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Automatic Text Recognition for Robots
Hartman, Zdeněk ; Materna, Zdeněk (referee) ; Španěl, Michal (advisor)
This bachelor thesis describe module design for text detection and recognition for use in robotic systems. To detect charters is used Stroke Width transform, which is applied on the input edge image. In the output image after Stroke Width transform are found connected components. For letter grouping into a words is used Hough transform, which is applied on the created binary image. This image contains points, which corresponding positions of found connected components. To recognize signs in detected areas is used Tesseract library. Before recognition detected areas are extracted and rotated into a horizontal position. This proposed detector can detect even rotated text. Accuracy of detection of the text is 75% above the test set "informační tabule".
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3D Game with Leap Motion Controller
Mainuš, Matěj ; Zahrádka, Jiří (referee) ; Španěl, Michal (advisor)
The goal of this bachelor's thesis is to design and create a 3D labyrinth game controlled by hand gestures. This is achieved by using the Leap Motion sensor. Results of this thesis are the cross-platform 3D game based on Unity engine and a custom library that integrates Leap Motion SDK to the Unity engine. The developed library is able to suppresses detection errors introduced by the common LeapMotion SDK
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Visualization Environment for Robot Remote Control
Blahož, Vladimír ; Polok, Lukáš (referee) ; Španěl, Michal (advisor)
This thesis presents possibilities of 3D point cloud and true colored digital video fusion that can be used in the process of robot teleoperation. Advantages of a 3D environment visualization combining more than one sensor data, tools to facilitate such data fusion, as well as two alternative practical implementations of combined data visualization are discussed. First proposed alternative estimates view frustum of the robot's camera and maps real colored video to a semi-transparent polygon placed in the view frustum. The second option is a direct coloring of the point cloud data creating a colored point cloud representing color as well as depth information about an environment.
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Interactive Visualization of Large 3D Graphics in Web Browser
Ludvík, Martin ; Vlnas, Michal (referee) ; Španěl, Michal (advisor)
This bachelor thesis deals with rendering data-intensive scenes in a web browser. The resulting application interactively displays point clouds in a web browser using javascript API WebGPU. WebGPU makes the application more powerful than WebGL-based applications. The user interface is created using basic CSS and Javascript. It is possible to work with point clouds containing hundreds of billions of points. At the same time, the user is allowed to change the source of the appearance of individual points.
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CPU Rendering of Large Volumetric Data
Majer, Michal ; Milet, Tomáš (referee) ; Španěl, Michal (advisor)
This work examines direct rendering of large volumetric data on the CPU. The aim was to design a parallel implementation of Ray casting algorithm in the Rust programming language and to implement Early Ray Termination and Empty Space Skipping optimizations to speed up rendering. I also designed a demo application to interactively display volumes using this algorithm. A volumetric data generator was also created as part of the work.Both optimizations in the resulting solution offer a 12× speed up. Parallelization further improves this number and renders a large volume at 3.92 FPS on the tested system.
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Processing and Streaming Video in Browser for Screen Recording
Svačina, Lukáš ; Beran, Vítězslav (referee) ; Španěl, Michal (advisor)
Aim of the thesis is to design and implement unique service based on the newest technologies in web apps fi eld which allows screen recording followed by P2P distribution between participating users using web browser only. Thesis deals with the analysis of modern and coming technologies which allow practical implementation of such a service. It involves obtaining access to the screen source data, its recording, transforming and transmission over the network followed by playing on the other side. Recorded videos are adapted for part by part use in a player with seeking capability. Distributed architecture for data exchange between peers using peer-to-peer connection based on hybrid P2P VoD network provides scalability of the solution. The player allows obtaining the necessary parts of the videos from the current watchers with smooth video playback experience during ongoing transmissions whilst allowing arbitrary video shifting. In consideration of early stages of development or experimental support for some of the APIs needed for this work, research into browsers' support with discussion on realistic applicability nowadays is always performed.
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User Interface for Control of Service Robot
Kapinus, Michal ; Španěl, Michal (referee) ; Beran, Vítězslav (advisor)
The aim of the thesis is to design, create and evaluate a user interface for control of service robot. I will focus on controlling of robotic arm, to be able to accomplish pick and place tasks. Specifically I will work with robotic platform PR2. The thesis describes different devices for sensing and perception of a user and usage of information from these devices to control robotic arm. Moreover, different methods for controlling of robotic arm are described there. Application design and implementation is presented further in this thesis together with description of the experiments used for evaluation of application.
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Vertex and Pixel Shaders OpenGL Visualisation of Medical 3D Image Data
Vaďura, Jiří ; Španěl, Michal (referee) ; Kršek, Přemysl (advisor)
This thesis deals with accelerated 3D rendering of medical data, e.g. computed tomography, using a graphics processor and OpenGL library. Raw data slices are send to graphic memory and rendered by a ray-casting algorithm. The goal of this project is high quality visual output and full user interaction at the same time. Multiple rendering modes are avaiable to the user: MIP, X-Ray simulation and realistic shading.
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Surface Reconstruction from Point Clouds
Jarůšek, Tomáš ; Zemčík, Pavel (referee) ; Španěl, Michal (advisor)
Surface reconstruction from point clouds represents very modern and widespreadly used method for digitalization of real surfaces. The main focus of this work is on a comparison of several algorithms (Poisson surface reconstruction, Ball Pivoting Algorithm, Fourier surface reconstruction, Wavelet surface reconstruction and Multi-level Partition of Unity implicits) that reconstruct original surface in a form of triangle mesh from an oriented point cloud. Every algorithm was used in a series of tests on both real and synthetic datasets which were also modified to suit more complicated experiments. The following evaluation is done in various categories. The results are evaluated both visualy and with calculated measures (such as Hausdorff distance). Together these experiments depict a detailed analysis of the state of surface reconstruction algorithms. Our experimets show that the selection of optimal algorithm depends on a concrete task. Overall Possion surface reconstruction and Fourier surface reconstruction provide the best results.
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