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Colour extension of image Fast Point Feature Histogram
Markovsky, Aleksander ; Druckmüller, Miloslav (referee) ; Procházková, Jana (advisor)
Diplomová práce se zabývá rozšířením Fast Point Feature Histogramů o barevnou informaci za účelem vylepšení registrace mračen bodů. Popisuje proces registrace mračen bodů pomocí Iterative Closest Point, jakou roli v ní plní FPFH a diskutuje, jaké barevné prostory jsou vhodné pro registraci mračen bodů. Pro vyhodnocení přínosu zahrnutí barevné informace práce prezentuje implementaci ICP a FPFH algoritmů v Pythonu a navrhuje metodologii evaluace registrace mračen. Závěr práce je věnován diskuzi výsledků experimentů, které demonstrují, že použití barevné informace v registraci mračen snižuje počet iterací potřebných ke konvergenci ICP.
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3D Mapping of Outdoor Environment
Janalík, Radim ; Orság, Filip (referee) ; Herman, David (advisor)
This thesis deals with 3D map building of outdoor environment using laser rangefinders. Sensor measurements are transformed to the points and are aggregated to an internal model with respect to the current robot's position. From these points, a triangular mesh is created using Delaunay triangulation algorithm. The memory requirements for storing the internal model are reduced by mesh decimation algorithm. The presented method builds the map incrementally in real time. Several experiments have been conducted to verify the presented approach.
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Photon Mapping
Nečas, Ondřej ; Španěl, Michal (referee) ; Herout, Adam (advisor)
This thesis deals with practical implementation of photon mapping algorithm. To achieve better results some basic and some more advanced methods of global illumination has been examined. These time demanding algorithms are often practically unusable and their further optimization is necessary. Optimized ray tracer is essential for practical implementation. Computing diffuse interreflection by Monte Carlo sampling is also very time demanding operation. Therefore it is appropriate to use it along with proper interpolation.
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Distributed Ray Tracing in Reasonable Time
Slovák, Radek ; Polok, Lukáš (referee) ; Herout, Adam (advisor)
This thesis deals with the method of distributed ray tracing focusing on optimalization of this method. The method uses simulation of some attributes of light by distributing rays of lights and it produces high quality and partly realistic images. The price for realitic effects is the high computational complexity of the method. The thesis analysis the theory connected with these aspects. A large part describes optimalizations of this method, i.e. searching for the nearest triangle intersection using kd-trees, quasi random sampling with faster convergence, the use of SSE instruction set and fast ray - triangle intersection. These optimalizations brought a noticable speed - up. The thesis includes description of implementation of these techniques. The implementation itself emphasises the practical usability including generating some advanced animations and universal description of objects.
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K-Nearest Neighbour Search Methods
Cigánik, Marek ; Bartík, Vladimír (referee) ; Burgetová, Ivana (advisor)
The thesis describes the basic concept of the K-nearest neighbors algorithm and its connection with the human concept of object similarity. Concepts and key ideas such as the distance function or the curse of dimensionality are elaborated. The work includes a detailed description of the methods KD-Tree, Spherical Tree, Locality-Sensitive Hashing, Random Projection Tree and families of algorithms based on the nearest neighbor graph. An explanation of the idea with visualizations, pseudocodes and asymptotic complexities is provided for each method. The methods were subjected to experiments and both basic and more advanced metrics were measured and appropriate use cases for individual methods were evaluated.
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3D Mapping of Outdoor Environment
Janalík, Radim ; Orság, Filip (referee) ; Herman, David (advisor)
This thesis deals with 3D map building of outdoor environment using laser rangefinders. Sensor measurements are transformed to the points and are aggregated to an internal model with respect to the current robot's position. From these points, a triangular mesh is created using Delaunay triangulation algorithm. The memory requirements for storing the internal model are reduced by mesh decimation algorithm. The presented method builds the map incrementally in real time. Several experiments have been conducted to verify the presented approach.
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|
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Distributed Ray Tracing in Reasonable Time
Slovák, Radek ; Polok, Lukáš (referee) ; Herout, Adam (advisor)
This thesis deals with the method of distributed ray tracing focusing on optimalization of this method. The method uses simulation of some attributes of light by distributing rays of lights and it produces high quality and partly realistic images. The price for realitic effects is the high computational complexity of the method. The thesis analysis the theory connected with these aspects. A large part describes optimalizations of this method, i.e. searching for the nearest triangle intersection using kd-trees, quasi random sampling with faster convergence, the use of SSE instruction set and fast ray - triangle intersection. These optimalizations brought a noticable speed - up. The thesis includes description of implementation of these techniques. The implementation itself emphasises the practical usability including generating some advanced animations and universal description of objects.
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Photon Mapping
Nečas, Ondřej ; Španěl, Michal (referee) ; Herout, Adam (advisor)
This thesis deals with practical implementation of photon mapping algorithm. To achieve better results some basic and some more advanced methods of global illumination has been examined. These time demanding algorithms are often practically unusable and their further optimization is necessary. Optimized ray tracer is essential for practical implementation. Computing diffuse interreflection by Monte Carlo sampling is also very time demanding operation. Therefore it is appropriate to use it along with proper interpolation.
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