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Demonstration Application for Mobile Robot
Prokopová, Dagmar ; Beran, Vítězslav (referee) ; Materna, Zdeněk (advisor)
This work deals primarily with the design and principles used for the creation of Ball Picker demonstration application for mobile robot TurtleBUT2. The robot controlled by this application is capable of picking up tennis balls spread around and placing them into the hand of a nearby person. Among others, the work describes the robot operating system the application is based on and simulator Gazebo. Also, it provides the detailed analysis of the algorithm for tennis ball detection based on the image color filtration and the usage of Hough transform as well as principles of detection with Haar feature-based cascade classifier used for human hand detection.
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Web Portal for Ground Robot Management
Tichý, Andrej ; Materna, Zdeněk (referee) ; Beran, Vítězslav (advisor)
This work deals with the creation of a web portal for administration and management of ground robots at the Faculty of Information Technology in Brno. The main aim of this work is the design and implementation of the application, which, thanks to robotic platform Robot Operating System administers and manages land robots. Maps are stored in SVG format and spracúváva their library Raphael.js. When the work was created node in Python to control the robot in the Robot Operating System. In conclusion I graded the test user satisfaction with a graphical user interface and summarized the pros and cons of the application.
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Interactive Interface for Robot Remote Control for Android
Podmolík, Leopold ; Materna, Zdeněk (referee) ; Španěl, Michal (advisor)
This work describes an application to control a robot running the Robotic Operation System (ROS) remotely using Android-based touch devices. The application was primarily designed for our experimental faculty robot - TB2. Designed user interface shows a video stream coming from the Kinect mounted on the robot and the current 2D map. The robot movement is controlled by a Street View like user interface while rotation of the robot in place is solved by speci c touch gestures on display.
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Robot Localization Using Camera
Heřman, Petr ; Španěl, Michal (referee) ; Beran, Vítězslav (advisor)
The objective of this work is to design a simple localization method and its implementation in robot operating system ROS. This method uses a monocular camera as the only sensor and estimates the position in a known map. In experiments with prototypes are tested key points of type SURF, SIFT and ORB.
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Dynamic Scene Model for Mobile Robot
Görig, Jan ; Štancl, Vít (referee) ; Španěl, Michal (advisor)
This master's thesis focuses on representation of geometric information about the surrounding environment for robotic systems. Instead of a common point-cloud based representation, an environment model that stores information about objects described by bounding boxes and planes is proposed. These objects can be obtained from trained object detectors, planar surface detectors, etc. processing data from sensors (e.g. RGB-D camera). The information about the objects (position, etc.) stored in the model is constantly changing according to data obtained from detectors. The environment model is implemented as a module for Robot Operating System. To illustrate and visualize features of the model, a demonstration application was also prepared.
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User Interface for Control of Service Robot
Kapinus, Michal ; Španěl, Michal (referee) ; Beran, Vítězslav (advisor)
The aim of the thesis is to design, create and evaluate a user interface for control of service robot. I will focus on controlling of robotic arm, to be able to accomplish pick and place tasks. Specifically I will work with robotic platform PR2. The thesis describes different devices for sensing and perception of a user and usage of information from these devices to control robotic arm. Moreover, different methods for controlling of robotic arm are described there. Application design and implementation is presented further in this thesis together with description of the experiments used for evaluation of application.
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Object Detection Using Kinect
Švec, Ján ; Zahrádka, Jiří (referee) ; Španěl, Michal (advisor)
This bachelor's thesis deals with the object detection using Kinect. Kinect is a motion sensing input device by Microsoft company for the Xbox 360 video game console. The objective of this work was to evaluate the existing approaches and practices for the detection not only using the image from the camera but also depth map (RGB-D sensor). The work deals in details with RoboEarth tool, its installation, settings, creation of 3D model and the detection. Performance of the RoboEarth tool was in the work investigated experimentally and also evaluated.
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Interactive Interface for Robot Remote Control
Lokaj, Tomáš ; Beran, Vítězslav (referee) ; Španěl, Michal (advisor)
This work deals with the interactive interface for remote controlled robots and examines some of the existing visualization and simulation tools and robotic platforms. It also designs and implements interactive elements suitable for representation of detected objects, such as bounding box or billboard, and proposes interactive elements to eliminate some of the problems associated with remote control of the robot, such as bad perception of distances and the orientation in the environment. The interactive interface is implemented in the Robot Operating System using offered means for visualization, communication and operations management. Graphics primitives are represented by Interactive Markers that, in addition to the visualization, offers also possibilities of interaction. With these markers, a simple tool for controlling the movement of the robot is designed.
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Interactive Interface for Robot Remote Control for Android
Robotka, Vojtěch ; Materna, Zdeněk (referee) ; Španěl, Michal (advisor)
The development of autonomous robots has made a significant progress and first personal robots for common use start to appear. To use this robots, we need to develop applications and user interfaces to interact with them. The goal of this project is to make a universal interface for robot remote control. This work focuses on robots based on the ROS platform. This gives the final application a potential of use on other robotic projetcs running on ROS. The designed remote interface accomplishes two main purposes. The first is to show important data in a context of a 3D scene to help user understand the state of the controlled robot. And the second goal is to allow the user execute some basic manipulation with the robot. The final application was successfully adapted and tested on experimental robots Care-O-Bot and Turtlebot.
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Quadcopter localization in 3D space based on mono-camera
Kubica, Petr ; Musil, Petr (referee) ; Beran, Vítězslav (advisor)
This bachelor thesis focuses on the possibilities of existing methods for locating the UAV AscTec Pelican using a monocular camera. The methods SVO, PTAM and LSD-SLAM were tested in both inner and outer environments using various cameras, lenses and hardware with different performance. Based on the experience gained during the testing, guidelines on how to achieve the best results are made.
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