• A Curvature-Based Descriptor for Point Cloud Alignment Using Conformal Geometric Algebra 

      Kleppe, Adam Leon; Egeland, Olav (Journal article; Peer reviewed, 2018)
      This paper presents a descriptor for course alignment of point clouds using conformal geometric algebra. The method is based on selecting keypoints depending on shape factors to identify distinct features of the object ...
    • Automated assembly using 3D and 2D cameras 

      Kleppe, Adam Leon; Bjørkedal, Asgeir; Larsen, Kristoffer; Egeland, Olav (Journal article; Peer reviewed, 2017)
      D and 3D computer vision systems are frequently being used in automated production to detect and determine the position of objects. Accuracy is important in the production industry, and computer vision systems require ...
    • Coarse Alignment for Model Fitting of Point Clouds Using a Curvature-Based Descriptor 

      Kleppe, Adam Leon; Tingelstad, Lars; Egeland, Olav (Journal article; Peer reviewed, 2018)
      This paper presents a method for coarse alignment of point clouds by introducing a new descriptor based on the local curvature. The method is developed for model fitting a CAD model for use in robotic assembly. The method ...
    • Deformable Body Based Salmon Model - For iterative development and testing of equipment within Isaac Sim 

      Glomsrud Andreas (Master thesis, 2023)
      I denne oppgaven utnyttes Isaac Sim sin kapasitet for ”Soft Body” simulering for ˚a lage en robust og dynamisk modell av Fisk. Modellen er delvis basert p˚a tidligere kunnskap innhentet under arbeid utført i løpet av ...
    • Fish bin picking using machine vision 

      Rezaei, Faezeh (Master thesis, 2023)
      Retten til mat er en avgjørende menneskerettighet som sikrer at alle har tilgang til tilstrekkelig og trygg ernæring. Fisk og fiskeriprodukter spiller en viktig rolle i global matsikkerhet. Fiskeindustrien har utvidet seg ...
    • Hardware Platform for a Multi-Robot System: Research and implementation of a multi-robot system with a cooperative behavioral control system 

      Kleppe, Adam Leon (Master thesis, 2013)
      A small demonstration lab with a multi-robot system is being developed at ITK.This thesis considers the development and implementation of a hardware and softwareplatform for this multi-robot system. An overview of the ...
    • Inverse kinematics for industrial robots using conformal geometric algebra 

      Kleppe, Adam Leon; Egeland, Olav (Journal article; Peer reviewed, 2016)
      This paper shows how the recently developed formulation of conformal geometric algebra can be used for analytic inverse kinematics of two six-link industrial manipulators with revolute joints. The paper demonstrates that ...
    • Kuka - Robot Assistant 

      Gwozdowicz, Artur; Kalland, Danil (Bachelor thesis, 2023)
      Hensikten med prosjektet var til ˚a utvikle en robot som kunne hente verktøy ved ˚a høre p˚a stemme kommandoer. Avgjørende delen av design var ˚a involvere usikkerhet og unng˚a lineære operasjoner. Det kunne oppn˚as ved˚a ...
    • Object Detection in Point Clouds Using Conformal Geometric Algebra 

      Sveier, Aksel; Kleppe, Adam Leon; Tingelstad, Lars; Egeland, Olav (Journal article; Peer reviewed, 2017)
      This paper presents an approach for detecting primitive geometric objects in point clouds captured from 3D cameras. Primitive objects are objects that are well defined with parameters and mathematical relations, such as ...
    • Point Cloud Registration for Assembly using Conformal Geometric Algebra 

      Kleppe, Adam Leon (Doctoral theses at NTNU;2018:197, Doctoral thesis, 2018)
      This thesis is a collection of five journal papers and one conference paper. The thesis is on pose alignment and point correspondence estimation for 3D point clouds, and inverse kinematics of industrial robots. The approaches ...
    • Robotic assembly line for junction boxes 

      Karlsen, Benjamin; Lersveen, Fridtjof Pedersen (Bachelor thesis, 2023)
      Denne rapporten viser utviklingen og resultatene av en automatisert monteringslinje som monterer elektro bokser for Pipelife. Systemet inneholder forskjellige komponenter som roboter, transportband, lineær drivere, robot ...
    • Robotised Grinding in Confined Space 

      Trandem, Hans-Martin; Ytrøy, Vegard H. (Bachelor thesis, 2023)
      Denne bacheloroppgåva viser funna av dei føreslegne metodane og teknikkane. Observasjonane og dataene som er generert gjennom denne avhandlinga viser potensial for betydelege forbetringar i systemets yteevne og kapabilitetar. ...
    • Robotised Grinding in Confined Space 

      Trandem, Hans-Martin; Ytrøy, Vegard H. (Bachelor thesis, 2023)
      I denne bacheloroppgaven har vi sett på hvordan man kan oppnå fjernsliping med en robot i trange rom. Funnene viser potentialet til de foreslåtte metodene og teknikkene. Observasjonene og dataene generert gjennom denne ...