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Gamification of line-follower robot videorecordings
Soboňa, Tomáš ; Honec, Peter (referee) ; Janáková, Ilona (advisor)
This bacheor’s thesis is concerned with the processing of a vehicle’s trajectory following a black line located on an unchanging white background, and subsequently comparing of the quality of each vehicle’s covered distance on this trajectory. The first part of the thesis describes the theory for recognizing the track, individual graphic tags, as well as detection of important points in the picture and their correlation with points in another picture, for which an algorithm SIFT is used. The second part deals with the description of the program, which was created as part of this work, its classes and methods. The program is written in Python, for image processing is used mainly an open source library OpenCV and, to a lesser extent, the NumPy library. Finally, the results are concluded at the end of the thesis.
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Path tracking system for autonomous car model
Molčány, Peter ; Macho, Tomáš (referee) ; Petyovský, Petr (advisor)
The aim of this thesis is designing and constructing path tracking vehicle. Thesis is divided into two major parts. In the first, we discuss hardware possibilities of the model. Additional lighting system is needed for better performance in low-lighting conditions. Communication module is selected according to needs of this task. The second part is software design. Control software LineCruiser Monitor for PC was created and LineCruiser for Android was developed for the needs of efficient parameter reading and writing. Different path detecting algorithms were tested. Information about the speed of the car was used for speed regulation. In the last chapter we evaluate the results
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Mobile robot control and guidance using computer vision
Granát, Michal ; Jílek, Tomáš (referee) ; Mišík, Štefan (advisor)
Teória riadenia je aplikovaná takmer všade okolo nás, počnúc reguláciou teploty v našich domoch cez modelovanie správania sa trhu až po riadenie vesmírnych lodí. Dôvod, prečo je tomu tak je, je jej výkonnosť a krása, obe skryté v použitých matematických aparátoch. Kolesové mobilné roboty sú taktiež veľmi rozšírené, hlavne v priemysle, kvôli ich obrovskej nosnosti, ktorá je nevyhnutná. Veľmi presné detekovanie trasy je dôležité kvôli dôslednému riadeniu robota po jeho ceste. Jedna z najjednoduchších možností ako vynačiť trasu je použitie čiary, ktorá má iné optické vlastnosti ako jej podklad. Na detekovanie takto určenej trasy existuje niekoľko metód, ale najvýkonnejšie a najefektívnejšie je použitie kamery s následným digitánym spacovaním obrazu, ktoré je síce náročné na výpočtovú silu, ale je ním možne získať obrovské množstvo dát. Hoci táto metóda môže vyzerať zastaralo (vodiaca čiara) stále sa využíva v niektorých projektoch práve kvôli jej jednoduchosti a nízkej cene. Skutočné použitie kamery pre navigáciu všeobecne (nie pomocou čiary) je dokonca zatiaľ oblasť, ktorá je stále vo vývoji. Cieľom tejto práce je zostaviť malý mobilný robot, vytvoriť matematický model, navrhnúť niekoľko regulátorov a riadiť robot po vyznačenej čiare za použitia camery a počítačového videnia.
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Road detection using data from mobile robot camera
Peška, Jaroslav ; Horák, Karel (referee) ; Petyovský, Petr (advisor)
Bachelor thesis deals with the problem of road detection by mobile robots using data obtained from its camera. First, current solutions are researched and considered for use in the proposed algorithm. Afterwards we define limit parameters of the entire solution. An automatic process using human-created reference was then devised to programatically determine the accuracy of individual versions of proposed solutions. First, an initial version of the solution was implemented, which was subsequently optimized and accelerated using GPGPU. Lastly, proposed algorithm is evaluated and possible future changes are outlined.
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Increasing the Drone Pilot Orientation by Using a Second Drone
Hubinák, Róbert ; Kapinus, Michal (referee) ; Beran, Vítězslav (advisor)
This work deals with the implementation of drone tracking by a second drone in order to improve pilot orientation. The main focus is work with drones from DJI. The proposed concept allows the pilot to observe the drone from new angles, which contributes to better navigation and the overall flight experience. The work included the study of drone control and stabilization, as well as the implementation of algorithms for drone tracking and data transfer between drones.
