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Bin Picking and Robotic Vision
Múčka, Jan ; Parák, Roman (referee) ; Matoušek, Radomil (advisor)
The aim of this master’s thesis is to describe the Robotic Vision for Bin Picking usage and creating an application for the realization of this task. This application will be able to distinguish several objects based on data from a camera with deep perception and should find the location of object, recognize it and determine its location and orientation. Bin Picking is one of the biggest challenges in today's automation.
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Sampling Rate Conversion
Hylmar, Petr ; Vítek, Martin (referee) ; Kozumplík, Jiří (advisor)
This thesis is focused on sampling rate conversion by a rational factor interpolation and decimation and sampling rate coversion by an arbitrary factor interpolation and decimation. There are described methods sampling rate conversion in time domain based on lowpass FIR linear filter and in spectral domain based on zero spectral lines. These methods are created in Matlab programming and tested on particular example. The results of this thesis are sensible parameter lowpass FIR linear filter for sampling rate conversion and discussion success rate used methods.
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Identification of 3D objects for Robotic Applications
Hujňák, Jaroslav ; Návrat, Aleš (referee) ; Matoušek, Radomil (advisor)
This thesis focuses on robotic 3D vision for application in Bin Picking. The new method based on Conformal Geometric Algebra (CGA) is proposed and tested for identification of spheres in Pointclouds created with 3D scanner. The speed, precision and scalability of this method is compared to traditional descriptors based method. It is proved that CGA maintains the same precision as the traditional method in much shorter time. The CGA based approach seems promising for the use in the future of robotic 3D vision for identification and localization of spheres.
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Efficient Computation of Lighting
Kubovčík, Tomáš ; Pečiva, Jan (referee) ; Milet, Tomáš (advisor)
This bachelor's thesis deals with efficient computation of lighting in graphics scenes containing many light sources. Basic lighting calculation techniques as well as techniques derived from them will be introduced. The main goal of this thesis is to investigate tiled shading and its optimalizations described more in detail in both theoretical and practical sections. Concluding part consists of experiments performed on this techniques measuring their efficiency as well as implementation details of some interesting or important parts of them.
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Tool for Automatic Subtitle Alignment
Chudý, Daniel ; Chlubna, Tomáš (referee) ; Milet, Tomáš (advisor)
The main motivation of this work is to simplify the retiming of subtitles, where the inputs are the original and edited video files and subtitles corresponding to the original video. Example – a video editor needs to cut a scene from a video. Subtitles that correspond with the clipped part of the video must be manually removed and the subtitle part that follows the clipped part must be manually re-timed. The tool makes this work easier by automating it. From an arbitrarily edited version of the video file (cuts), the original file and the original subtitles, a version of subtitles will be created that fits the edited version of the video file. Simply put, the goal is to align the original subtitles with the edited video file. The solution is the conversion of video files to audio files (.wav, wavfile), extraction of MFCC (Mel-frequency cepstral coefficients) and subsequent mutual comparison with the Dynamic Time Warping (DTW) algorithm. From the alignment path (DTW output), signal differences (cuts in the video) are detected and subtitles are adjusted based on them. A dataset was created to test the application consisisting of public domain films and own recordings. The created application provides 69 – 90 % subtitle alignment success on a dataset that contains videos of length 1 – 60 minutes.
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Identification of 3D objects for Robotic Applications
Hujňák, Jaroslav ; Návrat, Aleš (referee) ; Matoušek, Radomil (advisor)
This thesis focuses on robotic 3D vision for application in Bin Picking. The new method based on Conformal Geometric Algebra (CGA) is proposed and tested for identification of spheres in Pointclouds created with 3D scanner. The speed, precision and scalability of this method is compared to traditional descriptors based method. It is proved that CGA maintains the same precision as the traditional method in much shorter time. The CGA based approach seems promising for the use in the future of robotic 3D vision for identification and localization of spheres.
|
|
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Bin Picking and Robotic Vision
Múčka, Jan ; Parák, Roman (referee) ; Matoušek, Radomil (advisor)
The aim of this master’s thesis is to describe the Robotic Vision for Bin Picking usage and creating an application for the realization of this task. This application will be able to distinguish several objects based on data from a camera with deep perception and should find the location of object, recognize it and determine its location and orientation. Bin Picking is one of the biggest challenges in today's automation.
|
|
|
Sampling Rate Conversion
Hylmar, Petr ; Vítek, Martin (referee) ; Kozumplík, Jiří (advisor)
This thesis is focused on sampling rate conversion by a rational factor interpolation and decimation and sampling rate coversion by an arbitrary factor interpolation and decimation. There are described methods sampling rate conversion in time domain based on lowpass FIR linear filter and in spectral domain based on zero spectral lines. These methods are created in Matlab programming and tested on particular example. The results of this thesis are sensible parameter lowpass FIR linear filter for sampling rate conversion and discussion success rate used methods.
|
|
|
Efficient Computation of Lighting
Kubovčík, Tomáš ; Pečiva, Jan (referee) ; Milet, Tomáš (advisor)
This bachelor's thesis deals with efficient computation of lighting in graphics scenes containing many light sources. Basic lighting calculation techniques as well as techniques derived from them will be introduced. The main goal of this thesis is to investigate tiled shading and its optimalizations described more in detail in both theoretical and practical sections. Concluding part consists of experiments performed on this techniques measuring their efficiency as well as implementation details of some interesting or important parts of them.
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