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3D Mapping from Sparse LiDAR Data
Veľas, Martin ; Hofierka,, Jaroslav (referee) ; Kaartinen,, Harri (referee) ; Herout, Adam (advisor)
Tato práce se zabývá návrhem nových algoritmů pro zpracování řídkých 3D dat senzorů LiDAR, včetně kompletního návrhu batohovího mobilního mapovacího řešení. Tento výzkum byl motivován potřebou takových řešení v oblasti geodézie, mobilního průzkumu a výstavby. Nejprve je prezentován iterační algoritmus pro spolehlivou registraci mračen bodů a odhad odometrie z měření 3D LiDARu. Problém řídkosti a velikosti těchto dat je řešen pomocí náhodného vzorkování pomocí Collar Line Segments (CLS). Vyhodnocení na standardní datové sadě KITTI ukázalo vynikající přesnost oproti známému algoritmu General ICP. Konvoluční neuronové sítě hrají důležitou roli ve druhé metodě odhadu odometrie, která zpracovává kódovaná data LiDARu do 2D matic. Metoda je schopna online výkonu, zatímco je zachována přesnost, když požadujeme pouze parametry posunu. To může být užitečné v situacích, kdy je vyžadován online náhled mapování a parametry rotace mohou být spolehlivě poskytnuty např. senzorem IMU. Na základě algoritmu CLS bylo navrženo a implementováno batohové mobilní mapovací řešení 4RECON. S využitím kalibrovaného a synchronizovaného páru LiDARů Velodyne a s nasazením řešení GNSS/INS s duální anténou, byl vyvinut univerzální systém poskytující přesné 3D modelování malých vnitřních i velkých otevřených prostředí. Naše hodnocení prokázalo, že požadavky stanovené pro tento systém byly splněny -- relativní přesnost do $5$~cm a průměrná chyba georeferencí pod $12$~cm. Poslední stránky obsahují popis a vyhodnocení další metody založené na konvolučních neuronových sítích -- navržených pro segmentaci země v mračnech bodů 3D LiDARu. Tato metoda překonala současný stav techniky v této oblasti a představuje způsob, jakým může být sémantická informace vložena do 3D laserových dat.
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Basement model of the house in Revit
Vystavěl, Ondřej ; Volařík, Tomáš (referee) ; Berková, Alena (advisor)
The aim of my bachelor thesis is to make a model of basement of a slab block in software Revit Architecture. In the theoretical part of my thesis my aim was to make out chapters of methodical manual. The thesis mainly mentions chapters concerning how to use the work environment, preparatory work for modelling, creation of walls, building foundations and graphical outputs. Work with point cloud is outlined in the thesis as well. Solution of discrepancies between bases which was found out during work is also described.
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Revision and survey of large scale thematic map of the surface situation
Prokop, Jaromír ; Cimpl, Pavel (referee) ; Kalvoda, Petr (advisor)
The subject of this bachelor thesis is the revision of the large scale thematic map of the surface situation in the village Staré Hradiště. The map was updated by combining data from a mobile mapping system and a field survey using polar method and GNSS. Accuracy of the updated map was tested according to ČSN 01 3410. The advantages and disadvantages of map updating by mobile mapping and classic methods were compared.
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As-built Building Information model of the House
Zachová, Michaela ; Berková, Alena (referee) ; Volařík, Tomáš (advisor)
This diploma thesis deals with the creation of an information model of an existing family house based on data obtained by laser scanning. The first part of the diploma thesis contains information on the issue of the BIM method, its state in the world and in the Czech Republic. It also describes the principle of laser scanning. The next part of the work is devoted to the practical processing of the information model of the building in the environment of the Revit software. The output of the practical part is the building model itself and simplified building documentation created from it.
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Better Chaperone Bounds Using 3D Sensors
Tinka, Jan ; Beran, Vítězslav (referee) ; Najman, Pavel (advisor)
Room-scale tracking encourages users to move more freely and even walk. Even though there has been much research on making the limited physical workspace feel larger in the VR, these approaches have their limitations and require certain conditions to be met. This thesis proposes an alternative approach to the conventional play-area boundaries of high-end VR products such as the HTC Vive and Oculus Rift which are set by the user in a 2-D fashion as a means of enhance workspace utilization. A 3-D scanner is used to make a 3-D point-cloud model of the play area's surroundings. This model is then used to detect collisions and provide feedback to the user. Evaluation based on user tests showed that this approach can be useful, is well accepted by users and might be worth further research.
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IMPROVEMENT OF DIGITAL MODEL BY LASER SCANNING METHODS
Tyagur, Nataliya ; Václav, Šafář (referee) ; Hana, Staňková (referee) ; Bartoněk, Dalibor (referee) ; Hanzl, Vlastimil (advisor)
The doctoral thesis deals with mobile laser scanning and data processing. Mobile laser scanning was carried out in the Moravian Karst in Suchy zleb and Pusty zleb at various seasons. Further scanning was carried out at the Training Forest Enterprise Masaryk Forest Křtiny. The Riegl VMX-450 scanner was used to collect 3D data. The data files were processed in the OPALS software. For the extraction of ground and non-ground points from the laser cloud, a combination of hierarchical interpolation and robust filtering was used. Subsequently, the terrain points were used to model digital terrain models with grids 0.05 x 0.05 m, 0.25 x 0.25 m, 1 x 1 m. Furthermore, digital models from Moravian Karst were compared with the Digital relief model of the Czech Republic 4G and reference points. Digital models from Masaryk Forest Křtiny were compared with photogrammetric and terrestrial data. The high accuracy of the derived DTMs is about 0.10 m. The high quality of the derived DTM can be used to monitor and analyze field changes and morphological structures.
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Creating the digital model of the surface of the AdMaS Center
Niebauer, Michal ; Hanzl, Vlastimil (referee) ; Berková, Alena (advisor)
The aim of this bachelor thesis is making digital surface model of part earth surface, includig building with use of point cloud. First part of thesis deals with preparing for fly with UAV and making point field in area of research centrer AdMaS and nearby meadow. Second part deals with evaluation of images, making of point cloud and visualition of final work. Final model must be connected to the binding reference systems S-JTSK and Bpv
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Detection of spatial objects in a point cloud
Venený, Petr ; Machotka, Radovan (referee) ; Volařík, Tomáš (advisor)
The diploma thesis deals with processing of a point cloud that was collected via mobile mapping system. The first part sets a theoretical background, starting with mapping in general moving to mobile mapping systems and their particular parts. The practical part describes the whole process of data collecting, testing the automatic detection of spatial objects based on a point cloud and its visualisation. The results of the diploma thesis are GIS data layers and an evaluation of the process.
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