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Vectorized Point Clouds for Mobile Robotics
Jelínek, Aleš ; Mazal, Jan (referee) ; Duchoň,, František (referee) ; Žalud, Luděk (advisor)
Disertační práce se zabývá zpracováním mračenen bodů z laserových skenerů pomocí vektorizace a následnému vyhledávání korespondencí mezi takto získanými aproximacemi pro potřeby současné sebelokalizace a mapování v mobilní robotice. První nová metoda je určena pro segmentaci a filtraci surových dat a realizuje obě operace najednou v jednom algoritmu. Pro vektorizaci je představen optimalizovaný algoritmus založený na úplné metodě nejmenších čtverců, který je v současnosti patrně nejrychlejší ve své třídě a blíží se tak eliminačním metodám, které ovšem produkují výrazně horší aproxi- mace. Inovativní analytické metody jsou představeny i pro účely vyjádření podobnosti mezi dvěma vektorizovanými skeny, pro jejich optimální sesazení a pro vyhledávání korespondencí mezi nimi. Všechny představené algoritmy jsou intezivně testovány a jejich vlastnosti ověřeny množstvím experimentů.
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Applications of least squares
Tichá, Martina ; Tůma, Jiří (advisor) ; Šaroch, Jan (referee)
In this work we analyze the method of least squares. We explain the basic mathematical theory that is crucial for understanding the method of least squares and show how the least squares problem can be solved via the system of normal equations using the QR-decomposition, Cholesky- decomposition or SVD of some matrix. We also show how the method of least squares can be used to solve the problem of data fitting and data classification. We have experimentally verified the theory covered in this thesis by implementing algorithm for recognizing handwritten digits. Apart from the handwritten digits recognition problem we show two more practical examples of the application of least squares. The first one relates to finding a solution to the least norm problem. In the second example we use the method of least squares to estimate the parameters of a linear measurement model.
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Computer Identification Based on Packet's Timestamps
Krba, Martin ; Košař, Vlastimil (referee) ; Kaštil, Jan (advisor)
Basic way how to identify a device in computer network is by MAC address and IP address. Main goal of this work is to create an application capable of clear identification of devices in computer network regardless change of their MAC address or IP address. This is done by exploiting tiny deviations in hardware clock known as clock skew. They appear in every clock based on quartz oscillator. Using clock skew is beneficial, because there is no need of any changes in fingerprinted device nor their cooperation. Accessing these values is done by capturing packets with timestamps included. Application of this method is very wide, for example computer forensics, tracking the device using different access points or counting devices behind router with NAT.
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Image analysis for correction of electron microscopes
Smital, Petr ; Schwarz, Daniel (referee) ; Kolář, Radim (advisor)
This thesis describes the physical nature of corrections of an electron microscope and mathematical methods of image processing required for their complete automation. The corrections include different types of focusing, astigmatism correction, electron beam centring, and image stabilisation. The mathematical methods described in this thesis include various methods of measuring focus and astigmatism, with and without using the Fourier transform, edge detection, histogram operations, and image registration, i.e. detection of spatial transformations in images. This thesis includes detailed descriptions of the mathematical methods, their evaluation using an “offline” application, descriptions of the algorithms of their implementation into an actual electron microscope and results of their testing on the actual electron microscope, in the form of a video footage grabbed from its control computer’s screen.
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Women status in sampled developing economies and its measurement
Pospíšilová, Jana ; Šaroch, Stanislav (advisor) ; Jarošová, Eva (referee)
The goal of this bachelor thesis is to reflect the impact of certain factors on the women status. The status is characterized by SIGI index created by OECD. Selected factors are from particular topics of education, transparency and mainly microfinance. The work presents these factors, overview about thirty observed countries and consequently offers models based on the least squares method. These models test set of hypothesis supporting the thesis objective.
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economy cars in the center: the allocation of parking space
Uhlířová, Petra ; Bartoň, Petr (advisor) ; Hudík, Marek (referee)
Possibility of parking plays a role in deciding where to go and the driver where to purchase goods and services. In sectors such as trade, hotels, catering, transport and storage is likely that some percentage of these drivers will form. The paper tries to explain whether the introduction of paid parking zones will affect the growth of businesses in these sectors since the introduction of paid parking zones receive visitors "theoretical" chance to park, compared to locations where paid parking zones are not. Work with the help of least-squares could not determine whether this hypothesis is true in parts of Prague 3 and 7, which introduced paid parking zones in 2008. The model appeared generally statistically insignificant, which can not be concluded whether the introduction of paid parking zones will lead to greater development of businesses in sectors such as trade, hotels, catering, transport and storage in the city of Prague 3 and 7
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The Productivity of Farmland depending on Chosen Elements
Partynglová, Soňa ; Pánková, Václava (advisor) ; Voltr, Václav (referee)
This thesis is focused on analysis of the factors that influence the yields of the wheat. This thesis is divided into three parts. The first part opens the problem of wheat cultivation. The second one concerns the methodologies of creating the econometrics models and the third one solves the problem as a whole. Considering a large data file I have a need to reduce it by the factor analysis. I estimate relevant econometric model by application different econometrics methods. This model will show the influences of technological, soil and climatic factors on the yields of wheat. At the end I confront the observed variables with predicted ones by the graininess of soil, climate and the year of the crops.
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Attendance of the Zoological Garden in Jihlava
Královská, Radka ; Hudík, Marek (advisor) ; Lahvička, Jiří (referee)
In this work I investigated the influence of selected factors on attendance of the Zoological Garden in Jihlava in the years 2001-2010. Each time series of monthly visitors were subjected to econometric analysis to determine the influence of explanatory variables on attendance. The work leads to the conclusion that attendance is significantly affected by air temperature, which was confirmed in all four models studied. Neither rainfall nor the price of admission didn't confirm the influence on the attendance of the Zoo, which may be due to low number of observations. The most significant impact on attendance had months of April and November, while other months were found to be very important in terms of attendance Zoo Jihlava.
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Algoritmus pro nelineární nejmenší čtverce
Balda, Miroslav
The contribution deals with a problem of experimental data processing by a least squares approach. A Matlab function based on Fletcher's version of Levenberg-Marquardt method has been implemented and tested even for a constrained problem
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