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Integration of image data into a multilayer elevation map of the environment in real-time
Dobrovolný, Lukáš ; Dobossy, Barnabás (referee) ; Adámek, Roman (advisor)
This diploma thesis focuses on the optical calibration of RGB cameras, thermal cameras, as well as the mutual calibration of RGB cameras with LiDAR. For a thermal camera calibration, a special pattern that can be detected in the IR spectrum of the camera is required. In this thesis, we describe a tool we developed for calibrating this sensor. To verify the RGB camera calibration methods and its mutual calibration with LiDAR, we employ a robotic simulator as well as Matlab which provides the necessary tools. With the knowledge of the relative position of the camera and LiDAR, we are able to merge the data together. This method is then tested both in a simulator and with actual sensors. In the final part of the thesis, the image data is integrated into an elevation map.
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Using hybrid maps in mobile robot localization and mapping
Fajgel, Oscar ; Králík, Jan (referee) ; Krejsa, Jiří (advisor)
This bachelor's thesis deals with analysis of current approaches to mapping used in mobile robotics and explores a hybrid mapping approach that could be used in mobile robot navigation and localization in multi-level indoor environments of buildings. Multiple methods are examined and a suitable approach is tested using ROS framework simulations. A real life test on a real robot is also concluded to test the usability of this approach.
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Hexapod Robot Movement Control
Kocich, Martin ; Janoušek, Vladimír (referee) ; Rozman, Jaroslav (advisor)
At the beginning of the research, the skeleton of the hexapod robot was equipped with servomotors only and no control unit or sensors. The objective of this thesis is to develop an overall solution for the control of the robot in question. Furthermore, to create a graphical interface to control and monitor the robot using Qt environment. Raspberry Pi 4 and ROS software running on operational system Ubuntu 20.04 was chosen to control the hexapod. While researching available software options, an existing solution was found. This solution was extended with feedback from the servo motors and the control algorithms were modified. Furthermore, new hardware was tested, e.g.: cameras with depth sensing capability. The found solution is extended e.g. with additional motion modes, graphical interface, support for new hardware, updates to the outdated version of ROS and its components. All problems during the implementation of the solution have been sufficiently solved. This thesis walks through the entire research process and then breaks down the commissioning of the robot from skeleton to working solution.
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Inteligentní řízení pro chytrá prostředí
Horil, Denis ; Zbořil, František (referee) ; Janoušek, Vladimír (advisor)
The aim of this thesis is to design and implement a smart home control system using ROS. The work includes the implementation of smart home control software and explores the possibilities of efficient storage of sensor data. The implementation includes communication and data transfer between the systems using MQTT protocol. The thesis explores the possibilities of using multi-agent systems in smart environments.
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Fiducial Marker-Based Localization System
Hála, David ; Horeličan, Tomáš (referee) ; Gábrlík, Petr (advisor)
This work deals with localization of the robot in space using optical markers. In the first part of the thesis, the reader is introduced to the problems and pitfalls of this project and all the important connections, both mathematical and physical, are explained. The second part then focuses on the description of the procedure that was chosen to design the program and the ideas that led to its completion.
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Visual-inertial odometry for UAV stabilization
Pintér, Marco ; Janoušek, Jiří (referee) ; Marcoň, Petr (advisor)
This master's thesis deals with the development of a system for estimating the position of an unmanned aerial vehicle in space without using GNSS (Global navigation satellite system). Visual and inertial data are employed for the position estimation of the unmanned aerial vehicle in space. The thesis describes various methods of determining the position using visual and inertial odometry. In the subsequent part of the thesis, the selection of a suitable camera sensor and onboard computer is discussed. The choice of an appropriate operating system, ROS (Robot Operating System) distribution, and a suitable algorithm for processing visual and inertial data is also described. To acquire telemetry data and basic control of an unmanned vehicle in space, a ROS node was implemented, which was tested in the Gazebo simulation environment with PX4-SITL. With the designed system experiments of comparing the accuracy of position determination against GNSS was done in real enviroment. From the achieved results, it can be concluded that visual odometry achieves very good results compared to GNSS.
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Object Detection on Robotic Workplace Using Two Kinects
Dragúň, Peter ; Beran, Jan (referee) ; Rozman, Jaroslav (advisor)
This thesis deals with the use of a multi-depth camera Microsoft Kinect V2 for object pose estimation. The main emphasis is on calibration, including mutual and also calibration of a single camera. Which is critical for correct transformation. The theoretical part thesis describes methods for object detection and their pose estimation in space using the robotic operating system. The practical part thesis describes resolving issues with USB saturation by adding a single board computer based on ARM architecture for secondary Kinect.
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Localization system for mobile robot B2
Korytár, Lukáš ; Věchet, Stanislav (referee) ; Krejsa, Jiří (advisor)
The master’s thesis implements localization and navigation routines for mobile robot B2 in order to operate autonomously in an environment described by a road map only. The ROS framework was used for developing new software. The research part describes possible approaches to localization problem and summarizes ROS packages with localization and navigation software. The following part includes communication with the robot’s sensor modules and data processing from LIDAR, IMU and camera. The localization package robot_localization based on Kalman filter is implemented and setting of the navigation stack navigation is proposed, aiming to robot’s autonomous outdoor navigation. Implemented functions were tested in park environment and they are evaluated in this master's thesis too.
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Tabletop Object Detection
Timko, Martin ; Veľas, Martin (referee) ; Kapinus, Michal (advisor)
The aim of this thesis is to design and create a module for robotic platform PR2. This module has to detect objects in front of the robot on a table and enable various operations with these objects. This thesis describes methods of object detection which were used in the implementation of the module. The thesis also describes the methods used for design and implementation of this module. The module testing and evaluation of results are mentioned at the end of the thesis.
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