Scene Depth Estimation Based on Odometry and Image Data
| Thesis title in Czech: | Odhad hloubky ve scéně na základě obrazu a odometrie |
|---|---|
| Thesis title in English: | Scene Depth Estimation Based on Odometry and Image Data |
| Key words: | Odhad hĺbky obrazu, Triangulácia, Odometria, Feature tracking, Filtrovanie. |
| English key words: | Depth estimation, Triangulation, Odometry, Feature tracking, Filtering. |
| Academic year of topic announcement: | 2017/2018 |
| Thesis type: | diploma thesis |
| Thesis language: | angličtina |
| Department: | Department of Theoretical Computer Science and Mathematical Logic (32-KTIML) |
| Supervisor: | RNDr. David Obdržálek, Ph.D. |
| Author: | hidden - assigned and confirmed by the Study Dept. |
| Date of registration: | 31.01.2018 |
| Date of assignment: | 31.01.2018 |
| Confirmed by Study dept. on: | 03.05.2018 |
| Date and time of defence: | 14.06.2018 09:00 |
| Date of electronic submission: | 11.05.2018 |
| Date of submission of printed version: | 11.05.2018 |
| Date of proceeded defence: | 14.06.2018 |
| Opponents: | Mgr. Jindřich Vodrážka |
| Guidelines |
| Main goal of the work is to create algorithms and pilot software implementation for depth estimation of the scene from image sequence and odometry information. The target application domain is UAV. The resulting software implementation should be platform independent to allow easy adaptation for both on-board computation as well as off-board computation in case of smaller and computationally weaker drone platforms. |
| References |
| Bruno Siciliano, Oussama Khatib (Eds.): Springer Handbook of Robotics, Springer 2008, ISBN 978-3-540-38219-5
Richard Hartley, Andrew Zisserman: Multiple View Geometry in Computer Vision 2nd Edition, Cambridge University Press, 2004, ISBN 978-0521540513 Richard Szeliski: Computer Vision: Algorithms and Applications (Texts in Computer Science), Springer 2011, ISBN 978-1848829343 Norman S. Nise: Control Systems Engineering 7th Edition, Wiley 2004, ISBN 978-1118170519 Peter Corke: Robotics, Vision and Control: Fundamental Algorithms in MATLAB, Springer 2011, ISBN 978-3-642-20144-8 Luis Rodolfo García Carrillo, Alejandro Enrique Dzul López, Rogelio Lozano, Claude Pégard: Quad Rotorcraft Control: Vision-Based Hovering and Navigation, Springer 2013, ISBN 978-1447143987 |