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Robot Localization Using OpenStreet Map
Rajnoch, Zdeněk ; Veľas, Martin (referee) ; Rozman, Jaroslav (advisor)
Goal of this thesis is localization of mobile robot in OpenStreet map segment. Robot IMU, odometry and compass sensors are used for trajectory reconstruction, which is compared to reference GPS trajectory. Extended Monte Carlo localization and clusterization are used for robot localization. Software is implemented in C++ with ROS middleware.
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Robocar - The Autonomous Driving
Hnát, Miroslav ; Richter, Miloslav (referee) ; Petyovský, Petr (advisor)
In my Bachelor thesis I deal with automated car driving requirements. First I make the real plan and select the correct software tool for simulation and realization this issues. Second I solve model for autonomous car driving simulation, breaking and rotation wheels. There is open area with several obstacles in simulation conditions. I define possibly errors and I recommend its solution. Next very important part of my thesis are identify the parameters of real vehicle and verification the correctness of model by simulation test. I review variances from model. The object of this has to check reactions of the real system. Whole solution will be implemented into individual components. The individual components will be then compared with simulation results. In conclusion I will appreciate achieved results and recommend my solutions.
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Collision Avoidance System for Mobile Robot
Dzuro, Daniel ; Hájek, Josef (referee) ; Herman, David (advisor)
This bachelor's thesis deals with the anti-collision system for mobile robot which is often liable to the collisions with other objects. Expensive parts of the robot could be saved thanks to the system. The main issue of the thesis was to design the system of premature reaction and it's application to the existing system which would help prevent the collision on time. Not only the breaking system was used to stop or slow down the vehicle but also the cooperation with the prediction of the vehicle's direction control was needed. Laser rangefinder and ultrasonic sonar were mainly used for this purpose.
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Local Navigation of an Autonomous Mobile Robot
Herman, David ; Rozman, Jaroslav (referee) ; Orság, Filip (advisor)
This paper deals with the topic of design of a navigation system for an autonomous mobile robot in a park-like environment. Precisely, designing methods for road detection using available sensoric system, designing a mathematical model for fusion of these data, and suggesting a representation of an environment suitable for planning and local navigation.
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Extraction of Landscape Elements from Remote Sensing Data
Ferencz, Jakub ; Kalvoda, Petr (referee) ; Hanzl, Vlastimil (advisor)
This master thesis deals with a classification technique for an automatic detection of different land cover types from combination of high resolution imagery and LiDAR data sets. The main aim is to introduce additional post-processing method to commonly accessible quality data sets which can replace traditional mapping techniques for certain type of applications. Classification is the process of dividing the image into land cover categories which helps with continuous and up-to-date monitoring management. Nowadays, with all the technologies and software available, it is possible to replace traditional monitoring methods with more automated processes to generate accurate and cost-effective results. This project uses object-oriented image analysis (OBIA) to classify available data sets into five main land cover classes. The automate classification rule set providing overall accuracy of 88% of correctly classified land cover types was developed and evaluated in this research. Further, the transferability of developed approach was tested upon the same type of data sets within different study area with similar success – overall accuracy was 87%. Also the limitations found during the investigation procedure are discussed and brief further approach in this field is outlined.
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LIDAR sensing of the atmosphere: application to CO2 detection
Císař, David ; Hudcová, Lucie (referee) ; Diego, José Luis Arce (advisor)
Znalost o prostorovém rozložení, koncentraci a zdrojích CO2 v atmosféře je klíčová k pochopení přírodního cyklu oxidu uhličitého, k předpovědi vývoje a vlivu CO2 na klimatické změny. Tato práce se zabývá problematikou optického dálkového snímání za použití LIDAR (Light Detection and Ranging) systému. Obsahuje potřebné teoretické znalosti o LIDAR systému, použití a principy. Z mnoha aplikací využívající LIDAR je v této práci nastíněno provedení a měření pomocí DIAL (Differential Absorption LIDAR) systému určeného k určení koncentrace CO2 v atmosféře, tak i využití dalších aktivních či pasivních způsobů snímání CO2.
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Reference points distance measurement
Jedlička, Petr ; Čížek, Martin ; Staš, Lubomír ; Malík, Josef
The device is developed for measuring the deformation of natural and artificial underground spaces, especially active mines. The deformations are derived from LIDAR distance measurements of network of reference points. Each reference point consists of steel rod embedded into wall and stainless steel ball as reflector. The LIDAR is placed in a precision adjustable 2-axis mount and which can be fitted to any reference point. The system is portable, battery powered. Part of the system is software allowing reading and processing LIDAR measurement data. The measurement is usually started immediately after excavation, and then go on as long-term monitoring after the completion of the construction or mining activities.
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Výpočet radiace v lesních porostech na základě dat leteckého laserového skenování
Patočka, Zdeněk
Leaf area index (LAI) is the most important variable influencing the penetration of solar radiation beams through the forest stand. Currently, the airborne laser scanning, as new indirect method, suggests itself for estimation of LAI. LAI was measured terrestrially using the hemispherical photographies analysis and compared with LiDAR Penetration Index - LPI. There were created several regression models describing the dependence of LAI and LPI with coefficients of determination from 0.71 up to 0.81. Leaf area index was also applied to the Beer-Lambert law for calculation of the solar radiation in forest stands. Practical application possibilities of LPI in forestry (estimation of stocking, optimization of shelterwood cuttings etc.) have been described in conclusion of this diploma thesis.
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