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Visual odometry for robotic vehicle Car4
Szente, Michal ; Krejsa, Jiří (referee) ; Najman, Jan (advisor)
This thesis deals with algorithms of visual odometry and its application on the experimental vehicle Car4. The first part contains different researches in this area on which the solution process is based. Next chapters introduce theoretical design and ideas of monocular and stereo visual odometry algorithms. The third part deals with the implementation in the software MATLAB with the use of Image processing toolbox. After tests done and based on real data, the chosen algorithm is applied to the vehicle Car4 used in practical conditions of interior and exterior. The last part summarizes the results of the work and address the problems which are asociated with the application of visual obmetry algorithms.
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3D reconstruction from multiple images
Řehoř, Jan ; Odstrčilík, Jan (referee) ; Jakubíček, Roman (advisor)
This thesis deals with 3D reconstruction of objects from multiple frames. Thesis is divided into five chapters. The first one is connected with theory, so, it is about 3D reconstruction, about camera geometry description and about reconstruction algorithms. The following are made up by practical parts, in which are described single steps of 3D reconstruction realization, so, it is about frame acquisition, camera calibration and about used algorithms. Last part of the thesis is made up by discussion and conclusion in which the results of the experiment are discussed and summarized.
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Automatic Processing of Recordings from In-Car Camera
Klos, Dominik ; Herout, Adam (referee) ; Španěl, Michal (advisor)
This thesis deals with the automatic processing of recordings from in-car camera, which is used for estimating distances in a scene filmed. To achieve this goal, it uses the methods of image processing, spatial geometry of the scene and 3D reconstruction, whose final output is a partial model. For this aim, the Bundler tool is used. Results of reconstruction are visualized in the application, which then allows to estimate the distance of objects from the camera or the distance between each other.
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Use of Kinect sensors for Motion Capture with Source Filmmaker and Blender software
VANĚK, Jan
The aim of my bachelor thesis is process the possibilities of using Kinect sensors for Motion Capture in Source Filmmaker and Blender programs. Motion Capture is a technology that captures motion by using Kinect sensors and applying the obtained data in 3D graphics programs. My main goal will be primarily to explore on subsequently describe the exact procedure to process the data obtained from Kinect sensors in Blender and Source Filmmaker. Furthermore, my other goals are comparison of the use of this technique to classical manual animation, the advantages and disadvantages of use in individual programs will be described and the possibilities of combining Motion Capture and classical animation will be tested. I´ll also try to modify Kinect hardware for Xbox One for direct connection to a Windows computer. Furthermore, a comparison of the quality of Motion Capture from Kinects for Windows and the Xbox One and comparison of capturing motion with one or more Kinect sensors. For the practical part I will create my own animated sequences, captured by Kinects in combination with manual animation in Blender and these sequences will be used in Unity to create an interactive movie that the user himself will be able to control.
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3D reconstruction from multiple images
Řehoř, Jan ; Odstrčilík, Jan (referee) ; Jakubíček, Roman (advisor)
This thesis deals with 3D reconstruction of objects from multiple frames. Thesis is divided into five chapters. The first one is connected with theory, so, it is about 3D reconstruction, about camera geometry description and about reconstruction algorithms. The following are made up by practical parts, in which are described single steps of 3D reconstruction realization, so, it is about frame acquisition, camera calibration and about used algorithms. Last part of the thesis is made up by discussion and conclusion in which the results of the experiment are discussed and summarized.
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Visual odometry for robotic vehicle Car4
Szente, Michal ; Krejsa, Jiří (referee) ; Najman, Jan (advisor)
This thesis deals with algorithms of visual odometry and its application on the experimental vehicle Car4. The first part contains different researches in this area on which the solution process is based. Next chapters introduce theoretical design and ideas of monocular and stereo visual odometry algorithms. The third part deals with the implementation in the software MATLAB with the use of Image processing toolbox. After tests done and based on real data, the chosen algorithm is applied to the vehicle Car4 used in practical conditions of interior and exterior. The last part summarizes the results of the work and address the problems which are asociated with the application of visual obmetry algorithms.
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Automatic Processing of Recordings from In-Car Camera
Klos, Dominik ; Herout, Adam (referee) ; Španěl, Michal (advisor)
This thesis deals with the automatic processing of recordings from in-car camera, which is used for estimating distances in a scene filmed. To achieve this goal, it uses the methods of image processing, spatial geometry of the scene and 3D reconstruction, whose final output is a partial model. For this aim, the Bundler tool is used. Results of reconstruction are visualized in the application, which then allows to estimate the distance of objects from the camera or the distance between each other.
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3D Scene Reconstruction from Images
Hejl, Zdeněk ; Kršek, Přemysl (referee) ; Španěl, Michal (advisor)
This thesis describes methods of reconstruction of 3D scenes from photographs and videos using the Structure from motion approach. A new software capable of automatic reconstruction of point clouds and polygonal models from common images and videos was implemented based on these methods. The software uses variety of existing and custom solutions and clearly links them into one easily executable application. The reconstruction consists of feature point detection, pairwise matching, Bundle adjustment, stereoscopic algorithms and polygon model creation from point cloud using PCL library. Program is based on Bundler and PMVS. Poisson surface reconstruction algorithm, as well as simple triangulation and own reconstruction method based on plane segmentation were used for polygonal model creation.
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