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National Repository of Grey Literature

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Vehicle Classification Using Radar Gottwald, Vilém ; Zemčík, Pavel (referee) ; Maršík, Lukáš (advisor) Cílem této práce je rozpoznávání vozidel z radarových mračen bodů. Radar poskytuje informace o vzdálenosti a úhlu každého detekovaného cíle. Tyto informace lze převést do kartézského souřadnicového systému a získat tak 3D reprezentaci scény ve formě mračna bodů. V této práci jsou představeny stávající přístupy k rozpoznávání objektů v mračnech bodů. Metoda zvolená pro tuto práci spočívá v detekci objektů pomocí shlukování bodů a následné klasifikaci pomocí rekurentní neuronové sítě. Shluky bodů reprezentující objekty jsou vytvářeny z mračen bodů pomocí modifikovaného algoritmu DBSCAN. Z jednotlivých objektů jsou extrahovány příznaky, které jsou využity pro klasifikaci na různé typy vozidel pomocí neuronové sítě s dlouhodobou krátkodobou pamětí (LSTM). Pro trénování a vyhodnocení modelu byla vytvořena datová sada obsahující 57 345 anotovaných objektů. Vyvinutý model dosáhl na těchto datech 83% přesnosti metriky F1-skóre. Detailed record

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