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Route control
Dolobáč, Dávid ; Janáková, Ilona (referee) ; Richter, Miloslav (advisor)
This thesis sets itself the task to detect geometric changes, located on a previously known route, which is considered as a template or pattern. Geometric changes represent rigid transformations of objects in a scene, specifically their rotation, displacement and their combinations. Another type of change is the addition of new or removal of original objects. The original route is captured with a monocular camera and by using methods of photogrammetry, a 3D model of a scene in a point representation is reconstructed from the video sequence. In the same manner, a 3D model of the scene containing changes is created, but this model captures only the local section of the original route. This local point cloud is registered in the 3D model of the original route, so that the 3D models can be directly compared with each other. The investigated space is divided into cubic voxels of the same size which are successively traversed and the degree of similarity of local surfaces is investigated for each of them. The solution results in 3D points from both clouds marked as changed or unchanged. The mentioned methods are tested on real data in scenarios with different geometric modifications of the scene and the evaluation of change detection is implemented as in the case of a binary classifier.
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Stereo reconstruction of vehicles' cross section
Boch, Jan ; Richter, Miloslav (referee) ; Honec, Peter (advisor)
This master thesis deals with the design of a stereo system for processing vehicle images and subsequent reconstruction of their 3D model. The aim of the thesis is to reconstruct the vehicle model to control its dimensions and load on which restrictions are imposed in case of the use of critical transport infrastructure (tunnels, bridges). The thesis begins with a mathematical description of scene capture and continues with a research of theoretical possibilities of system configuration. One Intel RealSense 3D camera and one RGB camera were chosen as the most suitable configuration. The software solution works with the design of several different algorithms of which it is worth mentioning reconstruction using depth maps or triangulation.The resulting models in the last chapter contain data only from the aforementioned 3D camera. The model from the 3D camera could not be improved with the images from the RGB camera and camera can therefore be declared redundant. Resulting 3D model is still sufficient for the purpose of vehicle inspection and in case of continued work, another, more optimal configuration should be designed.
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The creation building design documentation of the agricultural part of the building in Mutěnice
Hladký, Matúš ; Kratochvíl, Richard (referee) ; Kuruc, Michal (advisor)
The diploma thesis concerns of the creation of building design documentation of the agricultural building in Mutěnice with using building information modelling in Autodesk Revit. Drawings are made normative by ČSN 01 3420 and with using of the results of laser scanning. Text part contains description of whole process, starting with field survey and collecting data, throughout processing of point cloud, ending in modelling of the building and terrain surface and building design documentation creation. The definition and application of BIM on the present is attached to the theoretical part. Main output production data is the building design documentation.
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3D model registration with depth camera data
Boháč, Daniel ; Věchet, Stanislav (referee) ; Adámek, Roman (advisor)
Tato práce se zaměřuje na úlohu 3D rozpoznání objektu a odhadu jeho transformace na základě dat získaných z hloubkové kamery. Konkrétně jde o mračna bodů, přičemž jedinou referencí pro dané objekty jsou jejich 3D modely. Cílem práce je vybrat vhodný algoritmus na základě provedené rešerše, implementovat řešení využívající tento algoritmus, ověřit jeho funkčnost a identifikovat jeho limity. Práce představuje snadno použitelnou a rozšiřitelnou knihovnu napsanou v C++, která je dostupná také prostřednictvím Pythonu. Tato knihovna využívá postup identifikovaný během rešerše, který řeší danou úlohu pomocí globálních deskriptorů. Nakonec je řešení ověřeno na umělých i reálných datech.
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The MDSR Vegetation Filter
Kučera, Jakub
This paper deals with the software implementation of a vegetation filter using the MDSR algorithm and its subsequent testing on a variety of pre-selected point clouds. The results of each filtering algorithm were compared visually in sections with the results of other conventionally used filtering algorithms. Comparisons were also made by calculating the root mean square deviations of the results of the conventional algorithms from the TIN surface generated from the MDSR filter results.
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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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The surveing of specific elements in the area of Admas
Koukal, Pavel ; Kalvoda, Petr (referee) ; Hanzl, Vlastimil (advisor)
The diploma thesis consists of two fundamental parts. The first part is focused on scanning a section of the Admas area by a terrestrial laser scanner. This section describes the introduction to laser scanning, necessary utilities and software, fieldwork, the process from the registration of a point cloud, through point cloud processing to its connection into the S-JTSK. The second part of the thesis is mostly focused on execution of the digital model of the relief from the acquired data. It also deals with the two methods of creating a cross-sectional drawing of the area - one is based on the digital model of the relief and the other on data obtained by the polar method. The outcome of the thesis is to assess the accuracy of the topographical model, based on the comparison with the polar method.
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Documentation bridge using terrestrial scanning
Ferencová, Anna ; Kalvoda, Petr (referee) ; Hanzl, Vlastimil (advisor)
The aim of this bachelor work is to scan with help of ground-based scanner bridge structure, which is part of the area of faculty of building VUT in Brno. Content of this work is theoretical base and consecutive practical elaboration of measured data. The result is effectuation of 3D model and examination of accuracy on control points.
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