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Road detection using data from mobile robot camera
Peška, Jaroslav ; Horák, Karel (referee) ; Petyovský, Petr (advisor)
Bachelor thesis deals with the problem of road detection by mobile robots using data obtained from its camera. First, current solutions are researched and considered for use in the proposed algorithm. Afterwards we define limit parameters of the entire solution. An automatic process using human-created reference was then devised to programatically determine the accuracy of individual versions of proposed solutions. First, an initial version of the solution was implemented, which was subsequently optimized and accelerated using GPGPU. Lastly, proposed algorithm is evaluated and possible future changes are outlined.
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Gamification of line-follower robot videorecordings
Soboňa, Tomáš ; Honec, Peter (referee) ; Janáková, Ilona (advisor)
This bacheor’s thesis is concerned with the processing of a vehicle’s trajectory following a black line located on an unchanging white background, and subsequently comparing of the quality of each vehicle’s covered distance on this trajectory. The first part of the thesis describes the theory for recognizing the track, individual graphic tags, as well as detection of important points in the picture and their correlation with points in another picture, for which an algorithm SIFT is used. The second part deals with the description of the program, which was created as part of this work, its classes and methods. The program is written in Python, for image processing is used mainly an open source library OpenCV and, to a lesser extent, the NumPy library. Finally, the results are concluded at the end of the thesis.
|
|
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Mobile robot control and guidance using computer vision
Granát, Michal ; Jílek, Tomáš (referee) ; Mišík, Štefan (advisor)
Teória riadenia je aplikovaná takmer všade okolo nás, počnúc reguláciou teploty v našich domoch cez modelovanie správania sa trhu až po riadenie vesmírnych lodí. Dôvod, prečo je tomu tak je, je jej výkonnosť a krása, obe skryté v použitých matematických aparátoch. Kolesové mobilné roboty sú taktiež veľmi rozšírené, hlavne v priemysle, kvôli ich obrovskej nosnosti, ktorá je nevyhnutná. Veľmi presné detekovanie trasy je dôležité kvôli dôslednému riadeniu robota po jeho ceste. Jedna z najjednoduchších možností ako vynačiť trasu je použitie čiary, ktorá má iné optické vlastnosti ako jej podklad. Na detekovanie takto určenej trasy existuje niekoľko metód, ale najvýkonnejšie a najefektívnejšie je použitie kamery s následným digitánym spacovaním obrazu, ktoré je síce náročné na výpočtovú silu, ale je ním možne získať obrovské množstvo dát. Hoci táto metóda môže vyzerať zastaralo (vodiaca čiara) stále sa využíva v niektorých projektoch práve kvôli jej jednoduchosti a nízkej cene. Skutočné použitie kamery pre navigáciu všeobecne (nie pomocou čiary) je dokonca zatiaľ oblasť, ktorá je stále vo vývoji. Cieľom tejto práce je zostaviť malý mobilný robot, vytvoriť matematický model, navrhnúť niekoľko regulátorov a riadiť robot po vyznačenej čiare za použitia camery a počítačového videnia.
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Path tracking system for autonomous car model
Molčány, Peter ; Macho, Tomáš (referee) ; Petyovský, Petr (advisor)
The aim of this thesis is designing and constructing path tracking vehicle. Thesis is divided into two major parts. In the first, we discuss hardware possibilities of the model. Additional lighting system is needed for better performance in low-lighting conditions. Communication module is selected according to needs of this task. The second part is software design. Control software LineCruiser Monitor for PC was created and LineCruiser for Android was developed for the needs of efficient parameter reading and writing. Different path detecting algorithms were tested. Information about the speed of the car was used for speed regulation. In the last chapter we evaluate the results
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