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Quadrocopter Navigation and Control
Doležal, Karel ; Orság, Filip (referee) ; Herman, David (advisor)
This paper focuses on autonomous navigation of AR.Drone quadrocopter in outdoor environment. The goal is to follow a specified route and land autonomously on a platform placed at the destination. Firstly, the AR.Drone platform, its development kit and sensor extension with GPS and a magnetic compass are described. Then, the navigation architecture of a control program is presented describing important blocks and its' individual tactics. Localization of the landing platform is based on its color. The video is also used to detect nearby obstacles using optical flow calculation suppressing the quadrocopter movements and to avoid the greater changes in the image. The control program implementation is then tested in real environment and the results are presented.
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Comparing hockey clubs across the Europe and their work with the youth (Organization, the content of the practise proces, personnel and material security and more)
Herman, David ; Perič, Tomáš (advisor) ; Vojta, Zdeněk (referee)
Title: Comparing hockey clubs across the Europe and their work with the youth (Organization, the content of the practise proces, personnel and material security and more) Objectives: The aim of my bachelor's thesis is to find out and compare terms and methodology of clubs for the development and upbringing of youth hockey players in selected countris in Europe Methods: In my work, I used the method of qualitative research, which took place in the form of filling in pre-consulted tables, in which data from five clubs in Europe were evaluated and compared. Results: It was found that all of the teams have relatively similar working conditions for work with youth, but each teams offers different benefits for the development of their members. Thanks to the openness of the clubs we compared a large number of interesting factors that can give clubs a good feedback for improve or create their own conception for work with the youth. Keywords: ice hockey, comparing, youth, development and upbringing, methodology, practise
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Search of Corresponding Objects in a Pair of Images
Vrbenský, Andrej ; Herman, David (referee) ; Orság, Filip (advisor)
This thesis is aimed on area of stereoscopy. At first, there is some space dedicated to stereoscopic theory, primarily to seaching of corresponding objects in a stereo image pair. Main attention is given to template matching methods, which are based on intesity comparison. Then we try to optimize these methods with SIMD SSE instructions and run some tests with image examples. These methods are implemented in C++ and also in assembly language.
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Collision Avoidance System for Mobile Robot
Dzuro, Daniel ; Hájek, Josef (referee) ; Herman, David (advisor)
This bachelor's thesis deals with the anti-collision system for mobile robot which is often liable to the collisions with other objects. Expensive parts of the robot could be saved thanks to the system. The main issue of the thesis was to design the system of premature reaction and it's application to the existing system which would help prevent the collision on time. Not only the breaking system was used to stop or slow down the vehicle but also the cooperation with the prediction of the vehicle's direction control was needed. Laser rangefinder and ultrasonic sonar were mainly used for this purpose.
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Global Robot Localization Using GPS, Compass and Map
Snášelová, Petra ; Orság, Filip (referee) ; Herman, David (advisor)
The goal of this bachelor thesis is design of a global localization method for robots combining data provided by GPS, compass and maps. The purpose of such a method is to achieve more precise and reliable localization. The thesis is introducing senzor systems and global navigation. Furthermore it is focused on basic principles of Kalman's filtration applied to the designed localization method. The developed aplication ensures the localization of robot in the map and simulation of its move after maps in OSM or RNDF format and the trace record in XML format were loaded to the application.
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Quadrocopter Navigation and Control
Doležal, Karel ; Orság, Filip (referee) ; Herman, David (advisor)
This paper focuses on autonomous navigation of AR.Drone quadrocopter in outdoor environment. The goal is to follow a specified route and land autonomously on a platform placed at the destination. Firstly, the AR.Drone platform, its development kit and sensor extension with GPS and a magnetic compass are described. Then, the navigation architecture of a control program is presented describing important blocks and its' individual tactics. Localization of the landing platform is based on its color. The video is also used to detect nearby obstacles using optical flow calculation suppressing the quadrocopter movements and to avoid the greater changes in the image. The control program implementation is then tested in real environment and the results are presented.
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3D Mapping of Outdoor Environment
Janalík, Radim ; Orság, Filip (referee) ; Herman, David (advisor)
This thesis deals with 3D map building of outdoor environment using laser rangefinders. Sensor measurements are transformed to the points and are aggregated to an internal model with respect to the current robot's position. From these points, a triangular mesh is created using Delaunay triangulation algorithm. The memory requirements for storing the internal model are reduced by mesh decimation algorithm. The presented method builds the map incrementally in real time. Several experiments have been conducted to verify the presented approach.
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Support of Mapping by Image Processing
Jaroš, Ján ; Herman, David (referee) ; Váňa, Jan (advisor)
This bachelor's thesis deals with methods of detection of selected objects in video and with importing these objects into OpenStreetMap central database based on their geographic location. It focuses mainly on recognition of road signs. First section briefly describes some of the most widely used methods and OpenStreetMap project itself. In the following chapters is given a more detailed overview of used methods of proposed system, its implementation and testing. The conclusion contains evaluation of whole work and the possible improvements are listed here.
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3D Map Building Based on Stereo Vision for Mobile Robot Navigation
Babinec, Adam ; Orság, Filip (referee) ; Herman, David (advisor)
This thesis is dedicated to the subject of passive stereo vision in modern robotics. The work includes the design and implementation of autonomous passive binocular stereo vision system for mobile robot navigation. A three-dimensional local map is built up by aggregation of point clouds created by reprojection of the image pairs taken with stereocamera. The image pairs are reprojected using disparity map obtained with application of block matching algorithms on the image pairs. The local map is represented by voxel grid stored in an octree and it supports detection of moving obstacles on ray-casting principle. Visual odometry is calculated by tracking reprojected paired image features detected in series of image pairs. The system allows user to choose different approaches to the problem solving, it is platform and hardware-independent and provides graphic user interface.
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Local Navigation of an Autonomous Mobile Robot
Herman, David ; Rozman, Jaroslav (referee) ; Orság, Filip (advisor)
This paper deals with the topic of design of a navigation system for an autonomous mobile robot in a park-like environment. Precisely, designing methods for road detection using available sensoric system, designing a mathematical model for fusion of these data, and suggesting a representation of an environment suitable for planning and local navigation.
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