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Localisation of Mobile Robot in the Environment
Urban, Daniel ; Sochor, Jakub (referee) ; Veľas, Martin (advisor)
This diploma thesis deals with the problem of mobile robot localisation in the environment based on current 2D and 3D sensor data and previous records. Work is focused on detecting previously visited places by robot. The implemented system is suitable for loop detection, using the Gestalt 3D descriptors. The output of the system provides corresponding positions on which the robot was already located. The functionality of the system has been tested and evaluated on LiDAR data.
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3D model
Sládeček, Martin ; Petyovský, Petr (referee) ; Richter, Miloslav (advisor)
This paper concerns the task three-dimensional scene using image sequence obtained with an ordinry camera. First portion of this thesis outlines the principles used in solving of the task, the second chapter describes a reconstucion algorithm and it's implementation in the Python programming language. The output of this program is demonstrated on several selected scenes. Final remarks discuss the quality of resulting models, shortcomings of the program and possible improvements.
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Panoramic Photo Creation
Dospiva, Filip ; Sochor, Jakub (referee) ; Behúň, Kamil (advisor)
This thesis contains a comparison of approaches to implementation of the panoramic photos. There are analyzed partial steps to create panoramas and access methods that are used for these steps. There is a preview of the methods and schedules their advantages and disadvantages. Also included is a comparison of these methods and evaluation of their usability.
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Stitching of Retinal Images
Hladyuk, Vadym ; Semerád, Lukáš (referee) ; Drahanský, Martin (advisor)
The purpose of this work is to create a complete picture of the retina, by stitching together a number of partial photos. Since there is no working solution which would be able to capture the entire retina in one picture, this is an important problem to cover. The results will be demonstrated at the end of the text. The problem of stitching partial pictures together was solved by extracting vessels in retinal images, finding key points in images, finding common key points, calculating a transformation matrix and transforming one image into another. After a consultation with an ophthalmologist I was able to define steps which will allow me to further improve the work, which are analyzed in texts. The thesis will provide the reader knowledge about the eye apparatus. It will also introduce field of color models, image formats, algorithms for searching for key points, the transformation of the images themselves and it will also provide a possible way to compose retinal images and also suggest possible improvements.
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Capturing Very High Quality Images of Planar Surfaces by a Smartphone
Šebela, Vít ; Hradiš, Michal (referee) ; Herout, Adam (advisor)
The main goal of this bachelor's thesis is to design and create mobile app for iOS platform, which will allow the capture of high quality image of planar surface. Application can be used in lots of use cases where high quality of captured image is needed, like capturing photo of contract, wood pattern or book cover. Main building block of the application is to capture set of photos of planar surface, which is then used for calculation of the resulting high quality image. Calculation is performed using OpenCV library. Planar homography is used for image alignment, the quality of the resulting image is then achieved by combination of image averaging techniques, increase of resolution and reconstruction of details using Lanczos interpolation and image sharpening using Unsharp mask technique.
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3D reconstruction from multiple views
Sládeček, Martin ; Klečka, Jan (referee) ; Richter, Miloslav (advisor)
This thesis deals with the task of three-dimensional scene reconstruction using image data obtained from multiple views. It is assumed that intrinsic parameters of the utilized cameras are known. The theoretical chapters describe the basic priciples of individual reconstruction steps. Variuous possible implementaions of data model suitable for this task are also described. The practical part also includes a comparison of false keypoint correspondence filtering, implementation of polar stereo rectification and comparison of disparity map calculation methods that are bundled with the OpenCV library. In the final portion of the thesis, examples of reconstructed 3D models are presented and discussed.
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Facial features recognition of unknown persons
Bartončík, Michal ; Babinec, Tomáš (referee) ; Horák, Karel (advisor)
This paper describes the various components and phases of the search and recognition of facial expressions of unknown persons. They are presented here as well as possible solutions and methods of addressing each phase of the project. My master’s thesis is designed to recognize facial expressions of unknown persons. For this thesis, I was lent industrial video camera, computer, and place in a laboratory. Furthermore, we introduce the color spaces and their use. From the lead representatives selects the most appropriate assistance for the use of Matlab and the proposed algorithm. After finding a suitable color space segments skin color in the image. The skin, however, surrounds the entire body and so need to be found, the separated parts of the image representing the color of skin, a face. Once you find a face is needed to find relevant points for the identification subsequent deformation to definition of facial expressions. We define here the actual muscle movements in different expressions.
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Birds Eye Panorama
Sobotka, Lukáš ; Pavelková, Alena (referee) ; Kolář, Martin (advisor)
The goal of this paper is to create panorama from the collection of photographies, which are taken from randomly moving device with OS Android. The device is placed on flying vehicle (a kite, a helium balloon, a drone etc.). The photographies are taken from birds eye view. The Android application was created and tested. This application creates a collection of photographies and then runs an algorithm to create panorama. This algorithm specifies descriptors using SURF, which are filtered by RANSAC algorithm for finding the optimal homography.This algorithm is perfomed iteratively over the collection. The image data is processed using the OpenCV library.
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3D Objects Detection in Images
Bordovský, Gabriel ; Veľas, Martin (referee) ; Španěl, Michal (advisor)
This bachelors thesis deals with detection of a known 3D object in images and its pose estimation. The method uses the ORB-type keypoints and their location on the surface of a bounding box. By using solve of PnP problem a pose of the object is obtained using the points 2D coordinates from the image and the 3D coordinates of the very points from the registered model. This thesis expands a detection method for simple box-shaped objects, which is a part of OpenCV library, for the usage on more complex objects. In experiments, the detector reached a detection success rate of 85 % and the computed pose matches the real one approximately for 88 %.
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