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Course detail
FSI-QRAAcad. year: 2024/2025
The subject concerns the reconstruction and analysis of 3D scenes that are based on point clouds. This research area is important in the reverse engineering, robotics and autonomous systems. First part of the lectures deals with the data acquisition types and algorithms as registration, edge detection, feature extraction. In laboratory we make the measurement with optical scanner ATOS and other hand scanners. We will process the point cloud with software GOM inspect and Rhinoceros. Arduino Engineering Kit will be used for rover control.Students prepare their own implementation of some of the algorithm in the last lectures of semester.
Language of instruction
Number of ECTS credits
Mode of study
Guarantor
Department
Entry knowledge
elementary knowledge of mathematical analysis and algebra (matrix, derivative), computer graphics, the recommended is the knowledge of programming language (C, C++, Pascal, atd) and programm (e.g. Matlab).
Rules for evaluation and completion of the course
Students will prepare the project and present the project on the end of the semester. The students can answer the questions due to their topic. The evaluation is given by this presentation and question answering.
Aims
Study aids
Prerequisites and corequisites
Basic literature
Recommended reading
Classification of course in study plans
specialization CZS , 1 year of study, winter semester, elective
Lecture
Teacher / Lecturer
Syllabus
Lectures:1.The data acquisition (Terrain, Mobile, Airborne) in dependance of the application. Passive (Structure from Motion) and active methods (Time of Flight, laser)2. RANSAC - algorithm and its usage, feature extraction3.-4. Point cloud registration (methods PCA, SVD, ICP, FPFH)5. Ground point detection, clustering6. Comparison spatial methods with image analysis methods7. Laboratory measurements on the optical scanner ATOS and hand scanners8. Point cloud processing in software (GOM Inspect, Rhinoceros, etc.), work with real scanned data9. 3D printing - principles, settings, problems10. Arduino Engineering Kit - vehicle Rover can navigate between given reference points, move objects with a forklift11.-12. Consultations13. Presentation of the seminar work
Computer-assisted exercise
Exercise (with computers):
1. Data capture methods (Terrain, Mobile, Airborne) and their use, SFM Matlab programming, data capture using Intel Real Sense, IPad Pro2. RANSAC - line, plane, testing3. -4.: Programming registration methods using predefined functions, influence of parameters on results5. Land point detection, clustering6. Image processing methods and their comparison with methods used for 3D (derivative, edge detectors, etc.)7. Scanning in the laboratory - ATOS8. Practical exercises with acquired data9. 3D printing - model design in Rhinoceros, printing10. Arduino Engineering Kit - programming the Rover and its orientation in space and functions, simple circuit design with Arduino11. -12. Semester project consultation13. Presentation of final projects