National Repository of Grey Literature 14 records found  1 - 10next  jump to record: Search took 0.00 seconds. 
Automatic detection of driving lanes geometry based on aerial images and existing spatial data
Růžička, Jakub ; Brůha, Lukáš (advisor) ; Brodský, Lukáš (referee)
The aim of the thesis is to develop a method to identify driving lanes based on aerial images and existing spatial data. The proposed method uses up to date available data in which it identifies road surface marking (RSM). Polygons classified as RSM are further processed to obtain their vector line representation as the first partial result. While processing RSM vectors further, borders of driving lanes are modelled as the second partial result. Furthermore, attempts were done to be able to automatically distinguish between solid and broken lines for a higher amount of information contained in the resulting dataset. Proposed algorithms were tested in 20 case study areas and results are presented further in this thesis. The overall correctness as well as the positional accuracy proves effectivity of the method. However, several shortcomings were identified and are discussed as well as possible solutions for them are suggested. The text is accompanied by more than 70 figures to offer a clear perspective on the topic. The thesis is organised as follows: First, Introduction and Literature review are presented including the problem background, author's motivation, state of the art and contribution of the thesis. Secondly, technical and legal requirements of RSM are presented as well as theoretical concepts and...
Collision Avoidance For Ateros Robotic System
Ligocki, Adam
This paper describes the details of a collision avoidance algorithm for an ATEROS robotic system. The solution, developed and tested on the Orpheus robotic platform is based on a Velodyne HDL-32E laser scanner. The LiDAR point cloud input data are filtered to remove data redundancy and clustered to separate possible collision objects from the background. Based on prior environment knowledge and the current LiDAR scan, the surrounding occupancy grid map is estimated, and the planned path is validated against possible collision. In the case of a non-zero probability that the robot collides with an obstacle, a new path is proposed by the A* algorithm. Subsequently, the newly estimated waypoints are relaxed, and the mission plan is updated.
Robot Positioning Based on Sensor Measurements
Čakloš, Ondrej ; Žák, Marek (referee) ; Rozman, Jaroslav (advisor)
The goal of this thesis is to create a program, that will be receiving measurements from robot's sensors and fuse them together. Afterwards use this data fusion of chosen sensors to estimate location of a robot. As a solution for these problems I have used my knowledge of Kalman filters, especially extended one. If messages from sensor measurements are well formulated, Kalman filter can perform fusion of measurements together with estimating the actual position of a robot. Filter can receive measurements from multiple sources and even from duplicities. The estimated states have proven themselves reasonably accurate for successful robot localization in space.
Data Acquisition Sensory Framework For Autonomous Robots
Ligocki, Adam
In this paper there are described the basic hardware idea of complex sensory framework design and construction. This framework will be used to develop high bandwidth data acquisition system in the first phase and lately to use collected data to propose highly antonomous algorithms for field-operating robots. Entire system is divided into four parts. The scalable sensory cluster with highly modular architecture which allows to connect practically arbitrary number of sensing devices, the data acquisition unit, high computational power computer which aggregates all sensor data, preprocess them and storage them in database to provide future access and usage for following applications. The third part is interconnecting network, which provides high bandwidth communication channels to exchange data between sensors and central computer. The last part is battery-based power supply system designed to fulfill 500W energy requirements of entire mobile framework system.
Navigation and Information System for Visually Impaired
Hrbáček, Jan ; Volf, Jaromír (referee) ; Grepl, Robert (referee) ; Singule, Vladislav (advisor)
Poškození zraku je jedním z nejčastějších tělesných postižení -- udává se, že až 3 % populace trpí vážným poškozením nebo ztrátou zraku. Oslepnutí výrazně zhoršuje schopnost orientace a pohybu v okolním prostředí -- bez znalosti uspořádání prostoru, jinak získané převážně pomocí zraku, postižený zkrátka neví, kudy se pohybovat ke svému cíli. Obvyklým řešením problému orientace v neznámých prostředích je doprovod nevidomého osobou se zdravým zrakem; tato služba je však velmi náročná a nevidomý se musí plně spolehnout na doprovod. Tato práce zkoumá možnosti, kterými by bylo možné postiženým ulehčit orientaci v prostoru, a to využitím existujících senzorických prostředků a vhodného zpracování jejich dat. Téma je zpracováno skrze analogii s mobilní robotikou, v jejímž duchu je rozděleno na část lokalizace a plánování cesty. Zatímco metody plánování cesty jsou vesměs k dispozici, lokalizace chodce často trpí značnými nepřesnostmi určení polohy a komplikuje tak využití standardních navigačních přístrojů nevidomými uživateli. Zlepšení odhadu polohy může být dosaženo vícero cestami, zkoumanými analytickou kapitolou. Předložená práce prvně navrhuje fúzi obvyklého přijímače systému GPS s chodeckou odometrickou jednotkou, což vede k zachování věrného tvaru trajektorie na lokální úrovni. Pro zmírnění zbývající chyby posunu odhadu je proveden návrh využití přirozených význačných bodů prostředí, které jsou vztaženy ke globální referenci polohy. Na základě existujících formalismů vyhledávání v grafu jsou zkoumána kritéria optimality vhodná pro volbu cesty nevidomého skrz městské prostředí. Generátor vysokoúrovňových instrukcí založený na fuzzy logice je potom budován s motivací uživatelského rozhraní působícího lidsky; doplňkem je okamžitý haptický výstup korigující odchylku směru. Chování navržených principů bylo vyhodnoceno na základě realistických experimentů zachycujících specifika cílového městského prostředí. Výsledky vykazují značná zlepšení jak maximálních, tak středních ukazatelů chyby určení polohy.
