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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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Localisation of Mobile Robot in the Environment
Němec, Lukáš ; Hradiš, Michal (referee) ; Veľas, Martin (advisor)
This paper addresses the problem of mobile robot localization based on current 2D and 3D data and previous records. Focusing on practical loop detection in the trajectory of a robot. The objective of this work was to evaluate current methods of image processing and depth data for issues of localization in environment. This work uses Bag of Words for 2D data and environment of point cloud with Viewpoint Feature Histogram for 3D data. Designed system was implemented and evaluated.
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3D Scene Reconstruction from Images
Fuchsík, Ondřej ; Zahrádka, Jiří (referee) ; Španěl, Michal (advisor)
This bachelor thesis deals with scene reconstruction from images using RGB--D senzo Microsoft Kinect. The aim of the work is to create model of the room in form of points from scanned data, from witch is created plan of the interior. A large part of the work deals with the point cloud registration, thus existing methods and their descriptions. Further, a projection of points on a plane and detection of edges in the obtained image are discussed. The work experimentally examines the influence of recording and the recorded environment on results.
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3D Scene Reconstruction from Images
Hejl, Zdeněk ; Kršek, Přemysl (referee) ; Španěl, Michal (advisor)
This thesis describes methods of reconstruction of 3D scenes from photographs and videos using the Structure from motion approach. A new software capable of automatic reconstruction of point clouds and polygonal models from common images and videos was implemented based on these methods. The software uses variety of existing and custom solutions and clearly links them into one easily executable application. The reconstruction consists of feature point detection, pairwise matching, Bundle adjustment, stereoscopic algorithms and polygon model creation from point cloud using PCL library. Program is based on Bundler and PMVS. Poisson surface reconstruction algorithm, as well as simple triangulation and own reconstruction method based on plane segmentation were used for polygonal model creation.
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Object Detection Using Kinect
Němec, Lukáš ; Veľas, Martin (referee) ; Španěl, Michal (advisor)
This paper address the problem of object recognition using Microsoft Kinect in the fi eld of computer vision. The objective of this work was to evaluate current methods of detection of objects using depth map (RGB-D sensor). The work deals with the enviroment of point cloud and Viewpoint Feature method. It also describes the use of binary classifi er in the context of object recognition. Object detection was implemented and performed experiments with it.
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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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The Use of Photogrammetry in the Real Estate Practice
Viktora, Jakub ; Daňhel, Petr (referee) ; Klika, Pavel (advisor)
This diploma thesis aims to explore possibilities of using IT in real estate and projection practice. It deals with simplification of difficult or insolvable tasks. It focuses on rapidly developing field of photogrammetry and its further processing via software. The work presents methods of measurement of existing realties without using standard methods (tape line, laser). Instead of these tools, the author uses photographic data and program PhotoModeler for surveying and creating a 3D model of the facade. The thesis verifies further serviceability of gained data up to the render phase of the surveyed building facade.
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Processing of images taken from UAV
Ptáček, Ondřej ; Plánka, Ladislav (referee) ; Hanzl, Vlastimil (advisor)
This diploma thesis deals with the processing and evaluation of the pictures taken by unmanned aerial vehicles - UAV. The introductory part is devoted to the definition, use, applications and types of UAV especially for photogrammetric purposes. Also the software equipment is described, including a description and examples of several types of possible outcomes. Further the measurements, computational works and process of elaboration in used software programs are described. Achieved outcomes of elaboration are also presented. In conclusion, the overall evaluation and assessment of the results of measurement is done of set of points.
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UPDATE OF DTMM USING MOBILE SCANNING SYSTEM
Cimpl, Tomáš ; Musil, Jiří (referee) ; Kalvoda, Petr (advisor)
This diploma thesis deals with the updating of digital technical city map. Specifically with map updating using data from mobile scanning system and a comparison with map updating performed without the use of a mobile mapping system. Aim of the thesis was to update the digital technical map of Pardubice in the range of map sheet Pardubice 8-1/21.
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