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3D Mapping of Outdoor Environment
Janalík, Radim ; Orság, Filip (referee) ; Herman, David (advisor)
This thesis deals with 3D map building of outdoor environment using laser rangefinders. Sensor measurements are transformed to the points and are aggregated to an internal model with respect to the current robot's position. From these points, a triangular mesh is created using Delaunay triangulation algorithm. The memory requirements for storing the internal model are reduced by mesh decimation algorithm. The presented method builds the map incrementally in real time. Several experiments have been conducted to verify the presented approach.
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Automorphing of the Image Pairs
Čermák, Pavel ; Nečas, Ondřej (referee) ; Beran, Vítězslav (advisor)
This thesis I deal with creating automorphing between source and destination image. The thesis describes existing methods and algorithms for creating morphing. The thesis focuses on the design and implementation methods for creating automorphing. For this purpose it is necessary to detect significant points in the image, find correspondence of to these points and create your own morphing.
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Parametrization of Image Point Neighborhood
Zamazal, Zdeněk ; Bařina, David (referee) ; Zemčík, Pavel (advisor)
This master thesis is focused on parametrization of image point neighborhood. Some methods for point localization and point descriptors are described and summarized. Gabor filter is described in detail. The practical part of thesis is chiefly concerned with particle filter tracking system. The weight of each particle is determined by the Gabor filter.
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Tetrahedral Mesh Processing Library
Hromádka, David ; Havel, Jiří (referee) ; Španěl, Michal (advisor)
Many architecure, medical and engineering applications need a spacial support for various numerical computations (i.e. FEM simulations). Tetrahedral meshes are one of perspective spatial representations for them. In this thesis, several possibilities of effective tetrahedral mesh representation for its generating and processing are described. A computer library for the mesh processing is proposed which can be characterized by memory efficient imposition of the mesh while preserving the ability to apply topological and geometric algorithms effectively. The library is implemented in C++ language using templates. Time and space complexity of typical mesh operations is compared with CGAL library and according to measurements the proposed library has lower memory requirements than CGAL.
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Navigation of mobile robots
Rozman, Jaroslav ; Matoušek,, Václav (referee) ; Šolc, František (referee) ; Zbořil, František (advisor)
Mobile robotics has been very discussed and wide spread topic recently. This due to the development in the computer technology that allows us to create better and more sophisticated robots. The goal of this effort is to create robots that will be able to autonomously move in the chosen environment. To achieve this goal, it is necessary for the robot to create the map of its environment, where the motion planning will occur. Nowadays, the probabilistic algorithms based on the SLAM algorithm are considered standard in the mapping in these times. This Phd. thesis deals with the proposal of the motion planning of the robot with stereocamera placed on the pan-and-tilt unit. The motion planning is designed with regard to the use of algorithms, which will look for the significant features in the pair of the images. With the use of the triangulation the map, or a model will be created. The benefits of this work can be divided into three parts. In the first one the way of marking the free area, where the robot will plan its motion, is described. The second part describes the motion planning of the robot in this free area. It takes into account the properties of the SLAM algorithm and it tries to plan the exploration in order to create the most precise map. The motion of the pan-and-tilt unit is described in the third part. It takes advantage of the fact that the robot can observe places that are in the different directions than the robot moves. This allows us to observe much bigger space without losing the information about the precision of the movements.
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Attributes Calculation for Prediction of Mutation Effect on Protein Function
Šinkora, Jan ; Filák, Jakub (referee) ; Jaša, Petr (advisor)
This thesis deals with issues of bioinformatics, machine learning, algorithms and data structures. The thesis is based on existing applications, Caver and Deleterious, developed by students from the Faculty of Informatics, Masaryk University and the Faculty of Information Technology, Brno University of Technology. The Deleterious framework calculates protein attributes that are important for the prediction of the effect of protein mutations on its function. Caver is a tool that finds tunnels in the 3-dimensional model of a protein. The goal of the thesis is to extend these applications by adding more attributes to the prediction process that could lead to improved prediction. The added attributes are related to detection and measurement of protein pockets.
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Navigation of mobile robots
Rozman, Jaroslav ; Matoušek,, Václav (referee) ; Šolc, František (referee) ; Zbořil, František (advisor)
Mobile robotics has been very discussed and wide spread topic recently. This due to the development in the computer technology that allows us to create better and more sophisticated robots. The goal of this effort is to create robots that will be able to autonomously move in the chosen environment. To achieve this goal, it is necessary for the robot to create the map of its environment, where the motion planning will occur. Nowadays, the probabilistic algorithms based on the SLAM algorithm are considered standard in the mapping in these times. This Phd. thesis deals with the proposal of the motion planning of the robot with stereocamera placed on the pan-and-tilt unit. The motion planning is designed with regard to the use of algorithms, which will look for the significant features in the pair of the images. With the use of the triangulation the map, or a model will be created. The benefits of this work can be divided into three parts. In the first one the way of marking the free area, where the robot will plan its motion, is described. The second part describes the motion planning of the robot in this free area. It takes into account the properties of the SLAM algorithm and it tries to plan the exploration in order to create the most precise map. The motion of the pan-and-tilt unit is described in the third part. It takes advantage of the fact that the robot can observe places that are in the different directions than the robot moves. This allows us to observe much bigger space without losing the information about the precision of the movements.
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Attributes Calculation for Prediction of Mutation Effect on Protein Function
Šinkora, Jan ; Filák, Jakub (referee) ; Jaša, Petr (advisor)
This thesis deals with issues of bioinformatics, machine learning, algorithms and data structures. The thesis is based on existing applications, Caver and Deleterious, developed by students from the Faculty of Informatics, Masaryk University and the Faculty of Information Technology, Brno University of Technology. The Deleterious framework calculates protein attributes that are important for the prediction of the effect of protein mutations on its function. Caver is a tool that finds tunnels in the 3-dimensional model of a protein. The goal of the thesis is to extend these applications by adding more attributes to the prediction process that could lead to improved prediction. The added attributes are related to detection and measurement of protein pockets.
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Automorphing of the Image Pairs
Čermák, Pavel ; Nečas, Ondřej (referee) ; Beran, Vítězslav (advisor)
This thesis I deal with creating automorphing between source and destination image. The thesis describes existing methods and algorithms for creating morphing. The thesis focuses on the design and implementation methods for creating automorphing. For this purpose it is necessary to detect significant points in the image, find correspondence of to these points and create your own morphing.
|
|
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3D Mapping of Outdoor Environment
Janalík, Radim ; Orság, Filip (referee) ; Herman, David (advisor)
This thesis deals with 3D map building of outdoor environment using laser rangefinders. Sensor measurements are transformed to the points and are aggregated to an internal model with respect to the current robot's position. From these points, a triangular mesh is created using Delaunay triangulation algorithm. The memory requirements for storing the internal model are reduced by mesh decimation algorithm. The presented method builds the map incrementally in real time. Several experiments have been conducted to verify the presented approach.
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