of hand-drawn sketches captured under varying distances, orientations, and lighting conditions. Experimental results demonstrate that the proposed pipeline achieves reasonably reliable sketch reproduc tion while maintaining near real-time performance. The work shows that a modular combination of classical image processing, graph-based methods, and robotic motion control can successfully address the constrained task of robotic sketch reproduction. |
Súbory diplomovej práce:
| DP-final.pdf |
| thesis.zip |
Súbory prezentácie na obhajobe: