Thesis Details

Detekce známých 3D objektů v obraze

Bachelor's Thesis Student: Bordovský Gabriel Academic Year: 2014/2015 Supervisor: Španěl Michal, Ing., Ph.D.
English title
3D Objects Detection in Images
Language
Czech
Abstract

This bachelors thesis deals with detection of a known 3D object in images and its pose estimation. The method uses the ORB-type keypoints and their location on the surface of a bounding box. By using solve of PnP problem a pose of the object is obtained using the points 2D coordinates from the image and the 3D coordinates of the very points from the registered model. This thesis expands a detection method for simple box-shaped objects, which is a part of OpenCV library, for the usage on more complex objects. In experiments, the detector reached a detection success rate of 85 % and the computed pose matches the real one approximately for 88 %.

Keywords

Detection, pose estimation, 3D objects, feature points, keypoints, ORB, OpenCV, Perspective-n-Point problem

Department
Department of Computer Graphics and Multimedia FIT BUT
Degree Programme
Information Technology
Files
Status
defended, grade C
Date
15 June 2015
Reviewer
Veľas Martin, Ing., Ph.D.
Committee
Smrž Pavel, doc. RNDr., Ph.D. (DCGM FIT BUT), předseda
Beran Vítězslav, doc. Ing., Ph.D. (DCGM FIT BUT), člen
Drábek Vladimír, doc. Ing., CSc. (DCSY FIT BUT), člen
Orság Filip, Ing., Ph.D. (DITS FIT BUT), člen
Ryšavý Ondřej, doc. Ing., Ph.D. (DIFS FIT BUT), člen
Citation
BORDOVSKÝ, Gabriel. Detekce známých 3D objektů v obraze. Brno, 2015. Bachelor's Thesis. Brno University of Technology, Faculty of Information Technology. 2015-06-15. Supervised by Španěl Michal. Available from: https://www.fit.vut.cz/study/thesis/17287/
BibTeX 
@bachelorsthesis{FITBT17287,
    author = "Gabriel Bordovsk\'{y}",
    type = "Bachelor's thesis",
    title = "Detekce zn\'{a}m\'{y}ch 3D objekt\r{u} v obraze",
    school = "Brno University of Technology, Faculty of Information Technology",
    year = 2015,
    location = "Brno, CZ",
    language = "czech",
    url = "https://www.fit.vut.cz/study/thesis/17287/"
}

Theses

Back to top