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Road and path segmentation in images for autonomous driving scenario
Janíček, Ondřej ; Cihlář, Miloš (referee) ; Svědiroh, Stanislav (advisor)
This bachelor's thesis deals with the topic of segmentation of roads and paths for the purposes of autonomous driving. In the theoretical part, it deals with computer vision, simple segmentation methods, and practical solutions to the problem using convolutional neural networks and classical methods. In the practical part, the work deals with the collection of test data, the selection of a suitable programming language, and the selection of suitable libraries. Subsequently, the procedure for programming our own solution will be presented. Here it starts with pre-processing to convert the image into a grayscale image and filtering the noise, then finding the edges in the image using the Canny edge detector, followed by the definition of the region of interest, with the subsequent Hough transform to detect the straight lines in the image, and in the last stage, filtering the horizontal lines and averaging the remaining lines. At the end of the thesis, the results of the presented solution are compared with respect to robustness and computational complexity.
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Robot for Robotour 2012
Vass, Robert ; Luža, Radim (referee) ; Rozman, Jaroslav (advisor)
The aim of this article is the theoretical analysis, proposal and implementation of a method for the operation of an autonomous robot for Robotour 2012 with the help of camera and sensor usage. Key issues to be faced are the computer vision, robot sensing uncertainty and the localization problem. Firstly, road extraction is achieved by using colour segmentation. Secondly, for the combination of information of different uncertain sources, Kalman Filter is proposed. Finally, the information received by the camera which serves for the building of an occupancy grid map corrected by sensors is de facto the representation of environment for the robot.
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Road Detection in the Camera Image
Šedo, Jan ; Luža, Radim (referee) ; Rozman, Jaroslav (advisor)
Bachelor's thesis deals with road detection in camera image. It contains overview of used methods in this area and their most frequented usage, brief introduction to image processing and to ROS framework. Then it gives proposal and details of implementation of application, which analyzes the image and performs segmentation in order to separate the road and it's surroundings by global thresholding method with use of ROS and OpenCV libraries. Application is tested on the data gathered for purposes of Robotour 2013 contest and on series of own recorded data. Finally it contains evaluation of results and discussion about future work on this project.
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Road detection using data from mobile robot camera
Peška, Jaroslav ; Horák, Karel (referee) ; Petyovský, Petr (advisor)
Bachelor thesis deals with the problem of road detection by mobile robots using data obtained from its camera. First, current solutions are researched and considered for use in the proposed algorithm. Afterwards we define limit parameters of the entire solution. An automatic process using human-created reference was then devised to programatically determine the accuracy of individual versions of proposed solutions. First, an initial version of the solution was implemented, which was subsequently optimized and accelerated using GPGPU. Lastly, proposed algorithm is evaluated and possible future changes are outlined.
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Road detection using data from mobile robot camera
Peška, Jaroslav ; Horák, Karel (referee) ; Petyovský, Petr (advisor)
Bachelor thesis deals with the problem of road detection by mobile robots using data obtained from its camera. First, current solutions are researched and considered for use in the proposed algorithm. Afterwards we define limit parameters of the entire solution. An automatic process using human-created reference was then devised to programatically determine the accuracy of individual versions of proposed solutions. First, an initial version of the solution was implemented, which was subsequently optimized and accelerated using GPGPU. Lastly, proposed algorithm is evaluated and possible future changes are outlined.
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Robot for Robotour 2012
Vass, Robert ; Luža, Radim (referee) ; Rozman, Jaroslav (advisor)
The aim of this article is the theoretical analysis, proposal and implementation of a method for the operation of an autonomous robot for Robotour 2012 with the help of camera and sensor usage. Key issues to be faced are the computer vision, robot sensing uncertainty and the localization problem. Firstly, road extraction is achieved by using colour segmentation. Secondly, for the combination of information of different uncertain sources, Kalman Filter is proposed. Finally, the information received by the camera which serves for the building of an occupancy grid map corrected by sensors is de facto the representation of environment for the robot.
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Road Detection in the Camera Image
Šedo, Jan ; Luža, Radim (referee) ; Rozman, Jaroslav (advisor)
Bachelor's thesis deals with road detection in camera image. It contains overview of used methods in this area and their most frequented usage, brief introduction to image processing and to ROS framework. Then it gives proposal and details of implementation of application, which analyzes the image and performs segmentation in order to separate the road and it's surroundings by global thresholding method with use of ROS and OpenCV libraries. Application is tested on the data gathered for purposes of Robotour 2013 contest and on series of own recorded data. Finally it contains evaluation of results and discussion about future work on this project.
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