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Mobile robot control and guidance using computer vision
Granát, Michal ; Jílek, Tomáš (referee) ; Mišík, Štefan (advisor)
Teória riadenia je aplikovaná takmer všade okolo nás, počnúc reguláciou teploty v našich domoch cez modelovanie správania sa trhu až po riadenie vesmírnych lodí. Dôvod, prečo je tomu tak je, je jej výkonnosť a krása, obe skryté v použitých matematických aparátoch. Kolesové mobilné roboty sú taktiež veľmi rozšírené, hlavne v priemysle, kvôli ich obrovskej nosnosti, ktorá je nevyhnutná. Veľmi presné detekovanie trasy je dôležité kvôli dôslednému riadeniu robota po jeho ceste. Jedna z najjednoduchších možností ako vynačiť trasu je použitie čiary, ktorá má iné optické vlastnosti ako jej podklad. Na detekovanie takto určenej trasy existuje niekoľko metód, ale najvýkonnejšie a najefektívnejšie je použitie kamery s následným digitánym spacovaním obrazu, ktoré je síce náročné na výpočtovú silu, ale je ním možne získať obrovské množstvo dát. Hoci táto metóda môže vyzerať zastaralo (vodiaca čiara) stále sa využíva v niektorých projektoch práve kvôli jej jednoduchosti a nízkej cene. Skutočné použitie kamery pre navigáciu všeobecne (nie pomocou čiary) je dokonca zatiaľ oblasť, ktorá je stále vo vývoji. Cieľom tejto práce je zostaviť malý mobilný robot, vytvoriť matematický model, navrhnúť niekoľko regulátorov a riadiť robot po vyznačenej čiare za použitia camery a počítačového videnia.
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Movement planning and analysis of device for absolute GNSS antenna calibration
Hynčicová, Tereza ; Kuruc, Michal (referee) ; Kratochvíl, Radim (advisor)
The thesis is aimed at movement analysis and planning of a robotic device for absolute GNSS antenna calibration, which is developed at Brno University of Technology, Faculty of Civil Engineering, Institute of Geodesy. The first section is devoted to independent verification of the temporal synchronization of the robotic device’s movement, which is a prerequisite for the successful antenna calibration. The following section is focused on analysis of moveable characteristics since their knowledge is crucial for the following movement planning. Method of the device’s movement shooting by camera and evaluation its position based on gained photographs is used for both testing measurements. The final part is dedicated to movement planning, especially to calibrated antenna weighting influence on device’s movement characteristics, test results implementation into the observation program and arm movement planning considering the homogeneous calibration measurement layout.
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System for Automatic Parking Access Based on License Plate Recognition
Václavek, Patrik ; Sochor, Jakub (referee) ; Špaňhel, Jakub (advisor)
Goal of this thesis was to design and implement system operating in real time, which manages to detect incoming vehicle to the car park terminal, recognize its licence plate and automatically decide on its admission. System uses the Gaussian Mixture Model algorithm for detection of incoming vehicle. For reliable localization of licence plate are used two methods, the first one uses of extraction of Maximally Stable Extremal Regions (MSERs), the second one uses of Top-Hat transformation. Support Vector Machine (SVM) algorithm is used to decide, whether is the found area a licence plate. Character classification is performed using artificial neural network. For implementation was used library OpenCV. Thanks to optimalization is the extraction of MSERs accelerated up to seven times. The accomplished success rate in case of licence plate localization is 92,47% and in case of classification of characters is 90,03%.
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Processing of cardiac cell images
Václavek, Martin ; Čmiel, Vratislav (referee) ; Odstrčilík, Jan (advisor)
This bachelor thesis is dealing with topic of digital image processing in the field of cardiac cell imaging. The aim of this thesis is familiarization with cardiac cell imaging methods and then with methods of digital image processing for a purpose of cardiocyte contractility analysis of previously captured image sequences. Basic methods of image processing and principles, which they are based on, are described. Methods for assessing cardiocyte contractility are also described. In the following part, chosen methods are implemented in MATLAB® and applied on two image sequences of cardiac cells, which were obtained using bright field microscopy.
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Extrakcia informácií z formulárov
Pálinkás, Adam
This thesis is discussing designing and implementing application which is using advanced text recognition techniques and image processing techniques for processing scanned forms forms which were filled in by hand. Existing methods and techniques for text recognition are being analyzed. Chosen methods and techniques are implemented to create the final solution that streamlines form processing in CYRRUS, a. s.
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Analýza výsledků modelování částicových jevů v počítačových hrách
Novotný, Jiří ; Boldyš, Jiří (advisor) ; Beneš, Jan (referee)
The main subject of this thesis is to design a method that is able to compare the outputs of a manually set up particle system with a video template of a simulated particle phenomenon. For the sake of simplicity, this work is focused exclusively to smoke effects and its comparisons. Specifically, descriptors depicting the color scheme of the examined input videos are proposed as well as the shape descriptors and time variability descriptors, which are based on the image segmentation method called Alpha Matting. This method is able to distinguish foreground objects from the background, while the foreground objects are described together with their transparency. Video template recordings captured specially for the purpose of this work are included. At the end, the resulting method is supported by an example of the gradually improving smoke effect simulation. Powered by TCPDF (www.tcpdf.org)
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Digital Image Processing of Cross-section Samples
Beneš, Miroslav ; Zitová, Barbara (advisor) ; Matula, Pavel (referee) ; Pelagotti, Anna (referee)
The thesis is aimed on the digital analysis and processing of micro- scopic image data with a focus on cross-section samples from the artworks which fall into cultural heritage domain. It contributes to solution of two different problems of image processing - image seg- mentation and image retrieval. The performance evaluation of differ- ent image segmentation methods on a data set of cross-section images is carried out in order to study the behavior of individual approaches and to propose guidelines how to choose suitable method for segmen- tation of microscopic images. Moreover, the benefit of segmenta- tion combination approach is studied and several distinct combination schemes are proposed. The evaluation is backed up by a large number of experiments where image segmentation algorithms are assessed by several segmentation quality measures. Applicability of achieved re- sults is shown on image data of different origin. In the second part, content-based image retrieval of cross-section samples is addressed and functional solution is presented. Its implementation is included in Nephele system, an expert system for processing and archiving the material research reports with image processing features, designed and implemented for the cultural heritage application area. 1
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Analysis of videokymographic images
Zita, Aleš ; Zitová, Barbara (advisor) ; Novozámský, Adam (referee)
In ongoing basic human vocal chord functionality research, scientists try to describe the dependency of the glottal wave characteristics on tone generation and vocal chord properties. One of the affordable vocal chord visualization techniques for clinics is the Videokymography - technique based on recording the vocal chord vibration using a CCD camera modified to a line-scanner. Recorded rows are than combined to form a spatial-time recording. These records are suitable for computer based extraction of the vocal chord characteristics, including the characteristics of the glottal waves. In this thesis the method for automatic detection of the glottal waves was developed and implemented utilizing the digital image processing techniques. The proposed method is primarily focused on processing the healthy vocal chords videokymographic images as they gives us a good reference for the physiology of the human vocal chord organ.
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Data extraction from document scans
Macháč, Bohuslav ; Kolomazník, Jan (advisor) ; Krajíček, Václav (referee)
In this work I developed an application capable of extracting data from scanned documents. For optical character recognition, I used external OCR engine Tesseract, but it can be easily changed. I use document templates, which have informations about data areas and its data types. I tried to automatize most of the steps which are required to extract data or create new data template. User can improve or change results of these steps. For export from application I implemented components, which export data to XML, HTML or plain text. Another components can be easily added, to adapt application for various uses.
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