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Documentation of Roštejn using laser scanning
Vitula, Marek ; Kalvoda, Petr (referee) ; Hanzl, Vlastimil (advisor)
The goal of this thesis is to scan part of castle Rokštejn using terrestrial laser scanner and from obtained data draw up a 3D model. Model is made with a method using meshing. In this work I also deal with the software, which supports meshing, and evaluating pros and cons of each program. The output of this work is 3D model which will serve to better representation of the current state of the castle and its better documentation.
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Detection and Vizualization of Features in a Point Cloud
Kratochvíl, Jiří Jaroslav ; Mikeš, Josef (referee) ; Martišek, Dalibor (referee) ; Procházková, Jana (advisor)
The point cloud is an unorganized set of points with 3D coordinates (x, y, z) which represents a real object. These point clouds are acquired by the technology called 3D scanning. This scanning technique can be done by various methods, such as LIDAR (Light Detection And Ranging) or by utilizing recently developed 3D scanners. Point clouds can be therefore used in various applications, such as mechanical or reverse engineering, rapid prototyping, biology, nuclear physics or virtual reality. Therefore in this doctoral Ph.D. thesis, I focus on feature detection and visualization in a point cloud. These features represent parts of the object that can be described by the well--known mathematical model (lines, planes, helices etc.). The points on the sharp edges are especialy problematic for commonly used methods. Therefore, I focus on detection of these problematic points. This doctoral Ph.D. thesis presents a new algorithm for precise detection of these problematic points. Visualization of these points is done by a modified curve fitting algoritm with a new weight function that leads to better results. Each of the proposed methods were tested on real data sets and compared with contemporary published methods.
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Obstacle detection using an image-based 3D scanner
Rybin, Andrei ; Kumpán, Pavel (referee) ; Hrbáček, Jan (advisor)
Tato bakalářská práce se zabývá implementaci softwaru pro systém detekci překážek pomoci kamerového 3D skeneru Kinect V2. V rešeršní části jsou detailně popsány existující druhy kamerových 3D skenerů, jsou analyzovány existujiící řešení, a algoritmy v oblasti detekci překážek a je uvedena potřebná teorie. Praktická část se skládá ze tři části: popis použité robotické platformy, rozbor implementaci softwaru pro detekci překáźek, a diskuzní část s analýzou výsledků experimentů. Na závěr vyvínutý systém je zhodnocen, jsou navrženy možnosti jeho aplikace a dalšího vývoje.
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Software Module for Point Clouds Display in Virtual Reality
Bařinka, Martin ; Chromý, Adam (referee) ; Žalud, Luděk (advisor)
Goal of this bachelor's thesis is development of application for rendering multispectral pointclouds, meshes and transparent meshes. Input data can be generated by different types of scaners. This thesis describes types of equipment for virtual reality display. There are basic data about virtual reality history, compares popular formats for 3D model storage. Thesis describes program features and contains user guide. Finally there is analysis and evaluation of each optimalisation at defined conditions.
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Vectorized Point Clouds for Mobile Robotics
Jelínek, Aleš ; Mazal, Jan (referee) ; Duchoň,, František (referee) ; Žalud, Luděk (advisor)
Disertační práce se zabývá zpracováním mračenen bodů z laserových skenerů pomocí vektorizace a následnému vyhledávání korespondencí mezi takto získanými aproximacemi pro potřeby současné sebelokalizace a mapování v mobilní robotice. První nová metoda je určena pro segmentaci a filtraci surových dat a realizuje obě operace najednou v jednom algoritmu. Pro vektorizaci je představen optimalizovaný algoritmus založený na úplné metodě nejmenších čtverců, který je v současnosti patrně nejrychlejší ve své třídě a blíží se tak eliminačním metodám, které ovšem produkují výrazně horší aproxi- mace. Inovativní analytické metody jsou představeny i pro účely vyjádření podobnosti mezi dvěma vektorizovanými skeny, pro jejich optimální sesazení a pro vyhledávání korespondencí mezi nimi. Všechny představené algoritmy jsou intezivně testovány a jejich vlastnosti ověřeny množstvím experimentů.
