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3D Model of a Room Using Kinect
Zemek, Martin ; Veľas, Martin (referee) ; Španěl, Michal (advisor)
This thesis is about finding significant planar surfaces in point cloud and their conversion to polygons. Which is important step for making a 3D model of a room. Input is point cloud, which was recorded by Kinect v2 sensor. Tool for capturing one snapshot from Kinect is included in this thesis. For recording more detailed point cloud is needed external program. Some of the programs are mentioned further in this thesis. For plane detection is used RANSAC. Inliers are divided using Euclidean Cluster Extraction. These clusters are converted to polygon using convex or concave hull. Application is capable of working with one snapshot or bigger point cloud assembled by registration of particular snapshots and detect primary and secondary planar surfaces. For the largest plane points can be prepared for creation of a texture and dimensions of this plan can be printed in CLI.
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Doors and Door Handle Localization for PR2
Bambušek, Daniel ; Materna, Zdeněk (referee) ; Kapinus, Michal (advisor)
The aim of this thesis is to design and create module for robotic platform PR2, that is able to autonomously locate doors and door handle and provide information about their location and characteristics to another program that ensures their opening. The thesis describes the methods used for detection, design and implementation of this module and finally analyzes performed experiments with this module. The functionality of the method was verified by testing in simulator.
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Effect of additives in lead-acid batteries for hybrid electric vehicles
Tobolák, Jakub ; Křivík, Petr (referee) ; Bača, Petr (advisor)
This thesis is focused on lead-acid batteries used in hybrid electric vehicles. These batteries operate under partial charge, which brings problems with premature capacity loss. Tasks is to examine the influence of glass fibers as possible additives to the negative electrode of these cells in order to extend their life. The text describes the problem of hybrid electric vehicles, lead-acid batteries and other electrochemical sources.
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Basic Shapes Detection in Point Clouds
Eldes, Pavol ; Materna, Zdeněk (referee) ; Španěl, Michal (advisor)
This thesis deals with the topic of simple geometric shapes detection from point-clouds with a special interest in the influence of point normals on speed and quality of produced results. Its main product is an application that demonstrates detection of planes, spheres and cylinders. Detection is done using the RANSAC paradigm that is modified in this thesis to allow it to work with multiple models simultaneously. Another modification presented in this thesis focuses on enforcing stricter candidate shapes selection conditions for detection models.
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Stereo Based 3D Face Reconstruction
Falešník, Milan ; Svoboda, Pavel (referee) ; Šolony, Marek (advisor)
Tato práce se zabývá vytvořením programu pro rekonstrukc trojrozměrného modelu lidské tváře za pomocí dvojice kamer. Pro řešení využívá výpočtu hloubkové mapy a následný převod do trojrozměrného prostoru. Využívá Viola-Jones detektor pro detekci tváře. Využívá knihovny OpenCV a také částečně PCL.
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3D Scene Reconstruction from Images
Hejl, Zdeněk ; Kršek, Přemysl (referee) ; Španěl, Michal (advisor)
This thesis describes methods of reconstruction of 3D scenes from photographs and videos using the Structure from motion approach. A new software capable of automatic reconstruction of point clouds and polygonal models from common images and videos was implemented based on these methods. The software uses variety of existing and custom solutions and clearly links them into one easily executable application. The reconstruction consists of feature point detection, pairwise matching, Bundle adjustment, stereoscopic algorithms and polygon model creation from point cloud using PCL library. Program is based on Bundler and PMVS. Poisson surface reconstruction algorithm, as well as simple triangulation and own reconstruction method based on plane segmentation were used for polygonal model creation.
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Tabletop Object Detection
Varga, Tomáš ; Zemčík, Pavel (referee) ; Španěl, Michal (advisor)
This work describes the issue of tabletop object detection in point cloud. Point cloud is recorded with Kinect sensor. Designed solution uses algorithm RANSAC for plane detection, algorithm Euclidean clustering for segmentation and ICP algorithm for object detection. Algorithm ICP is modified and mainly it can detect rotational symetric objects and objects without any transformation against it's models. The final package is build on platform ROS. The achieved results with own dataset are good despite of the limited functionality of the detector.
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Causes of Premature Capacity Loss of Lead-Acid Accumulators Operating in PSoC Mode in Hybrid Electric Vehicles
Bilko, Radek ; Jareš, Petr (referee) ; Dostál, Zdeněk (referee) ; Bača, Petr (advisor)
This thesis is completion of whole stage of researches and it is a result of existing need of increase efficiency, utilization rate and service life of lead acid batteries VRLA planned for utilization in hybrid electric vehicles in mode of partial state-of-charge PSoC. During the application of mode PSoC at lead acid battery occurs irreversible sulfation of negative electrodes and thus to loss their charging capability. This phenomenon, according to the latest trend called PCL3, isn´t connected with subsequently referred effects PCL1, PCL2, show up on positive electrodes. Result of this thesis is finding a new types of additives, determine their optimum amount and size in such a way that innovated composition of negative active materials be able to resist sulfation of negative electrode during operation in mode PSoC. Part of the effort to clarify actions ongoing on negative active material and causes non-returnable sulfation electrodes is also monitoring of structural changes electrode active material by using environmental scanning electron microscope, which helped to clarify processes related with loss of capacity in mode PSoC. Special attention during reserches was focused on study of the properties contact layers between collector and electrodes active material and itself active materials lead-acid battery druring exploitation. There were gain new information about influence repeated cycling of (charging, discharging) the critical area of the electrodes. Measurements was carried out on specially prepared experimental electrodes DC Difference Method, this enabled obtain data in situ.
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