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6-DOF Object Localization in Industrial Applications
Macurová, Nela ; Španěl, Michal (referee) ; Hradiš, Michal (advisor)
The aim of this work is to design a method for the object localization in the point could and as accurately as possible estimates the 6D pose of known objects in the industrial scene for bin picking. The design of the solution is inspired by the PoseCNN network. The solution also includes a scene simulator that generates artificial data. The simulator is used to generate a training data set containing 2 objects for training a convolutional neural network. The network is tested on annotated real scenes and achieves low success, only 23.8 % and 31.6 % success for estimating translation and rotation for one type of obejct and for another 12.4 % and 21.6 %, while the tolerance for correct estimation is 5 mm and 15°. However, by using the ICP algorithm on the estimated results, the success of the translation estimate is 81.5 % and the rotation is 51.8 % and for the second object 51.9 % and 48.7 %. The benefit of this work is the creation of a generator and testing the functionality of the network on small objects
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3D modeling of a part of the building of SPŠ stavební Brno
Penk, David ; Jursík, Petr (referee) ; Kuruc, Michal (advisor)
The thesis deals with the creation of a 3D model from data collected by laser scanning. The first part deals with the theoretical foundations of buildings information modeling and method of laser scanning. The rest of the work describes the detailed process from data collection to the creation of the model. Most of the space is devoted to work in the Revit software environment.
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Topographic mapping of rock formations usig GIS methods
Bashir, Faraz Ahmed ; Štefanová, Eva (advisor) ; Pavelka, Karel (referee)
Topographic mapping of rock formations using GIS methods Abstract This thesis deals with issues of creating 3D models of rock formations with data from terrestrial laser scanning, close range photogrammetry and UAV photogrammetry. The theoretical part focuses on explaining functioning and usage of those methods. Beside that there is described issues of 3D point cloud filtering. Practical part of this work describes data collecting and processing procedure. Further there is proposed filtering process which aim to remove noise points from point clouds and remove vegetation with combination of vegetation index ExG, clustering algorithm DBSCAN and Hough Transform. The proposed method is tested on the selected rock formation in Bohemian Switzerland National Park. The evaluation of the proposed method is based on comparison of models filtered with proposed method with reference models, which are filtered manually. Finally, the achieved accuracy of the models is evaluated using geodetic measurements. key words laser scanning, photogrammetry, UAV, point cloud, data filtering
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Calibration parameters of the UAV laser scanning
Dvořák, Dennis ; Potůčková, Markéta (advisor) ; Dušánek, Petr (referee)
The spatial accuracy of points obtained from aerial laser scanning is most affected by the parameters of the GNSS receiver used, the IMU unit and the parameters of the flight itself. An important role is played by the accuracy of the so-called calibration, ie the determination of the transformation elements between the coordinate systems of the scanning unit itself, the IMU and the position of the phase center of the GNSS antenna. The diploma thesis deals with the calibration accuracy of the IMU / GNSS unit. It compares the displacements and rotations of a point cloud acquired by LiDAR (laser scanner RIEGL miniVUX-1UAV) in relation to the calibration elements given by the manufacturer. Evaluate the results using calculated standard deviations and positional differences in the raw point cloud, or by comparing point clouds obtained by another method. It also focuses on verifying geometric accuracy using checkpoints. The accuracy of the IMU / GNSS calibration is minimal after verifying the results and comparing the influence of the calibration elements given by the manufacturer. There was no significant improvement in the quality of the point cloud. At the same time, it was found that for better quality of the scanned data, it is necessary to perform cross-flights when UAV scanning. Key words UAV,...
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Využití pozemní fotogrammetrie pro inventarizaci lesních porostů
Řezba, Martin
The purpose of this thesis is to evaluate utilization of terrestrial and aerial photogrammetry in the forest inventory process. It describes and analyzes data collection and processing in Agisoft PhotoScan and ArcGIS software, with the use of automatically calculated tree parameters from a photogrammetric point cloud obtained by imaging the inside of the forest stand in combination with an imagery from air using unmanned aerial vehicle (UAV). Individual trees were identified and modelled using an algorithm, next cuts at the breast height were created from the photogrammetric cloud and finally diameter in breast (DBH) was calculated for each tree as well as the tree height was assigned to the position of each tree stem. The error of the diameter estimation was observed to be 3,3 cm root mean square error (RMSE) and the height estimation error was 1,3 m. Apart from the mentioned accuracy, the main advantage of the proposed work is shorter time demand for field measurement; we could complete both inventories of 1 hectare forest stand in less than 2 h of field work.
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Possibily GIS methods for documentation of paleontological relics
Čelonk, Marek ; Štefanová, Eva (advisor) ; Potůčková, Markéta (referee)
Possibily GIS methods for documentation of paleontological relics Abstract The bachelor thesis is focused on use of geoinformatic methods for creation of 3D model. The thesis is produced in cooperation with the Chlupáč's Museum of Earth History, which lent a paleontological artifact for processing. The theoretical part deals with laser scanning and close-range photogrammetry. Both methods are used in the practical part for own data colection and subsequent creation of 3D model. Data processing was mostly done in Trimble RealWorks, MeshLab and Agisoft PhotoScan. Another output is the HTML page that allows visualization in the Internet environment. key words 3D model, laser scanning, close-range photogrammetry, point cloud
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3D scanning method of environment via Kinect sensor
Kumpán, Pavel ; Mašek, Petr (referee) ; Růžička, Michal (advisor)
This bachelor thesis deals with the use of Microsoft Kinect sensor to create a three-dimensional model of the environment. The thesis describes a method for scanning the environment and its implementation for common CPUs and GPUs. The outcome of this work is an application that allows scanning the environment and creating a model in the form of a point cloud or a polygon mesh.
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