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Quadrocopter Navigation and Control
Doležal, Karel ; Orság, Filip (referee) ; Herman, David (advisor)
This paper focuses on autonomous navigation of AR.Drone quadrocopter in outdoor environment. The goal is to follow a specified route and land autonomously on a platform placed at the destination. Firstly, the AR.Drone platform, its development kit and sensor extension with GPS and a magnetic compass are described. Then, the navigation architecture of a control program is presented describing important blocks and its' individual tactics. Localization of the landing platform is based on its color. The video is also used to detect nearby obstacles using optical flow calculation suppressing the quadrocopter movements and to avoid the greater changes in the image. The control program implementation is then tested in real environment and the results are presented.
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Temporal Image Interpolation
Černý, Pavel ; Bařina, David (referee) ; Španěl, Michal (advisor)
This thesis deals with issues of image interpolation between two key frames. Main objectives of the work are design and implementation of application which interpolates images using optical flow estimation based on Farnebäck method. Application computes pictures by two methods, which use two-way interpolation. The first method selects a pixel with neighborhood and the second method selects only pixel and blurs it into a new frame. Testing was carried out on data describing the different types of movements. If the estimation of optical flow was correct, interpolation was successful, otherwise the interpolated pictures were inaccurate. Especially it was the key frames with a small gradient or with an indeterminate movement.
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AeroWorks: Visual Identification of Aircraft Flight Regimes
Kardoš, Juraj ; Dittrich, Petr (referee) ; Chudý, Peter (advisor)
This Bachelor thesis deals with the visual identification of an aircraft flight's regimes. It describes the spatial motion of an airplane along with the visualization of flight parameters and also proposes a system for a flight regime visual identification. The system processes the input video on a frame by frame basis in two steps. Initially, the video is being stabilized and the system subsequently proceeds in identification of flight related quantities describing the current flight state. Video stabilization is based on feature points detection and an optical flow calculation. Video frames are transformed in order to achieve sufficient consecutive frames overlap and thus to minimize the parasitic oscillations of the video acquisition system. Identification of values indicated by flight instruments is based on the Hough line transform approach. The thesis also includes a description of an application that analyzes a video from the cockpit of an aircraft and is able to recognize the instrument values displayed on specified flight instruments.
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Gestural Interface for Computer Control
Burdík, Vojtěch ; Beneš, Radek (referee) ; Přinosil, Jiří (advisor)
This work focuses on the relatively new computer branch – a computer vision. Work is concentrated on object recognition, localization and reaction to specific movements. The aim is to build a program that will be able to use hand movements to control computer, to the gesture as defined by the fingers and palms respond and make it the event. The objective should be achieved without the use of special sensors or more cameras, but only with one common webcam. For the image processing function from OpenCV library were used and program was built. Evaluation of function is based on functional verification in practice, evaluation of speed, accuracy and quality of object recognition. Following the scheme, how could program for gestural controlling the computer should look, was created, and then his realization in a simple program was made. This program is able to recognize the object in an image, in this case a hand, and through an evaluation of its movements control cursor on a computer with a possibility of simulation pressing the left mouse button. Program continuously allows the documents to scroll horizontal and vertical direction. The program is very robust and work with him is very simple.
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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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Gas Cylinder Counting in Camera Images
Klos, Dominik ; Juránek, Roman (referee) ; Španěl, Michal (advisor)
This thesis deals with an automatic counting of cylinders placed on the back of a truck using images taken by a camera mounted above the car. To achieve this goal, an SVM classifier based on HOG image descriptors has been trained to detect the cylinders. Further, a tracking method based on optical flow estimation has been designed to track the cylinders through image sequences. The result of the thesis is an application that counts bottles with precision 93,08 % placed on the truck and visualizes results of the detection.
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SMART CAR: Automatic Car Detection
Burkot, Martin ; Žák, Pavel (referee) ; Beran, Vítězslav (advisor)
This bachelor thesis deals with the detection of moving vehicles in image sequence. In the introduction is made a brief analysis of current methods for detecting the movement of vehicles and the scene in general. In subsequent chapters is designed and described the implementation of the detector moving vehicles in an image based on the determination of optical flow. At the end there review of proposed solution.
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Speckle Tracking Echocardiography
Strecha, Juraj ; Drahanský, Martin (referee) ; Mráček, Štěpán (advisor)
he thesis deals with proposal of an algorithm and implementation of a program that tracks a motion of the heart muscle in the captured ultrasound video of the heart. The point position estimation is calculated by optical flow method. The Active Shape Model method is used to confirm the accuracy of point's position tracking. The user annotates desired structure of the heart arch first and the application displays new points which represent a new deformed heart shape.
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