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Object Detection on Robotic Workplace Using Two Kinects
Dragúň, Peter ; Beran, Jan (referee) ; Rozman, Jaroslav (advisor)
This thesis deals with the use of a multi-depth camera Microsoft Kinect V2 for object pose estimation. The main emphasis is on calibration, including mutual and also calibration of a single camera. Which is critical for correct transformation. The theoretical part thesis describes methods for object detection and their pose estimation in space using the robotic operating system. The practical part thesis describes resolving issues with USB saturation by adding a single board computer based on ARM architecture for secondary Kinect.
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3D Model of a Room Using Kinect
Zemek, Martin ; Veľas, Martin (referee) ; Španěl, Michal (advisor)
This thesis is about finding significant planar surfaces in point cloud and their conversion to polygons. Which is important step for making a 3D model of a room. Input is point cloud, which was recorded by Kinect v2 sensor. Tool for capturing one snapshot from Kinect is included in this thesis. For recording more detailed point cloud is needed external program. Some of the programs are mentioned further in this thesis. For plane detection is used RANSAC. Inliers are divided using Euclidean Cluster Extraction. These clusters are converted to polygon using convex or concave hull. Application is capable of working with one snapshot or bigger point cloud assembled by registration of particular snapshots and detect primary and secondary planar surfaces. For the largest plane points can be prepared for creation of a texture and dimensions of this plan can be printed in CLI.
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Obstacle detection using an image-based 3D scanner
Rybin, Andrei ; Kumpán, Pavel (referee) ; Hrbáček, Jan (advisor)
Tato bakalářská práce se zabývá implementaci softwaru pro systém detekci překážek pomoci kamerového 3D skeneru Kinect V2. V rešeršní části jsou detailně popsány existující druhy kamerových 3D skenerů, jsou analyzovány existujiící řešení, a algoritmy v oblasti detekci překážek a je uvedena potřebná teorie. Praktická část se skládá ze tři části: popis použité robotické platformy, rozbor implementaci softwaru pro detekci překáźek, a diskuzní část s analýzou výsledků experimentů. Na závěr vyvínutý systém je zhodnocen, jsou navrženy možnosti jeho aplikace a dalšího vývoje.
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Kinect v2 sensor usability in mobile robotics
Margetaj, Martin ; Kumpán, Pavel (referee) ; Krejsa, Jiří (advisor)
This thesis discusses parametres of senzor Kinect v2 and its usability in robotics. The work attempts to analyze and write correct installation steps of the drivers necessary for proper operation of the sensor under Ubuntu and framework ROS. The work contains a set of measurements that will be used for comparsion with the Hokuyo URG-04LX-UG01 sensor.
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Object Detection on Robotic Workplace Using Two Kinects
Dragúň, Peter ; Beran, Jan (referee) ; Rozman, Jaroslav (advisor)
This thesis deals with the use of a multi-depth camera Microsoft Kinect V2 for object pose estimation. The main emphasis is on calibration, including mutual and also calibration of a single camera. Which is critical for correct transformation. The theoretical part thesis describes methods for object detection and their pose estimation in space using the robotic operating system. The practical part thesis describes resolving issues with USB saturation by adding a single board computer based on ARM architecture for secondary Kinect.
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Řízení polohy robotického ramene s využitím detekce gest
Schmied, Miloslav
The thesis deals with the design and implementation of user interface for robotic manipulator control by means of gesture detection of the operator. The used manipulator is the Katana 6M180 with five degrees of freedom. Gestures are detected using an innovated sensor system which includes Microsoft Kinect version 2 and Leap Motion sensors. The first part provides an overview of existing solutions and used technologies. The second part describes the design of the user interface, its implementation and testing.
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Obstacle detection using an image-based 3D scanner
Rybin, Andrei ; Kumpán, Pavel (referee) ; Hrbáček, Jan (advisor)
Tato bakalářská práce se zabývá implementaci softwaru pro systém detekci překážek pomoci kamerového 3D skeneru Kinect V2. V rešeršní části jsou detailně popsány existující druhy kamerových 3D skenerů, jsou analyzovány existujiící řešení, a algoritmy v oblasti detekci překážek a je uvedena potřebná teorie. Praktická část se skládá ze tři části: popis použité robotické platformy, rozbor implementaci softwaru pro detekci překáźek, a diskuzní část s analýzou výsledků experimentů. Na závěr vyvínutý systém je zhodnocen, jsou navrženy možnosti jeho aplikace a dalšího vývoje.
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Kinect v2 sensor usability in mobile robotics
Margetaj, Martin ; Kumpán, Pavel (referee) ; Krejsa, Jiří (advisor)
This thesis discusses parametres of senzor Kinect v2 and its usability in robotics. The work attempts to analyze and write correct installation steps of the drivers necessary for proper operation of the sensor under Ubuntu and framework ROS. The work contains a set of measurements that will be used for comparsion with the Hokuyo URG-04LX-UG01 sensor.
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|
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3D Model of a Room Using Kinect
Zemek, Martin ; Veľas, Martin (referee) ; Španěl, Michal (advisor)
This thesis is about finding significant planar surfaces in point cloud and their conversion to polygons. Which is important step for making a 3D model of a room. Input is point cloud, which was recorded by Kinect v2 sensor. Tool for capturing one snapshot from Kinect is included in this thesis. For recording more detailed point cloud is needed external program. Some of the programs are mentioned further in this thesis. For plane detection is used RANSAC. Inliers are divided using Euclidean Cluster Extraction. These clusters are converted to polygon using convex or concave hull. Application is capable of working with one snapshot or bigger point cloud assembled by registration of particular snapshots and detect primary and secondary planar surfaces. For the largest plane points can be prepared for creation of a texture and dimensions of this plan can be printed in CLI.
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