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Surface Reconstruction from Point Clouds
Jarůšek, Tomáš ; Zemčík, Pavel (referee) ; Španěl, Michal (advisor)
Surface reconstruction from point clouds represents very modern and widespreadly used method for digitalization of real surfaces. The main focus of this work is on a comparison of several algorithms (Poisson surface reconstruction, Ball Pivoting Algorithm, Fourier surface reconstruction, Wavelet surface reconstruction and Multi-level Partition of Unity implicits) that reconstruct original surface in a form of triangle mesh from an oriented point cloud. Every algorithm was used in a series of tests on both real and synthetic datasets which were also modified to suit more complicated experiments. The following evaluation is done in various categories. The results are evaluated both visualy and with calculated measures (such as Hausdorff distance). Together these experiments depict a detailed analysis of the state of surface reconstruction algorithms. Our experimets show that the selection of optimal algorithm depends on a concrete task. Overall Possion surface reconstruction and Fourier surface reconstruction provide the best results.
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Surface Reconstruction from Point Clouds
Knot, Stanislav ; Beran, Vítězslav (referee) ; Španěl, Michal (advisor)
This diploma thesis deals with the processing of point clouds captured by the Kinect sensor from single position. As part of this thesis an application was designed, which is able to register and reconstruct surface using selected methods. The registration of overlapping frames is based on computation of key points and their FPFH histograms from which the estimation of correspondence is computed. This estimation is then refined and redundant point filtering is performed. Surface is reconstructed from the registered and modified point cloud using Greedy Projection Triangulation. All computations are performed offline. The output of this application is textured polygonial model and an image for texture creation. With assumption of correctly set parameters the results are in a good quality for creation of virtual tours and visualization.
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Vytvoření 3D modelu jeskyně Koňská jáma z dat pozemního laserového skenování pro potřeby CHKO Moravský kras
Gaja, Martin
The thesis discusses the use of relatively new technologies laser scanning for speleology surveying. The impulse for the creation of this work are simple, in many cases inaccurate surveyings the caves, which are, since inception for a long time, used up to now. The work describes the process of data acquisition by terrestrial laser scanning, then their processing and outputs that can be present or work with them. It is also evaluated the appropriateness of using this method in speleosurveying and compared with the currently used methods.
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Analysis of Point Clouds Representing Surfaces of Engineering Practice
Surynková, Petra ; Voráčová, Šárka (advisor) ; Pokorný, Milan (referee) ; Lávička, Miroslav (referee)
Title: Analysis of Point Clouds Representing Surfaces of Engineering Practice Author: Petra Surynková Department: Department of Mathematics Education Supervisor: Mgr. Šárka Voráčová, Ph.D., Faculty of Transportation Sciences, Czech Technical University in Prague Abstract: The doctoral dissertation Analysis of Point Clouds Representing Surfaces of Engineering Practice addresses the development and application of methods of digital reconstruction of surfaces of engineering and construction practice from point clouds. The main outcome of the dissertation is a presentation of new procedures and methods that contribute to each of the stages of the reconstruction process from the input point clouds. The work is mainly focused on the analysis of input clouds that describe special types of surfaces. Several completely new algorithms and improvements of existing algorithms that contribute to individual steps of surface reconstruction are presented. New procedures are based on geometrical characteristics of the reconstructed object. An important result of the dissertation is an analysis of not only synthetically generated point clouds but above all an analysis of real point clouds that have been obtained from measurements of real objects. The significant contribution of the dissertation is also an...
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3D Model of a Room Using Kinect
Zemek, Martin ; Veľas, Martin (referee) ; Španěl, Michal (advisor)
This thesis is about finding significant planar surfaces in point cloud and their conversion to polygons. Which is important step for making a 3D model of a room. Input is point cloud, which was recorded by Kinect v2 sensor. Tool for capturing one snapshot from Kinect is included in this thesis. For recording more detailed point cloud is needed external program. Some of the programs are mentioned further in this thesis. For plane detection is used RANSAC. Inliers are divided using Euclidean Cluster Extraction. These clusters are converted to polygon using convex or concave hull. Application is capable of working with one snapshot or bigger point cloud assembled by registration of particular snapshots and detect primary and secondary planar surfaces. For the largest plane points can be prepared for creation of a texture and dimensions of this plan can be printed in CLI.
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