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Dynamic Scene Model for Mobile Robot
Görig, Jan ; Štancl, Vít (referee) ; Španěl, Michal (advisor)
This master's thesis focuses on representation of geometric information about the surrounding environment for robotic systems. Instead of a common point-cloud based representation, an environment model that stores information about objects described by bounding boxes and planes is proposed. These objects can be obtained from trained object detectors, planar surface detectors, etc. processing data from sensors (e.g. RGB-D camera). The information about the objects (position, etc.) stored in the model is constantly changing according to data obtained from detectors. The environment model is implemented as a module for Robot Operating System. To illustrate and visualize features of the model, a demonstration application was also prepared.
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Multiplatform Application for Speaker Verification
Görig, Jan ; Matějka, Pavel (referee) ; Glembek, Ondřej (advisor)
Bachelor thesis considers speaker recognition without knowledge of spoken message. There are described current feature extraction methods and their evaluation using Gaussian mixture model. The practical output of this work is application for visualization of the recognition process. Developed application is cross platform and it uses Qt and BSAPI libraries.
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Dynamic Scene Model for Mobile Robot
Görig, Jan ; Štancl, Vít (referee) ; Španěl, Michal (advisor)
This master's thesis focuses on representation of geometric information about the surrounding environment for robotic systems. Instead of a common point-cloud based representation, an environment model that stores information about objects described by bounding boxes and planes is proposed. These objects can be obtained from trained object detectors, planar surface detectors, etc. processing data from sensors (e.g. RGB-D camera). The information about the objects (position, etc.) stored in the model is constantly changing according to data obtained from detectors. The environment model is implemented as a module for Robot Operating System. To illustrate and visualize features of the model, a demonstration application was also prepared.
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|
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Multiplatform Application for Speaker Verification
Görig, Jan ; Matějka, Pavel (referee) ; Glembek, Ondřej (advisor)
Bachelor thesis considers speaker recognition without knowledge of spoken message. There are described current feature extraction methods and their evaluation using Gaussian mixture model. The practical output of this work is application for visualization of the recognition process. Developed application is cross platform and it uses Qt and BSAPI libraries.
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