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Localization of Mobile Device in Space
Komár, Michal ; Láník, Aleš (referee) ; Šolony, Marek (advisor)
This thesis focuses on the current localization options of the Android mobile phone platform. It explores the possibilities of locating mobile devices not only with the use of inertial sensors, but also the possibility of localization using integrated video camera. The work describes the measurements done with available inertial sensors, introduces visual localization algorithm and design a system using these two approaches.
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3D Objects Reconstruction from Image Data
Cír, Filip ; Kršek, Přemysl (referee) ; Španěl, Michal (advisor)
This paper deals with 3D reconstruction of objects from image data. There is describes theoretical basis of the 3D optical scanning. Handheld 3D optical scanner setup is described composed of a single camera and a line laser whose position is fixed with respect to the camera. Set of image markers and a simple real-time detection algorithm are proposed. Detected markers are used to estimate position and orientation of the camera. Finally, laser detection and triangulation of points lying on object surface are discussed.
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Quadcopter localization in 3D space based on mono-camera
Kubica, Petr ; Musil, Petr (referee) ; Beran, Vítězslav (advisor)
This bachelor thesis focuses on the possibilities of existing methods for locating the UAV AscTec Pelican using a monocular camera. The methods SVO, PTAM and LSD-SLAM were tested in both inner and outer environments using various cameras, lenses and hardware with different performance. Based on the experience gained during the testing, guidelines on how to achieve the best results are made.
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Game Interface with Data Projector and Leap Motion
Holcner, Jonáš ; Najman, Pavel (referee) ; Zahrádka, Jiří (advisor)
The goal of this paper is to develop a gaming user interface and a game itself using potential of the Leap Motion Controller in combination with projected image of a projector. This interface requires a projector calibration for user to be able to interact with the image. The calibration enables translation of points between coordinate spaces of Leap Motion and projector. Combined with data from Leap Motion, this allows user to interact with applications and games only by hands within the projected image. The solution contains a projector and a Leap Motion located over a table looking at the table desk. Leap Motion is used to track hand motions above the table. The capabilities of the proposed interface are demonstrated on a computer game, which was developed in Unity 3D engine.
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Camera calibration
Opravil, Jan ; Babinec, Tomáš (referee) ; Richter, Miloslav (advisor)
Imperfection of some lenses used in industrial cameras is distracting. This thesis is concerned with the calibration of cameras with geometric barrel or cushiontype distortion. In the calibrating process is used a function which approximates real lens distortion. To calculate the coefficients of this function the straight line sections in the distorted image are used. Those detected lines play the key role and they ought to have the greatest possible information bias. To enhance the quality of detection are chosen some methods of preprocessing. The algorithms thus created are tested first on an artificially generated calibers and later on real ones. The program is written in C and is using some of the functions of the OpenCV library.
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Accuracy Analysis of Astronomical Positioning Results
Jalovecký, Martin ; Kratochvíl,, Radim (referee) ; Machotka, Radovan (advisor)
This diploma thesis is focused on the analysis of results accuracy of astronomical positioning. It describes observation methods and the latest surveying systems used in geodetic astronomy. Further in the thesis there is the description of surveying system MAAS-1. Subject of the elaboration is the data obtained by measuring with this system. Testing is focused on digital camera. There is also an analysis of the results of geographical coordinates, depending on the accuracy of determining the angled pixel size and also on the accuracy of the input coordinates.
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Visual detection of electronic devices
Juhas, Miroslav ; Honec, Peter (referee) ; Janáková, Ilona (advisor)
This thesis describes application of image processing for precise distance measurement in self acting production of a tip for AFM microscopes. The main goal is to measure distances between assembly parts during fabrication process. The purpose is to acquire a data for self acting assembly line which have to substitute inaccurate and nonrecurring manual assembly process. The assembly process consists of three technological steps. In first two steps the tungsten wire is glued to the cantilever. Distance measurement is necessary in all axes for proper alignment of parts. In third step the sharp tip is etched by KOH solution. The right distance between liquid level and the cantilever must be kept. A camera with high resolution and macro objective is used to acquire an image. Camera image is then calibrated to suppress distortions and scene position with respect to camera position. Length conversion coefficient is also computed. Object recognition and distance measurement is based on standard computer vision methods, mainly: adaptive thresholding, moments, image statistics, canny edge detector, Hough transform… Proposed algorithms have been implemented in C++ using Intel OpenCV library. The final achieved distance resolution is about 10µm per pixel. Algorithm output was successfully used to assembly few test tips.
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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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