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Ball Trajectory Estimation from Images
Heřman, Zdeněk ; Materna, Zdeněk (referee) ; Španěl, Michal (advisor)
Main goal of this thesis is to design a method for ball trajectory estimation from images, and to evaluate the proposed method using an experimental setup. Both the method and the experimental setup were designed to be suitable for a golf simulator. The proposed solution uses a stereo camera for flying ball tracking. Accurracy of the ball detection in images is further improved by using a pulsed light source. A solution reaches an accuracy that can be compared with cheaper simulators that already exist. Nevertheless prize is lower.
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Robot Programming in Augmented Reality
Sabela, David ; Materna, Zdeněk (referee) ; Kapinus, Michal (advisor)
The aim of this master's thesis was to develop an application, which would allow its users to program robotic actions with the help the augmented reality. The application is of demonstrative character and is made with the goal of intuitive handling and good integration of the augmented reality. This experimental application enables users to design a program for a robot using visual instructions, conditions and links and to test it by visualizing the passage through the program. The application is implemented with the use of Unity3D and the AR Foundation technology. The result was tested by a group of volunteers, whose feedback can be considered generally positive.
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Quadcopter Camera Utilization for Scene Context Monitoring in Outdoor Environment
Běl, Petr ; Materna, Zdeněk (referee) ; Beran, Vítězslav (advisor)
This bachelor thesis deals with design and implementation of user interface for quadcopter control by mobile device. Most important design aspect is ability to scene monitoring by camera carried by quadcopter. Selected criterion was solved by control gestures drawn on device display, thus deletion of unnecessary graphical control elements. Comfort for scene monitoring is ensured by multiple ight modes using same set of gestures. For purpose of connecting robot with mobile device in this work has been chosen platform Robot Operating System. Its transfer to mobile device was implemented by RosJava library for the selected operating system Android. Main contribution of this thesis is creation of mobile application which allows to pilot quadcopter and watch transmitted image from its camera not being disturbed by control elements. This advantage is most important for devices with smaller displays like smartphones.
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Additional Motor for Electric Scooter
Staroň, Patrik ; Materna, Zdeněk (referee) ; Zemčík, Pavel (advisor)
Electric scooters are very good for everyday personal transportation. Electric scooter Xiaomi M365 Pro 2 is a very popular model of electric scooter. The goal of this thesis is adding a secondary motor to the scooter's body and demonstrate how it can be controlled. Ideal option for control of two motors is proposed. Low-cost option is a result of scooter analysis and reverse-engineering, and it is also implemented and tested. Thesis is heavily focused on efficiency analysis and parameters for optimization are presented.
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Dialogue System for Human-Robot Communication
Birger, Mark ; Materna, Zdeněk (referee) ; Smrž, Pavel (advisor)
In this thesis a problematic of spoken dialog systems was discovered. The dialog system framework was developed for a fast implementation of spoken dialog interfaces for existing robotics software. This framework allows describing a dialog flow in special markup format, which allows scope variables manipulating and controlling a flow of general-purpose programming language software by user input phrase. Markup language is designed for asynchronous function execution and subsequent manipulations with them. It allows robot to solve tasks simultaneously. Developed framework uses Link Grammar Parser for natural language processing. With this framework was implemented a dialog system instance for PR2 robot control.
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User Interface for Robot Control in Object Grasping Task
Manďák, Roman ; Materna, Zdeněk (referee) ; Beran, Vítězslav (advisor)
This bachelor work is focused on design and implementation of the user interface (UI) for the control of a robot during grasping objects. Common devices as well as the less ordinary ones were used and compared for capturing user gestures of various types. The work includes an in-depth analysis of the devices which are used in robotics, a description of existing solutions which serves as a ground for application design, and rules for creating the UI. Further are described design, implementation, the experiments with the application which were conducted, and in the end the result of the comparison of control devices.
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Cloud-Based Server for Robot Management
Jezerský, Matouš ; Kapinus, Michal (referee) ; Materna, Zdeněk (advisor)
The goal of this project is to make robots running the ROS platform, and the servers running on them, more accessible to the users, without the need of reconfiguration after a change of network or the need of direct VPN connection, as well as with the emphasis on minimal software requirements for both users and robots. The result is an open-source application, which provides that. The solution is a reverse proxy server, put inbetween the clients and the servers running on robots - Dispatcher. For connection between clients and robots, two OpenVPN networks are used, and as a secure user interface, the existing system RMS is used and extended with Dispatcher interface. Among other things, Dispatcher collects information about all connected robots so a summary can be displayed. This set of software tools therefore allows an authorized user to connect to robots in various networks, without the need of other client software apart of OpenVPN client and web browser.
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Inteligent Video-Player
Sabela, David ; Materna, Zdeněk (referee) ; Kapinus, Michal (advisor)
The aim of this bachelor thesis was to create a user interface for displaying interesting or indifferent way significant events from the views of surveillance camera systems. In the first part of the thesis - Theory - technologies useful for the creation of a web application working with video are described. Principles of graphical quality in user interferences are also summarized in this part, as well as explanation of the principal questions of the surveillance camera systems problematics. In the second and third part - Design and Implementation - my own solution of the prototype of inteligent video player is depicted. The resulting prototype is thereafter subjected to examination by several testers whose results are analysedand evaluated in the final part - Testing.
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Ground Vehicle Control by User Gestures
Chlud, Michal ; Materna, Zdeněk (referee) ; Beran, Vítězslav (advisor)
This bachelor's work is focused on basic methods leading to successful gesture recognition in video sequence using standard RGB camera. Key steps required for hand classification are described, mainly segmentation of input video based on skin color model. Next there are discussed methods for object tracking and gesture analysis. Main goal of this work is to demonstrate this knowledge by creating application which controls robot's movement by hand gesture analysis. Solution is proposed and individual implementation steps are described.
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Non-Linear Filtering of Large 3D Images
Škrášek, Michael ; Materna, Zdeněk (referee) ; Španěl, Michal (advisor)
This bachelor thesis deals with design and effective implementation of nonlinear filters, bilateral filter and non-local means filter, for denoising 3D image data. The implemented filters are optimized by various techniques such as parallel processing, integral image, sampling etc. This thesis project includes cross-platform solution of these filters in C\# language and two demonstration applications -- a GUI application for Windows and a cross-platform console application -- demonstrating the use of the library. The performance and output of implemented filters were tested and compared against open source reference filters (Itk, scikit-image), with the 3D bilateral filter implementation being up to $30×$ faster than the available implementation of the Itk filter and the implementation of the 3D non-local means filter is approximately $2×$ faster than the scikit-image implementation
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