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Research of Localization Algorithms in Wireless Sensor Networks
Holešinský, Pavel ; Morávek, Patrik (referee) ; Šimek, Milan (advisor)
This diploma thesis is focused on research of localization algorithms. Each developed localization algorithms are generally application specific. Because of application requirements diversity, many variants of localization algorithms exist. In case of finding appropriate localization algorithm for concrete application usability, existence of real condition simulation environment is useful. Development of this simulation environment was made simultaneously with both localization algorithms. At first, survey of available localization technic was performed and their summary was listed. Further work was aimed on research of two localization algorithms. Both of them use triangulation mechanism to determine unknown node position. This mechanism is based on measurement of distance to three reference points with known position. It would seem that both algorithms are similar, but simulation shows their difference and presents their suitability for diverse conditions.
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Web Application for Panorama Search
Pospíšil, Miroslav ; Čadík, Martin (referee) ; Brejcha, Jan (advisor)
The aim of my bachelor thesis is to create a web front-end, which provides mountain localisation of images. Images can be uploaded directly to the application or you can use images from the Flickr web service. Flickr is integrated in the application by Flickr API. Localisation of selected image is based on mountain horizon. User-aided semi-automatic horizon detection is approached by special user interface utilising the GrabCut algorithm for segmentation. Localisation is provided by server back-end which is connected and integrated with the designed application. Results for the detected horizon are visualised in a form of aligned horizon curves with position displayed using the Google Maps API. The final fully functional application was tested by moderated usability test with users. Application in this test performed well. Despite several shortcomings detected by the test the application was easy to use.
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Localisation of Mobile Robot in the Environment
Němec, Lukáš ; Hradiš, Michal (referee) ; Veľas, Martin (advisor)
This paper addresses the problem of mobile robot localization based on current 2D and 3D data and previous records. Focusing on practical loop detection in the trajectory of a robot. The objective of this work was to evaluate current methods of image processing and depth data for issues of localization in environment. This work uses Bag of Words for 2D data and environment of point cloud with Viewpoint Feature Histogram for 3D data. Designed system was implemented and evaluated.
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Autonomous driving concept for Formula Student
Pavel, Matěj ; Štětina, Josef (referee) ; Porteš, Petr (advisor)
The goal of the paper is to propose a new iteration of TU Brno Racing’s autonomous driving system. It first concerns itself with a general overview of autonomous vehicles and the rules of the Formula Student competition and an analysis of the current solution, with discussion of its flaws. Next, a solution is proposed to one of those flaws – vehicle localization utilizing an Extended Kalman Filter (EKF) for sensor fusion. Necessary filtering and transformations of the data are discussed. Finally, the paper contains a choice of sensors potentially useful for further increases in accuracy of the localization system.
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Visual Localization of an Object in 3D Space
Bátoryová, Jana ; Barták, Roman (advisor) ; Obdržálek, David (referee)
The purpose of this project is to propose and implement a system for object localization using a stereo vision - two cameras. The system computes the position of the cameras relatively to each other using a calibration pattern. Then a user selects an object to track. Different algorithms can be used for tracking. Both detection-based and sequence-based approaches can be used. When the object is found in the view of both cameras, the system estimates a position of the object in three-dimensional space using triangulation and displays the results live.
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Television Format Adaptation: British Panel Show in Czech Enviroment
Bašusová, Martina ; Bednařík, Petr (advisor) ; Štoll, Martin (referee)
The diploma thesis deals with the problem of adaptation of television formats in Czech environment with focus on British format of panel shows. It describes the development of television format from the cultural globalization, beginnings of television formats in the 50s to process of adaptation in Czech environment today. The research is focused on searching for the reason for the often unsuccessful adaptation of typical British format of panel shows to Czech environment. It explores two adapted shows, one successful and one unsuccessful and compares them based on defined categories. The thesis shows that the one of the most important aspect of successful format adaptation is usage of localisation elements, as well as the casting and character of the particular panel show.
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Stabilisation of a flying drone in dynamic environments
Škoda, Jan ; Barták, Roman (advisor) ; Obdržálek, David (referee)
This work describes the implementation of a system remotely a controlling flying drone that is able to stabilize and hold the drone still regardless of external influences and the inacurracy of sensors. That is achieved by utilizing visual data from the camera and information from sensors with neither any preceding knowledge of the environment nor a navigational signal. The core of the approach is a localization and mapping system tracking recognizable points in the camera image while maintaining a 3D map of those points. As the system can't measure the location of points seen through the camera or even the camera itself, it optimizes in real time and estimates the values of all those variables in order to minimize the total error. The output of visual localization is afterwards combined using the Kalman filter with non-visual navigational data. The filter then predicts future location using drone's dynamics model. The resulting location is then used for reactive navigation. Powered by TCPDF (www.tcpdf.org)
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Web Application for Panorama Search
Pospíšil, Miroslav ; Čadík, Martin (referee) ; Brejcha, Jan (advisor)
The aim of my bachelor thesis is to create a web front-end, which provides mountain localisation of images. Images can be uploaded directly to the application or you can use images from the Flickr web service. Flickr is integrated in the application by Flickr API. Localisation of selected image is based on mountain horizon. User-aided semi-automatic horizon detection is approached by special user interface utilising the GrabCut algorithm for segmentation. Localisation is provided by server back-end which is connected and integrated with the designed application. Results for the detected horizon are visualised in a form of aligned horizon curves with position displayed using the Google Maps API. The final fully functional application was tested by moderated usability test with users. Application in this test performed well. Despite several shortcomings detected by the test the application was easy to use.
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Localisation of Mobile Robot in the Environment
Němec, Lukáš ; Hradiš, Michal (referee) ; Veľas, Martin (advisor)
This paper addresses the problem of mobile robot localization based on current 2D and 3D data and previous records. Focusing on practical loop detection in the trajectory of a robot. The objective of this work was to evaluate current methods of image processing and depth data for issues of localization in environment. This work uses Bag of Words for 2D data and environment of point cloud with Viewpoint Feature Histogram for 3D data. Designed system was implemented and evaluated.
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