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Localisation of Mobile Robot in the Environment
Urban, Daniel ; Sochor, Jakub (referee) ; Veľas, Martin (advisor)
This diploma thesis deals with the problem of mobile robot localisation in the environment based on current 2D and 3D sensor data and previous records. Work is focused on detecting previously visited places by robot. The implemented system is suitable for loop detection, using the Gestalt 3D descriptors. The output of the system provides corresponding positions on which the robot was already located. The functionality of the system has been tested and evaluated on LiDAR data.
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3D model
Sládeček, Martin ; Petyovský, Petr (referee) ; Richter, Miloslav (advisor)
This paper concerns the task three-dimensional scene using image sequence obtained with an ordinry camera. First portion of this thesis outlines the principles used in solving of the task, the second chapter describes a reconstucion algorithm and it's implementation in the Python programming language. The output of this program is demonstrated on several selected scenes. Final remarks discuss the quality of resulting models, shortcomings of the program and possible improvements.
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Similarity Measure of Points of Interest in Image
Křehlík, Jan ; Beran, Vítězslav (referee) ; Herout, Adam (advisor)
This document deals with experimental verifying to use machine learning algorithms AdaBoost or WaldBoost to make classifier, that is able to find point in the second picture that matches original point in the first picture. This work also depicts finding points of interest in image as a first step of finding correspondence. Next there are described some descriptors of points of interest. Corresponding points could be useful for 3D modeling of shooted scene.
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Moving Persons Detection and Tracking
Johanová, Daniela ; Zahrádka, Jiří (referee) ; Španěl, Michal (advisor)
This bachelor's thesis deals with the person detection using RGB-D Microsoft Kinect sensor. Human body detector is based on the method Combohod which uses both color and depth information from Kinect sensor. The aim of the thesis was to create a person detector whose functionality is demonstrated by proposing a statistical application that collects statistical information about the people who passed the shop window. At the end of the thesis the experiments with the detector under varios different conditions are described.
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Image recognition for robotic hand
Labudová, Kristýna ; Jakubíček, Roman (referee) ; Harabiš, Vratislav (advisor)
This thesis concerns with processing of embedded terminals’ images and their classification. There is problematics of moire noise reduction thought filtration in frequency domain and the image normalization for further processing analyzed. Keypoints detectors and descriptors are used for image classification. Detectors FAST and Harris corner detector and descriptors SURF, BRIEF and BRISK are emphasized as well as their evaluation in terms of potential contribution to this work.
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Fast feature matching for simultaneous localization and mapping
Mikšík, Ondřej ; Richter, Miloslav (referee) ; Mikolajczyk,, Krystian (advisor)
Bakalářská práce se zabývá rychlým vyhledáváním lokálních obrazových vlastností v rozsáhlých databázích pro simultánní lokalizaci a mapování prostředí. Součástí práce je krátký přehled detektorů a deskriptorů invariantních vůči rotaci, translaci, změně měřítka a affinitě. Pro řadu aplikací z oblasti počítačového vidění (SLAM, object retrieval, wide–robust baseline stereo, tracking, . . . ) je odezva reálném čase naprosto nezbytná. Jako řešení sublineární časové náročnosti vyhledávání v databázích bylo navrženo použití vícenásobných náhodně generovaných KD–stromů. Dále je předkládán nový způsob dělení dat do vícenásobných KD–stromů. Navíc byl navržen nový, obecně použitelný vyhodnocovací software (podporovány jsou KD–stromy, BBD-stromy a k-means stromy.)
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Object Detection Using Kinect
Řehánek, Martin ; Hradiš, Michal (referee) ; Španěl, Michal (advisor)
With the release of the Kinect device new possibilities appeared, allowing a simple use of image depth in image processing. The aim of this thesis is to propose a method for object detection and recognition in a depth map. Well known method Bag of Words and a descriptor based on Spin Image method are used for the object recognition. The Spin Image method is one of several existing approaches to depth map which are described in this thesis. Detection of object in picture is ensured by the sliding window technique. That is improved and speeded up by utilization of the depth information.
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Similarity search in image collections
Navrátil, Lukáš ; Bartoš, Tomáš (advisor) ; Skopal, Tomáš (referee)
Detection of keypoints from image and their characterization by using descriptors is common technique in some branches of computer vision. The goal of this thesis is to explore and confirm usability of this technique for similarity retrieval in image collections. For this purpose it will be created a web application used for collecting ratings of similarity from users which will be subsequently compared with results computed by the implementation of SURF algorithm, one of algorithms used for detection and description of image keypoints. It will also be discussed the impact of metrics and parameters influencing results of computation of similarity between images and it will be made an effort to find settings for which computed results will be closest to user's similarity perception.
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