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Multispectral Map Building in Mobile Robotics
Burian, František ; Mazal,, Jan (referee) ; Zemčík, Pavel (referee) ; Žalud, Luděk (advisor)
The dissertation deals with utilisation of multispectral optical measurement for data fusion that may be used for visual telepresence and indoor/outdoor mapping by heterogeneous mobile robotic system. Optical proximity sensors, thermal imagers, and tricolour cameras are used for the fusion. The described algorithms are optimised to work in real-time and implemented on CASSANDRA robotic system made by our robotic research group.
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Photorealistic Rendering
Lysek, Tomáš ; Kučiš, Michal (referee) ; Zemčík, Pavel (advisor)
The thesis describes implementation of photorealistic method. The first part describes the procedures and techniques, that are used to display photorealistic scenes such as raytracing, radiosity or photon mapping and other techniques used in computer graphics. The second part of thesis is focused on evaluation of current state of problem. In this part is also described reason of choosing this topic and thesis assignment is there more specified. The last part of thesis is focused on implementation details of photorealistic method.
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Real-Time Photorealistic Rendering of Voxel Scenes
Flajšingr, Petr ; Matýšek, Michal (referee) ; Milet, Tomáš (advisor)
The subject of this thesis is an implementation of realistic rendering of voxel scenes using a graphics card. This work explains the fundamentals of realistic rendering and voxel representation of visual data. It also presents selected hierarchical structures usable for acceleration and describes the desing of a solution focusing on the representation of voxel data and their rendering. The thesis describes libraries created as part of the project and algorithms. It also evaluates time and memory requirements of the application along with graphical output.
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Dynamic Scene Model for Mobile Robot
Görig, Jan ; Štancl, Vít (referee) ; Španěl, Michal (advisor)
This master's thesis focuses on representation of geometric information about the surrounding environment for robotic systems. Instead of a common point-cloud based representation, an environment model that stores information about objects described by bounding boxes and planes is proposed. These objects can be obtained from trained object detectors, planar surface detectors, etc. processing data from sensors (e.g. RGB-D camera). The information about the objects (position, etc.) stored in the model is constantly changing according to data obtained from detectors. The environment model is implemented as a module for Robot Operating System. To illustrate and visualize features of the model, a demonstration application was also prepared.
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Visualization and User Interface for Theatre Stage Control System
Kobza, Lukáš ; Ševcovic, Jiří (referee) ; Zemčík, Pavel (advisor)
This thesis deals with questions of modelling and 3D visualization. Also, it involves an overview of technical equipment on a theatre stage and control systems of this machinery with accent on user interface and all the interaction with staff. Afterwards, the main topic is the investigation of 3D visualization utilization technology in the field of theatre stage control systems and then the proposal and implementation of the theatre stage 3D visualization application follows in order to increase a clearness and safety of operation with the theatre control system.
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Improvements of Shadow Rendering
Kobrtek, Jozef ; Kozlíková, Barbora (referee) ; Váša, Libor (referee) ; Herout, Adam (advisor)
Táto práca sa zaoberá inkrementálnym zlepšením techniky tieňových telies. V práci sa popisuje vylepšenie vykresľovania z pohľadu robustnosti kde bol navrhnutý nový spôsob deterministického výpočtu siluety na rôznych platformách. Táto technika bola v ďalšom kroku zjednodušená a celý algoritmus tieňových telies implementovaný prostredníctvom hardvérovej teselácie. Ďalej bola navrhnutá metóda akcelerovanej extrakcie siluety z modelu pomocou oktálového stromu. Navrhnuté metódy boli v závere porovnané s aktuálnymi modernými algoritmami s tvrdými všesmerovými tieňmi.
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Pathtracing on GPU
Březina, Karel ; Kobrtek, Jozef (referee) ; Polok, Lukáš (advisor)
This bachelor thesis focuses on the acceleration of rendering algorithm pathtracing. Thesis's goal is demonstration and performance comparison between implementation on CPU and GPU. Both implementations will be discussed and compared between themselves. Furthermore, will be describe possibilities of extending existing application.
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3D Map Building Based on Stereo Vision for Mobile Robot Navigation
Babinec, Adam ; Orság, Filip (referee) ; Herman, David (advisor)
This thesis is dedicated to the subject of passive stereo vision in modern robotics. The work includes the design and implementation of autonomous passive binocular stereo vision system for mobile robot navigation. A three-dimensional local map is built up by aggregation of point clouds created by reprojection of the image pairs taken with stereocamera. The image pairs are reprojected using disparity map obtained with application of block matching algorithms on the image pairs. The local map is represented by voxel grid stored in an octree and it supports detection of moving obstacles on ray-casting principle. Visual odometry is calculated by tracking reprojected paired image features detected in series of image pairs. The system allows user to choose different approaches to the problem solving, it is platform and hardware-independent and provides graphic user interface.
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3D laser range finder SICK application
Fritz, Tomáš ; Krček, Petr (referee) ; Marada, Tomáš (advisor)
This thesis presents a use of 3D laser range finder designed for purposes of autnonomous mobile systems. The 3D scanner is built as extension of 2D laser range finder with rotation module. In the first section is described laser range finder SICK LMS 291 and his pitching construction along with used software tools. Second part deals with design and implementation of algorithms for data reading and their processing with methods of surface reconstruction, octree and object segmentation with Hough transform.
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Watermarking 3D Models
Stehlík, Václav ; Beran, Vítězslav (referee) ; Španěl, Michal (advisor)
This bachelor's thesis is dedicated to embedding and extraction of watermarks to/from 3D models represented by polygonal mesh. The goal is to choose a suitable method for watermark embedding and extraction to/from a 3D model for the purpose of implementing a tool of such capabilities. The resulting solution uses methods proposed in article A Novel Blind Robust Digital Watermarking on 3D Meshes . Used methods create two watermarks. 'OTC' watermark that changes vertices of the model and 'Zero' watermark that does not change the model at all. These watermarks provide robustness against attacks and modification such as translation, scaling, rotation, simplification, random noise, remeshing and vertex reordering. Used methods also preserve imperceivability of watermark thanks to minimal changes of the model. Methods are blind and do not require original model. The tool is implemented in a form of simple web application which allows user to embed and extract watermark to/from files in stl format. This work includes testing and evaluation of success and usability of the tool against various attacks on chosen test set of models.
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