Sensor Calibration for Multispectral Data Fusion in Mobile Robotics
Kalvodová, Petra ; Hanzl, Vlastimil (referee) ; Mazal,, Jan (referee) ; Pospíšil,, Jiří (referee) ; Weigel, Josef (advisor)
Thesis deals with data fusion and calibration of sensory system of Orpheus-X3 robot and EnvMap mapping robot. These robots are parts of Cassandra robotic system that is used for exploration of hazardous or inaccessible areas. Corrections of measured distances are determined for used laser scanners Velodyne HDL-64, Velodyne HDL-32 and range camera SwissRanger SR4000. Software MultiSensCalib has been created and is described. This software is used for determination of intrinsic parameters of heterogeneous cameras of the sensory head and for determination of mutual position and orientation of these sensors. Algorithm for data fusion of CCD camera stereo pair, thermal imager stereo pair and range camera is proposed. Achieved calibration and data-fusion parameters are evaluated by several experiments.
Analysis of Baroque sculpture based on X-ray fluorescence imaging and X-ray\ncomputed tomography data fusion
Vavřík, Daniel ; Kumpová, Ivana ; Vopálenský, Michal ; Lauterkranc, J.
It is advantageous to combine information about geometry and the inner structure of historical artifacts with information about the elemental composition of decorative layers, typically covering historical wooden sculptures. X-ray computed tomography describing artifact structure is quite common and easy. Standard X-ray fluorescence (XRF) analysis of decorative layers is typically done for several selected spots of the artifact’s surface utilizing single pad detector. XRF imaging fully describing the surface’s elemental composition is commonly done for flat objects, while time consuming XRF tomography is applied to relatively small objects. It will be shown in this work that an effective fusion combination of XRF imaging and X-ray tomography describing the whole object can be realized even when using a limited number of XRF images.
Possibilities of Electrochemical Analysis Using a System of Electrodes With Non-Specific Response
Ederer, Jakub ; Nesměrák, Karel (advisor) ; Ludvík, Jiří (referee)
The master thesis present the possibilities of processing of electrochemical data from a group of four electrodes with non-selective response (simple sensor array) for electrochemical analysis with potential application of the results achieved in the construction of the sensor field type "electronic tongue". This simple system was applied to the sample simulating the food product. Electrochemical data were processed through mathematical operations such as Gaussian approximation, deconvolution or using basic mathematical operations.
Data fusion
Janíková, Veronika ; Hovorka, Tomáš (advisor) ; Anděl, Jiří (referee)
This bachelor's thesis deals with a data fusion, which is a one of the possible solutions to the common problem of data availability in praxis. In the first part, practical use of data fusion, especially in marketing, fundamental algorithms and data fusion problems are discussed. The main part of this thesis deals with the so-called "unconstrained statistical fusion". Firstly, one of the possible processes of this type of fusion is described theoretically in detail. This process involves branching into four different types of data fusion. Next, a method of theoretical evaluating the quality of the general fusion model is designed using statistical indicators. The practical part of the thesis contents processes of four types of unconstrained statistical fusion and their evaluation which both are programmed in statistical program R. Furthermore, the fusion is applied to our artificially generated database and also to a real data collected in praxis by Czech public opinion research company Median. In the very last part of the thesis, the results of fusions applied to these two databases are interpreted, evaluated and discussed.
Linked Data Integration
Michelfeit, Jan ; Knap, Tomáš (advisor) ; Klímek, Jakub (referee)
Linked Data have emerged as a successful publication format which could mean to structured data what Web meant to documents. The strength of Linked Data is in its fitness for integration of data from multiple sources. Linked Data integration opens door to new opportunities but also poses new challenges. New algorithms and tools need to be developed to cover all steps of data integration. This thesis examines the established data integration proceses and how they can be applied to Linked Data, with focus on data fusion and conflict resolution. Novel algorithms for Linked Data fusion are proposed and the task of supporting trust with provenance information and quality assessment of fused data is addressed. The proposed algorithms are implemented as part of a Linked Data integration framework ODCleanStore.

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