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Tabletop Object Detection
Timko, Martin ; Veľas, Martin (referee) ; Kapinus, Michal (advisor)
The aim of this thesis is to design and create a module for robotic platform PR2. This module has to detect objects in front of the robot on a table and enable various operations with these objects. This thesis describes methods of object detection which were used in the implementation of the module. The thesis also describes the methods used for design and implementation of this module. The module testing and evaluation of results are mentioned at the end of the thesis.
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The surveing of specific elements in the area of Admas
Koukal, Pavel ; Kalvoda, Petr (referee) ; Hanzl, Vlastimil (advisor)
The diploma thesis consists of two fundamental parts. The first part is focused on scanning a section of the Admas area by a terrestrial laser scanner. This section describes the introduction to laser scanning, necessary utilities and software, fieldwork, the process from the registration of a point cloud, through point cloud processing to its connection into the S-JTSK. The second part of the thesis is mostly focused on execution of the digital model of the relief from the acquired data. It also deals with the two methods of creating a cross-sectional drawing of the area - one is based on the digital model of the relief and the other on data obtained by the polar method. The outcome of the thesis is to assess the accuracy of the topographical model, based on the comparison with the polar method.
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Documentation bridge using terrestrial scanning
Ferencová, Anna ; Kalvoda, Petr (referee) ; Hanzl, Vlastimil (advisor)
The aim of this bachelor work is to scan with help of ground-based scanner bridge structure, which is part of the area of faculty of building VUT in Brno. Content of this work is theoretical base and consecutive practical elaboration of measured data. The result is effectuation of 3D model and examination of accuracy on control points.
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Detection of spatial objects in a point cloud
Venený, Petr ; Machotka, Radovan (referee) ; Volařík, Tomáš (advisor)
The diploma thesis deals with processing of a point cloud that was collected via mobile mapping system. The first part sets a theoretical background, starting with mapping in general moving to mobile mapping systems and their particular parts. The practical part describes the whole process of data collecting, testing the automatic detection of spatial objects based on a point cloud and its visualisation. The results of the diploma thesis are GIS data layers and an evaluation of the process.
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Construction phase in the building information model
Richterová, Zuzana ; Hanzl,, Vlastimil (referee) ; Berková, Alena (advisor)
The diploma thesis deals with the creation of construction phases in the building information model, which were created with the use of data from the design documentation of passport, data from the actual measurements taken mainly by laser scanning and the design documentation of reconstruction. This thesis describes the procedure from fieldwork (acquisition of measurement data), through its processing, to the final drawings including also the model in *.rvt format. The focus of the thesis is on the project phases, for which the issues arising in their creation are described. The stumbling block in this thesis was the inconsistency in the design documentations, which was mainly reflected in the creation of the model of the reconstruction phase. All the pitfalls that occurred in the thesis are explained in the text.
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Object Detection in the Laser Scans Using Convolutional Neural Networks
Marko, Peter ; Beran, Vítězslav (referee) ; Veľas, Martin (advisor)
This thesis is aimed at detection of lines of horizontal road markings from a point cloud, which was obtained using mobile laser mapping. The system works interactively in cooperation with user, which marks the beginning of the traffic line. The program gradually detects the remaining parts of the traffic line and creates its vector representation. Initially, a point cloud is projected into a horizontal plane, crating a 2D image that is segmented by a U-Net convolutional neural network. Segmentation marks one traffic line. Segmentation is converted to a polyline, which can be used in a geo-information system. During testing, the U-Net achieved a segmentation accuracy of 98.8\%, a specificity of 99.5\% and a sensitivity of 72.9\%. The estimated polyline reached an average deviation of 1.8cm.
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Terrestrial laser scanning
Endlicherová, Lucie ; Volařík, Tomáš (referee) ; Hanzl, Vlastimil (advisor)
This diploma thesis is focused on determine the characteristics of accuracy of the terrestrial laser scanner FARO Focus 3D S120. It is validated the recommended distance between the objects (targets and spheres) and the terrestrial scanner. Next it is tested accuracy of the Cartesian coordinates X, Y, Z measured by laser scanning with resolution 1/2. At the end it is investigated the accuracy of the area determination in X coordinate gained by the scanning of a smooth slightly curved surface.
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3D modeling of a part of the building of SPŠ stavební Brno
Penk, David ; Jursík, Petr (referee) ; Kuruc, Michal (advisor)
The thesis deals with the creation of a 3D model from data collected by laser scanning. The first part deals with the theoretical foundations of buildings information modeling and method of laser scanning. The rest of the work describes the detailed process from data collection to the creation of the model. Most of the space is devoted to work in the Revit software environment.
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