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Point Cloud Rendering Approaches for Camera Pose Verification
Kremel, Tomáš ; Pajdla, Tomáš (advisor) ; Guba, Peter (referee)
Visual localization is the problem of estimating the 6 degrees of freedom camera pose from which a query image was taken relative to a known reference scene representation. It is the key for applications such as Augmented, Mixed, and Virtual Reality, as well as autonomous robotics such as drones or self-driving cars. This thesis focuses on a visual localization pipeline, especially on its pose verification and reranking step. The pipeline uses 3D point clouds and 2D-3D correspondences be- tween the query image and 3D scene points for candidate camera poses estimations. The thesis explores point cloud rendering approaches as they are utilized in the pipeline and the verification step-the render of the discretized scene from a given candidate position is compared to the actual query image to asses if the given couple depicts the same place. One of the main challenges of such rendering is occlusion handling. Due to the sparsity of points employed for otherwise continuous real world representation, information about what lies in the front and what is hidden can be easily lost when projected to the 2D image. Rendering approaches explored in this thesis focus on the challenge directly or as a component of a novel view synthesis DNN-based renderer. Rendering influence on localization performance is investigated. 1
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Diplomacy-Based Strategy Game
Valach, Miroslav ; Pilát, Martin (advisor) ; Guba, Peter (referee)
Strategy games are known for allowing players to choose from a vast array of different strategies that can be employed to achieve victory. The major- ity of these games revolve around the standardized pillars of 4X (Explore, Expand, Exploit, Exterminate) games such as Civilization or Stellaris. How- ever, these pillars often encourage conquest or aggressive means to achieve victory, thereby rendering a peaceful approach as a rarely viable strategy to pursue. In this project, our aim was to create a strategy game that focuses on player interaction through diplomacy. The main goal is to provide players with free- dom similar to Diplomacy, where players can and have to utilize multilateral politics in order to achieve victory. As a proof of concept, we have successfully developed a game prototype using Unreal Engine. The prototype showcases a diplomacy-based game with multilateral diplomacy at its core. The gameplay demonstrates the viability of diplomacy as the primary strategy for achieving victory in video games.
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Analysis of different MCTS implementations of artificial intelligence for the Children of the Galaxy computer game
Guba, Peter ; Gemrot, Jakub (advisor) ; Holeňa, Martin (referee)
Monte Carlo Tree Search (MCTS) is a popular game AI algorithm that searches the state space of a game while using randomized playouts to evaluate new states. There have been many papers published about various adjustments of the original algorithm, however, work that compares multiple of these algorithms together does not seem to exist. This lack of data can make it difficult to decide which variant to use without implementing and testing them which is potentially quite time-consuming. The aim of this thesis is therefore twofold. First to create such a comparison in a specific setting and second to introduce a new variant, WP MCTS, which is based on the idea that one should be able to gather more information from a playout by taking a look at all the states encountered during its computation. For our setting, we chose battles between small armies in a 4X computer game called Children of the Galaxy. The results presented here indicate that many, though not all tested variants outperform basic MCTS in this setting. 1
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Cube Fighter
Guba, Peter ; Kofroň, Jan (advisor) ; Švancara, Jiří (referee)
Real-time strategy games and action games are two very different types of computer games. In my project, I attempted to see whether they could be combined to make a coherent whole, with mixed results. The backbone of my game is its real-time strategy mode, inspired by Warcraft III and The Battle for Middle-earth 1 and 2. In this mode, the player can create buildings and units and use them to fight the enemy. The game also has another mode of playing which imitates action games. In it, the player only controls a single unit. The second mode ended up being just a fun add-on instead of an essential part of the gameplay as I had originally intended. The reason behind that wasn't that it would be impossible to make it so, but rather that it would require my game to be far more complex.
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