Thesis Details

Detekce objektů na desce pracovního stolu

Master's Thesis Student: Varga Tomáš Academic Year: 2014/2015 Supervisor: Španěl Michal, Ing., Ph.D.
English title
Tabletop Object Detection
Language
Czech
Abstract
This work describes the issue of tabletop object detection in point cloud. Point cloud is recorded with Kinect sensor. Designed solution uses algorithm RANSAC for plane detection, algorithm Euclidean clustering for segmentation and ICP algorithm for object detection. Algorithm ICP is modified and mainly it can detect rotational symetric objects and objects without any transformation against it's models. The final package is build on platform ROS. The achieved results with own dataset are good despite of the limited functionality of the detector.
Keywords

computer vision, point cloud, Kinect, ROS, PCL, plane detection, object detection, tabletop detection

Department
Department of Computer Graphics and Multimedia FIT BUT
Degree Programme
Information Technology, Field of Study Intelligent Systems
Files
Status
defended, grade D
Date
24 June 2015
Reviewer
Zemčík Pavel, prof. Dr. Ing.
Committee
Zbořil František V., doc. Ing., CSc. (DITS FIT BUT), předseda
Bidlo Michal, doc. Ing., Ph.D. (DCSY FIT BUT), člen
Češka Milan, prof. RNDr., CSc. (DITS FIT BUT), člen
Lucká Mária, prof. RNDr., Ph.D. (FIIT STU), člen
Očenášek Pavel, Mgr. Ing., Ph.D. (DIFS FIT BUT), člen
Švéda Miroslav, prof. Ing., CSc. (DIFS FIT BUT), člen
Citation
VARGA, Tomáš. Detekce objektů na desce pracovního stolu. Brno, 2015. Master's Thesis. Brno University of Technology, Faculty of Information Technology. 2015-06-24. Supervised by Španěl Michal. Available from: https://www.fit.vut.cz/study/thesis/14899/
BibTeX 
@mastersthesis{FITMT14899,
    author = "Tom\'{a}\v{s} Varga",
    type = "Master's thesis",
    title = "Detekce objekt\r{u} na desce pracovn\'{i}ho stolu",
    school = "Brno University of Technology, Faculty of Information Technology",
    year = 2015,
    location = "Brno, CZ",
    language = "czech",
    url = "https://www.fit.vut.cz/study/thesis/14899/"
}

Theses

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