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Tabletop Object Detection
Varga, Tomáš ; Zemčík, Pavel (referee) ; Španěl, Michal (advisor)
This work describes the issue of tabletop object detection in point cloud. Point cloud is recorded with Kinect sensor. Designed solution uses algorithm RANSAC for plane detection, algorithm Euclidean clustering for segmentation and ICP algorithm for object detection. Algorithm ICP is modified and mainly it can detect rotational symetric objects and objects without any transformation against it's models. The final package is build on platform ROS. The achieved results with own dataset are good despite of the limited functionality of the detector.
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Object Recognition by Means of Evolutionary Methods
Lýsek, Jiří ; Škorpil, Vladislav (referee) ; Rábová, Ivana (referee) ; Šťastný, Jiří (advisor)
This thesis deals with usage of evolutionary methods, grammatical evolution particularly in application for object recognition in an image. Basic principles of object recognition and evolutionary methods with focus on grammatical evolution are described. The core of the thesis lies in design of techniques and methods for classifier programs creation using grammatical evolution. Also the designed fitness formula is presented. In the end, created testing and development environment in Java programming language is described.
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Detection of facial expression
Kozák, Roman ; Krček, Petr (referee) ; Roupec, Jan (advisor)
This master‘s thesis deals with the design and implementation of computer application for facial expression recognition. The first section describes the image processing, especially algorithms used in other parts of this thesis. The next section describes methods used for face detection, particularly the Viola-Jones detector. This is followed by a brief description of the basic facial expressions recognized by the application. The last two sections are dedicated to the design and implementation of the facial expression recognition algorithms and to the evaluation of the results.
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Detection and recognition of speed limit road signs
Solnický, Vojtěch ; Krejsa, Jiří (referee) ; Grepl, Robert (advisor)
This master‘s thesis describes the design and implementation of the system for detection and recognition of speed limit road signs. It focuses on the recognition of the red circular speed limit sign from the image data using the computer vision methods. Several methods were programmed and tested as a part of this thesis. In the final solution, the segmentation based on YCbCr color model is used. Detection of the circular sign and final classification is performed by template matching method. Algorithm for the tracking of the detected signs between frames of the video is used for better performance in real-time recognition. Application is developed using MATLAB and Simulink. The result is a simple driver assistance system prototype, which can be implemented in any computer with camera. The correct function of the algorithm was confirmed during a testing in a traffic.
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Hand gesticulation recognition in image
Zlotý, Petr ; Horák, Karel (referee) ; Janáková, Ilona (advisor)
This work describes gesticulation recognition analysis and implementation. There was chosen the recognition method based on orientation histograms. This method was enhanced by combining it with two segmentation methods. First one based on interframe diferencing and the second one based on skin color detection. There is also mentioned the movement recognition method from reasonable data. It's based on finding a minimum of absolute value of diference between scalar product of picture’s bases vectors and motion vector.
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Linux user interface using camera
Dolníček, Petr ; Beneš, Radek (referee) ; Šmirg, Ondřej (advisor)
The goal of this was to create a fully functional program coded in C++, which is capable of real time object detection and mouse positioning in operating system Linux. Object detection is based on recognizing desired color and shape from webcam input. In this case it was a red circle. The main part of source code was generated via application Harpia. This is an application especially created for purposes of object tracking, border detection and picture processing. Most of used functions belong to OpenCV library. This library, as well as Harpia application, was created for computer vision, so it has many functions especially for purposes of my program. You can find many information about edge detection, color filtering and noise reduction in this document. I have also managed to control mouse cursor according to data that program detects. My program fulfils its purpose.
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Image processing with neural networks
Gróf, Zoltán ; Pohl, Jan (referee) ; Jirsík, Václav (advisor)
This bachelor’s thesis centralizes on the possible uses of neural networks in the field of computer vision. This work contains basic theoretic knowledge of the field of neural networks and image processing. It discusses how successfully can neural networks be applied through the separate steps of image processing, what kind of neural networks are suitable for these steps, and what are the problems that might appear with their use. The work discusses the fields of classification and image understanding in a more detailed level. It’s shown how the use of neural networks can be appropriate in these applications. An own program was created as part of this work to demonstrate the classification capabilities of neural networks. It’s shown a neural network is created and trained for the recognition of handwritten numbers. The trained neural network was subject to different tests, through which the conclusion was reached, that it works with a high success rate, but is sensitive to changes in the input objects: change of size and location. A number of possible solutions were designed for this problem.
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Hough's transform for circle detection
Kazík, Martin ; Burget, Radim (referee) ; Říha, Kamil (advisor)
The thesis is focused on the implementation of Hough transform algorithm for circle recognition. Algorithm is implemented in C++ language using open source library OpenCv. As a development environment was chosen Microsoft Visual Studio 2008. At first there is general description of classical Hough transform for line and circle recognition. Then thesis contains description of particular steps of Hough transform algorithm and description of OpenCv functions witch are used in these steps. There is a detail description of functions for converting image to grayscale, smoothing image by Gaussian filter and Canny edge detector for edge detecting in smoothed image. Efficiency and speed of algorithm is increased by using function for finding possible centers. This function using the fact that line perpendicular to the chord of circle and going thought its middle point at the same time have to cross the center of the circle. Results of particular stages of algorithm (converting to grayscale, smoothing by Gaussian filter, edge detection, creating of possible centers accumulator and drawing circles) are presented on ultrasonic image of collagen arterial substitute. In the second part of the thesis the algorithm is used for detection of artery in frames of video captured by ultrasound. There is a description of automatic method for evaluating of success of artery detection. Success of detection is analyzed by changing values of important algorithm parameters. From series of tests there are defined ideal parameters of algorithm for artery detection in the video.
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Line tracking for delivery robot
Juhas, Miroslav ; Horák, Karel (referee) ; Janáková, Ilona (advisor)
This thesis describes basics of methods and algorithms used in computer vision and application of them at a simple practical problem – line-tracking for delivery robot. The first part of this thesis contains basic theoretical knowledge of computer vision, which is important for understanding the problem. It is an introduction to problems of computer vision. The second part of thesis describes solving of particular steps, which are image preprocessing, segmentation, trajectory detection and algorithms for direction control. It contains outcomes of particular steps and selection of methods acceptable for solving the problem. There are presented experiences with tests of algorithms on the UTAR platform in context of this work. The last part of thesis is evaluating results taken during work.
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