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3D Reconstruction from two views
Myška, Milan ; Minář, Jiří (referee) ; Hasmanda, Martin (advisor)
This bachelor thesis deals with 3D reconstruction process using two 2D pictures of one scene taken with uncalibrated cameras. The first chapter focuses on mathematical theory behind this process. Epipolar geometry, locating keypoints method SURF, fundamental matrix, stereo rectification and stereo correspondence using block-matching method are explained here. The next chapter of my thesis describes a practical view of this topic and my own C++ program is introduced at the same time.
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Automatic calculation of relative orientation of two cameras
Adámek, Daniel ; Nováček, Petr (referee) ; Klečka, Jan (advisor)
To determine a relative orientation of two cameras, it is necessary to understand wide range of fields. Therefore, this thesis showes principles of basic methods of detection and description of keypoints in an image as well as methods of matching these keypoints. The paper also provides brief summary of epipolar geometry and linear triangulation. C++ implementation of presented theory was proposed and its disadvantages were discussed.
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3D model from multiview
Zemčík, Tomáš ; Klečka, Jan (referee) ; Richter, Miloslav (advisor)
Reconstruction of 3D model from multiple view images allows us to perform a contactless measurement of real world objects. This work contains theoretical and mathematical background necessary for understanding problems of 3D reconstruction. It also proposes possible hardware and software solutions for the task of measuring a hood with EEG sensors while on patients head.
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Automatic Processing of Recordings from In-Car Camera
Klos, Dominik ; Herout, Adam (referee) ; Španěl, Michal (advisor)
This thesis deals with the automatic processing of recordings from in-car camera, which is used for estimating distances in a scene filmed. To achieve this goal, it uses the methods of image processing, spatial geometry of the scene and 3D reconstruction, whose final output is a partial model. For this aim, the Bundler tool is used. Results of reconstruction are visualized in the application, which then allows to estimate the distance of objects from the camera or the distance between each other.
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3D Scene Reconstruction from Images
Ambrož, Ondřej ; Řezníček, Ivo (referee) ; Španěl, Michal (advisor)
Existing systems of scene reconstruction and theorethical basics necessary for scene reconstruction from images data are described in this work. System of scene reconstruction from video was designed and implemented. Its results were analyzed and possible future work was proposed. OpenCV, ArtToolKit and SIFT libraries which were used in this project are also described.
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Object Localisation in 3D Space
Šolony, Marek ; Španěl, Michal (referee) ; Hradiš, Michal (advisor)
Virtual reality systems are nowadays common part of many research institutes due to its low cost and effective visualization of data. They mostly allow visualization and exploration of virtual worlds, but many lack user interaction. In this paper we suggest multi-camera optical system, which allows effective user interaction, thereby increasing immersion of virtual system. This paper describes the calibration process of multiple cameras using point correspondences.
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Common Image Stereo-Pair Processing for Simple Stereo-Geometry
Peloušek, Jan ; Schimmel, Jiří (referee) ; Říha, Kamil (advisor)
This Bachelor´s thesis considers the basics of epipolar geometry, explains the process of the automatic correspondency detection, describes principals of the fundamental matrix computation and finally the virtual camera view morphing between two images. There were described some of the basic Intel´s OpenCV library functions joined with this issue and describes de facto the computer stereo-pair processing. As a part of this thesis, there is the application, programmed in the C++ language in the Borland C++ Builder 6.0 developer´s environment by using the OpenCV library. This application demonstrates some of here-mentioned terms such as the fundamental matrix computation and the virtual camera view morphing. In relation to the Borland C++ Builder 6.0 using there was described the integration method of OpenCV to this environment.
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Detection and Correspondence of Image Features
Hasmanda, Martin ; Kohoutek, Michal (referee) ; Říha, Kamil (advisor)
The main goal of this bachelor‘s thesis was obtain basic knowledge about image processing. Especially was this work specialized on features detection in images captured from different perspectives and for finding correspondences between those images. Preliminary were to be described the basic principles for understanding computer vision such as perspective projection, description model of the camera and two views geometry. From methods of the detection was introduced best-known and most widely used of the detectors Harris corner detector. He is independent of images rotation and he is analyzed in detail. Further was described SIFT detector, that is independent of images scale. In this work further be described to several methods for finding correspondences of images features. First were to be described and derived two basic transformation matrixes that arrange to the association with features of two images. The first homography matrix describes transformation of two 2D views and fundamental matrix. Fundamental matrix obtains from two images full information of captured 3D scene and projection matrixes of cameras. For to primary definition correspondences were to be used to methods SSD and NCC. These methods match correspondences after similarities surroundings of features. These methods unfiled correct assignment features. Therefore uses stochastic RANSAC algorithm. The RANSAC algorithm was in detail described in this work in basic form and further modified on MLESAC algorithm. This algorithm can find better correspondences than RANSAC. In the end was described simple application for implementation introduced methods.
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Processing of Stereoscopic Video Sequence
Hasmanda, Martin ; Šmirg, Ondřej (referee) ; Říha, Kamil (advisor)
The main goal of this master’s thesis was get up used methods for observation the stereoscopic scene with one couple of cameras and find out good solving for processing these resulting pictures for two-view and multiple-view autostereoscopic displays for three-dimensional perception. For methods for acquisition video was introduced two methods. They were method “Off-axis” with parallel camera axis and method “Toe in” with intersections axis. For fit method was choice the method named as “Off-axis“. It was not produces the vertical parallax and in detail was in this work described principle of this method. Further were describe principles off used methods for three-dimensional perception namely from the oldest method named anaglyph after methods for viewing at autostereoscopic displays. The Autostereoscopic displays were main goal of this thesis and so their principles were described in details. For production the result image for autostereoscopic displays was used generation intermediate images between left and right camera. Resulting videos were acquisition for testing scene in created in 3D studio Blender, where was possible setting system of cameras exactly parallel axis. Then were introduce principles processing video where was extract from the couple of cameras where were connected to PC for help digitizing card and next time with two web cameras. Here is not guaranteed exact parallel axis system. Therefore this work try for real cameras achieve exactly parallel axis system by the help of transformations of frames with stereo rectification. Stereo rectification was solving with OpenCV libraries and was used two methods. Both methods work from principles epipolar geometry that was described in this work also in detail. First method rectifies pictures on the basis fundamental matrix and found correspondences points in two images of the scene and second method rectifies pictures from knowledge intrinsic and extrinsic parameters of stereoscopic system of cameras. In the end of this work was described application for implementation introduced methods.
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