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Trajectory planning of Vehicle with Four Independently Steered Wheels
Śniežek, Roman ; Dobossy, Barnabás (referee) ; Brablc, Martin (advisor)
This thesis focuses on a kinematic model of a four-wheel steering vehicle and its simulation. The aim of the thesis is to use the kinematic model and path following algorithms to create a trajectory as a vector of the wheel steering angles dependent on a time and the distance travelled. This trajectory provides a collision-free transfer from starting position to the goal on a map with static obstacles. This could be used in an autonomous vehicle while navigating in a known enviroment
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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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Photorealistic Rendering
Melcer, Pavel ; Lysek, Tomáš (referee) ; Zemčík, Pavel (advisor)
This bachelor thesis deals with the realistic rendering of 3D scenes, which describes the procedures leading to the photorealistic image. First are mentioned ways to definition objects, how the scene is rendered on screen, the types of light source and surface characteristics of materials. The work is also a description of the local shading model, optical phenomena and the methods used to realistically display (raytraycing, pathtraycing, radiosity and photon mapping). Next part mentions the reason for choosing the topic and description of implementation methods raytraycing and photon mapping.
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Trajectory planning of Vehicle with Four Independently Steered Wheels
Śniežek, Roman ; Dobossy, Barnabás (referee) ; Brablc, Martin (advisor)
This thesis focuses on a kinematic model of a four-wheel steering vehicle and its simulation. The aim of the thesis is to use the kinematic model and path following algorithms to create a trajectory as a vector of the wheel steering angles dependent on a time and the distance travelled. This trajectory provides a collision-free transfer from starting position to the goal on a map with static obstacles. This could be used in an autonomous vehicle while navigating in a known enviroment
|
|
|
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.
|
|
|
Photorealistic Rendering
Melcer, Pavel ; Lysek, Tomáš (referee) ; Zemčík, Pavel (advisor)
This bachelor thesis deals with the realistic rendering of 3D scenes, which describes the procedures leading to the photorealistic image. First are mentioned ways to definition objects, how the scene is rendered on screen, the types of light source and surface characteristics of materials. The work is also a description of the local shading model, optical phenomena and the methods used to realistically display (raytraycing, pathtraycing, radiosity and photon mapping). Next part mentions the reason for choosing the topic and description of implementation methods raytraycing and photon mapping.
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