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Mobile Robot Localization Using Camera
Vaverka, Filip ; Orság, Filip (referee) ; Rozman, Jaroslav (advisor)
This thesis describes design and implementation of an approach to the mobile robot localization. The proposed method is based purely on images taken by a monocular camera. The described solution handles localization as an association problem and, therefore, falls in the category of topological localization methods. The method is based on a generative probabilistic model of the environment appearance. The proposed solution is capable to eliminate some of the difficulties which are common in traditional localization approaches.
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Vlastnosti grafů velkého obvodu
Volec, Jan ; Kráľ, Daniel (advisor) ; Sereni, Jean-Sébastien (referee)
In this work we study two random procedures in cubic graphs with large girth. The first procedure finds a probability distribution on edge-cuts such that each edge is in a randomly chosen cut with probability at least 0.88672. As corollaries, we derive lower bounds for the size of maximum cut in cubic graphs with large girth and in random cubic graphs, and also an upper bound for the fractional cut covering number in cubic graphs with large girth. The second procedure finds a probability distribution on independent sets such that each vertex is in an independent set with probability at least 0.4352. This implies lower bounds for the size of maximum independent set in cubic graphs with large girth and in random cubic graphs, as well as an upper bound for the fractional chromatic number in cubic graphs with large girth.
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Vlastnosti grafů velkého obvodu
Volec, Jan ; Kráľ, Daniel (advisor) ; Sereni, Jean-Sébastien (referee)
In this work we study two random procedures in cubic graphs with large girth. The first procedure finds a probability distribution on edge-cuts such that each edge is in a randomly chosen cut with probability at least 0.88672. As corollaries, we derive lower bounds for the size of maximum cut in cubic graphs with large girth and in random cubic graphs, and also an upper bound for the fractional cut covering number in cubic graphs with large girth. The second procedure finds a probability distribution on independent sets such that each vertex is in an independent set with probability at least 0.4352. This implies lower bounds for the size of maximum independent set in cubic graphs with large girth and in random cubic graphs, as well as an upper bound for the fractional chromatic number in cubic graphs with large girth.
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|
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Mobile Robot Localization Using Camera
Vaverka, Filip ; Orság, Filip (referee) ; Rozman, Jaroslav (advisor)
This thesis describes design and implementation of an approach to the mobile robot localization. The proposed method is based purely on images taken by a monocular camera. The described solution handles localization as an association problem and, therefore, falls in the category of topological localization methods. The method is based on a generative probabilistic model of the environment appearance. The proposed solution is capable to eliminate some of the difficulties which are common in traditional localization approaches.
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