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Driver monitoring
Pieger, Matúš ; Bilík, Šimon (referee) ; Richter, Miloslav (advisor)
This master’s thesis deals with the design of systems for data collection which describe the driver’s behaviour in a car. This data is used to detect risky behaviour that the driver may commit due to inattention caused by the use of either lower or higher levels of driving automation. The thesis first describes the existing safety systems, especially in relation to the driver. Then it deals with the design of the necessary measuring scenes and the implementation of new systems based on the processing of input images which are obtained via the Intel RealSense D415 stereo camera. Every system is tested in a real vehicle environment. In the end the thesis contains an evaluation regarding the detection reliability of the created algorithms, it considers their shortcomings and possible improvements.
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Hand-Held 3D Scanner
Kukučka, Marek ; Španěl, Michal (referee) ; Hradiš, Michal (advisor)
The goal of this thesis is to implement a method of 3D reconstruction from pairs of images taken using a device that consists of two cameras. The method of stereo vision was chosen and the result is a sparse reconstruction of the scanned object. First, the cameras are calibrated and the acquired images are modified. In the next section, we look for corresponding key points in a pair of images. After obtaining the corresponding points, we an then perform their triangulation. For reconstruction from more then two consecutive images, we use recalculation of projection matrix. In this thesis an experiment is performed, with aim to test whether the reconstructed object corresponds in its dimensions to the real world.
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Realization of camera module for mobile robot as independent ROS node
Albrecht, Ladislav ; Appel, Martin (referee) ; Věchet, Stanislav (advisor)
Stereo vision is one of the most popular elements in the field of mobile robots and significantly contributes to their autonomous behaviour. The aim of the diploma thesis was to design and implement a camera module as a hardware sensor input, which is independent, with the possibility of supplementing the system with other cameras, and to create a depth map from a pair of cameras. The diploma thesis consists of theoretical and practical part, including the conclusion of results. The theoretical part introduces the ROS framework, discusses methods of creating depth maps, and provides an overview of the most popular stereo cameras in robotics. The practical part describes in detail the preparation of the experiment and its implementation. It also describes the camera calibration and the depth map creating. The last chapter contains an evaluation of the experiment.
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Visual odometry for robotic vehicle Car4
Szente, Michal ; Krejsa, Jiří (referee) ; Najman, Jan (advisor)
This thesis deals with algorithms of visual odometry and its application on the experimental vehicle Car4. The first part contains different researches in this area on which the solution process is based. Next chapters introduce theoretical design and ideas of monocular and stereo visual odometry algorithms. The third part deals with the implementation in the software MATLAB with the use of Image processing toolbox. After tests done and based on real data, the chosen algorithm is applied to the vehicle Car4 used in practical conditions of interior and exterior. The last part summarizes the results of the work and address the problems which are asociated with the application of visual obmetry algorithms.
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Passenger Counting System Based on Stereovision
Vrzal, Radek ; Hradiš, Michal (referee) ; Rozman, Jaroslav (advisor)
This thesis deals with a concept of system for automatic passenger counting in different modes of transport. Counting units are placed in top of the door area in the vehicle. Passengers are detected at the disparity map counted from the stereo-camera images. Object tracking is achieved with Global nearest neighbor and Multiple hypothesis tracking algorithm. This system is used for public transportation surveys.
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3D Map Building Based on Stereo Vision for Mobile Robot Navigation
Babinec, Adam ; Orság, Filip (referee) ; Herman, David (advisor)
This thesis is dedicated to the subject of passive stereo vision in modern robotics. The work includes the design and implementation of autonomous passive binocular stereo vision system for mobile robot navigation. A three-dimensional local map is built up by aggregation of point clouds created by reprojection of the image pairs taken with stereocamera. The image pairs are reprojected using disparity map obtained with application of block matching algorithms on the image pairs. The local map is represented by voxel grid stored in an octree and it supports detection of moving obstacles on ray-casting principle. Visual odometry is calculated by tracking reprojected paired image features detected in series of image pairs. The system allows user to choose different approaches to the problem solving, it is platform and hardware-independent and provides graphic user interface.
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Stereo Based 3D Face Reconstruction
Falešník, Milan ; Svoboda, Pavel (referee) ; Šolony, Marek (advisor)
Tato práce se zabývá vytvořením programu pro rekonstrukc trojrozměrného modelu lidské tváře za pomocí dvojice kamer. Pro řešení využívá výpočtu hloubkové mapy a následný převod do trojrozměrného prostoru. Využívá Viola-Jones detektor pro detekci tváře. Využívá knihovny OpenCV a také částečně PCL.
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Design of a New Method for Stereovision
Kopečný, Josef ; Drahanský, Martin (referee) ; Orság, Filip (advisor)
This thesis covers with the problems of photogrammetry. It describes the instruments, theoretical background and procedures of acquiring, preprocessing, segmentation of input images and of the depth map calculating. The main content of this thesis is the description of the new method of stereovision. Its algorithm, implementation and evaluation of experiments. The covered method belongs to correlation based methods. The main emphasis lies in the segmentation, which supports the depth map calculation.
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3D Reconstruction of Historic Landmarks from Flickr Pictures
Šimetka, Vojtěch ; Maršík, Lukáš (referee) ; Polok, Lukáš (advisor)
Tato práce popisuje problematiku návrhu a vývoje aplikace pro rekonstrukci 3D modelů z 2D obrazových dat, označované jako bundle adjustment. Práce analyzuje proces 3D rekonstrukce a důkladně popisuje jednotlivé kroky. Prvním z kroků je automatizované získání obrazové sady z internetu. Je představena sada skriptů pro hromadné stahování obrázků ze služeb Flickr a Google Images a shrnuty požadavky na tyto obrázky pro co nejlepší 3D rekonstrukci. Práce dále popisuje různé detektory, extraktory a párovací algoritmy klíčových bodů v obraze s cílem najít nejvhodnější kombinaci pro rekonstrukci budov. Poté je vysvětlen proces rekonstrukce 3D struktury, její optimalizace a jak je tato problematika realizovaná v našem programu. Závěr práce testuje výsledky získané z implementovaného programu pro několik různých datových sad a porovnává je s výsledky ostatních podobných programů, představených v úvodu práce.
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Computer vision and stereo vision
Bubák, Martin ; Klimeš, David (referee) ; Vejlupek, Josef (advisor)
This dissertation work is describing the usage of the software tool Computer Vision System Toolbox to create applications in computer vision. At the beginning of the work is performed background research of image scanning and its representation by using colour models. It is followed by a description of epipolar geometry and lastly is stated a description of the Computer Vision System Toolbox. In the next section of the work we deal with setting of used Basler cameras and processing of the scanned image. The following is a description how to create applications for object detection and after this description, we get to know applications for creation of depth maps area.
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