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Visual Navigation of the Vehicle
Jaššo, Kamil ; Richter, Miloslav (referee) ; Horák, Karel (advisor)
The thesis consists of retrieval of known solutions of autonomous vehicle navigation. Thesis further describes options for controling autonomous vehicle, and using of sensors in autonomous vehicles. From different types of sensors are selected two types, that are most suitable for visual navigation of the vehicle. Thesis describes the function and way of using these two types of sensors in the visual navigation of the vehicle. The program for obtaining and saving data from selected sensors is also part of the thesis.
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Robocar - The Autonomous Driving
Hnát, Miroslav ; Richter, Miloslav (referee) ; Petyovský, Petr (advisor)
In my Bachelor thesis I deal with automated car driving requirements. First I make the real plan and select the correct software tool for simulation and realization this issues. Second I solve model for autonomous car driving simulation, breaking and rotation wheels. There is open area with several obstacles in simulation conditions. I define possibly errors and I recommend its solution. Next very important part of my thesis are identify the parameters of real vehicle and verification the correctness of model by simulation test. I review variances from model. The object of this has to check reactions of the real system. Whole solution will be implemented into individual components. The individual components will be then compared with simulation results. In conclusion I will appreciate achieved results and recommend my solutions.
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Robocar - The Autonomous Driving
Hnát, Miroslav ; Richter, Miloslav (referee) ; Petyovský, Petr (advisor)
In my Bachelor thesis I deal with automated car driving requirements. First I make the real plan and select the correct software tool for simulation and realization this issues. Second I solve model for autonomous car driving simulation, breaking and rotation wheels. There is open area with several obstacles in simulation conditions. I define possibly errors and I recommend its solution. Next very important part of my thesis are identify the parameters of real vehicle and verification the correctness of model by simulation test. I review variances from model. The object of this has to check reactions of the real system. Whole solution will be implemented into individual components. The individual components will be then compared with simulation results. In conclusion I will appreciate achieved results and recommend my solutions.
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LIDAR and Stereocamera in Localization of Mobile Robots
Vyroubalová, Jana ; Drahanský, Martin (referee) ; Orság, Filip (advisor)
LIDAR (2D) has been widely used for mapping, localization and navigation in mobile robotics. However, its usage is limited to simple environments. This problem can be solved by adding more sensors and processing these data together. This paper explores a method how measurements from a stereo camera and LIDAR are fused to dynamical mapping. An occupancy grid map from LIDAR data is used as prerequisite and extended by a 2D grid map from stereo camera. This approach is based on the ground plane estimation in disparity map acquired from the stereo vision. For the ground plane detection, RANSAC and Least Squares methods are used. After obstacles determination, 2D occupancy map is generated. The output of this method is 2D map as a fusion of complementary maps from LIDAR and camera. Experimental results obtained from RUDA robot and MIT Stata Center Data Set are good enough to determine that this method is a benefit, although my implementation is still a prototype. In this paper, we present the applied methods, analyze the results and discuss the modifications and possible extensions to get better results.
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Road Detection for Autonomous Car
Komora, Matúš ; Veľas, Martin (referee) ; Španěl, Michal (advisor)
his thesis deals with detection of the road adjacent to an autonomous vehicle. The road is recognition is based on the Velodyne LiDAR laser radar data. An existing solution is used and extended by machine learning - a Support Vector Machine with online learning. The thesis evaluates the existing solution and the new one using a KITTI dataset. The reliability of the road recognition is then computed using F-measure.
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Index listovej plochy a priestorová distribúcia asimilačného aparátu v poraste buku lesného (Fagus sylvatica L.)
Haninec, Pavel
One of the most important parameters determining penetration of the photosynthetically active radiation (FAR) through the forest canopy is the leaf area index (LAI). In this thesis we concerned with a comparison of direct and indirect approaches of determining LAI and the vertical distribution of LAI in the canopy. There have been used three optical methods, using the device LiCor LAI 2200 Plant Canopy Analyzer, LaiPen and hemispherical photography. Also, we used the method of estimation LAI using airborne laser scanning. There was created allometric relationship between leaf area and the perimeter of the sample trees. These trees were also destructively processed and based on those, there were created the diagrams of the vertical distribution of leaves in the crowns of these trees. The individual values of the measured leaf area index, were in amplitude from 3.69 m2.m-2 to 11.80 m2.m-2 and the indirect methods underestimated the direct approach in average of 28.46%.
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Calculation of forest stand heights on the basis of airborne laser scanning on the territory of Training Forest Enterprise Křtiny
Procházková, Andrea
This diploma thesis deals with calculation of forest stand heights on the basis of airborne laser scanning (ALS) on the territory of Training Forest Enterprise Křtiny. Point cloud data from ALS were interpolated into digital terrain model (DTM), digital surface model (DSM) and subsequently by subtraction of DTM from DSM into canopy height model (CHM). Inverted CHM was used for detection of tree tops by Inversed Watershed Segmentation; tree tops were identified as local minima. Calculated heights of forest stands were compared with height data taken from Forest Management Plan (FMP) and with data from field survey.
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Slope stability of Jizera river valley slopes in Semily region
Kujan, Ondřej ; Novotný, Jan (advisor) ; Vybíral, Roman (referee)
The thesis deals with slope stability of a landslide "U Čtrnácti pomocníků", which is located in the north-eastern part of the city Semily in the Liberec district. The thesis is divided into theoretical and practical part. The theoretical part was carried out literature search on the issue and the natural conditions around the wider area of interest. The practical part consists of individual sections within which the research were conducted archival documentation, mapping areas of interest, own technical work, sampling and geophysical measurements and laboratory work and stability calculations. Also the engineering geological model of the landslide was created. The results of the practical part are used as the basis for the final engineering geological evaluation of this area.
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Electronics circuit board and control software design for autonomous mobile robot
Meindl, Jan ; Krejsa, Jiří (referee) ; Věchet, Stanislav (advisor)
The master's thesis deals with the design and realization of embedded control system and software of the autonomous mobile robot DACEP. The research section focuses on the selection of sensory equipment. Moreover, the design of the embedded control system and the communication interface between this system and the master PC is described in detail, followed by the design of localization and navigation software that uses ROS framework. The section is written as instructive as possible for the development of robots of similar construction. Finally the development of a graphical interface for robot diagnostics and remote control is depicted.
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