In the field of robotics and self-navigation, Simultaneous Localization and Mapping (SLAM) is a technique crucial for estimating poses while concurrently creating a map of the environment. Robotics applications often rely on various sensors for pose estimation, including cameras, inertial measurement units (IMUs), and more. Traditional discrete SLAM, utilizing stereo camera pairs and inertial measurement units, faces challenges such as time offsets between sensors. A solution to this issue is the utilization of continuous-time models for pose estimation. This thesis delves into the exploration and implementation of a continuous-time SLAM system, investigating the advantages of multi-modal sensor fusion over discrete stereo vision models. The findings indicate that incorporating an IMU into the system enhances pose estimation, providing greater robustness and accuracy compared to relying solely on visual SLAM. Furthermore, leveraging the continuous model's derivative and smoothness allows for decent pose estimation with fewer measurements, reducing the required quantity of measurements and computational resources.

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This thesis deals with content based automatic photo categorization. The aim of the work is to experiment with advanced techniques of image represenatation and to create a classifier which is able to process large image dataset with sufficient accuracy and computation speed. A traditional solution based on using visual codebooks is enhanced by computing color features, soft assignment of visual words to extracted feature vectors, usage of image segmentation in process of visual codebook creation and dividing picture into cells. These cells are processed separately. Linear SVM classifier with explicit data embeding is used for its efficiency. Finally, results of experiments with above mentioned techniques of the image categorization are discussed.

Submitted by Johnny Rodrigues (johnnyrodrigues@ufcg.edu.br) on 2018-10-01T15:06:04Z No. of bitstreams: 1 MATHEUS BEZERRA ESTRELA RODRIGUES - DISSERTAÇÃO PPGCC 2012..pdf: 7068761 bytes, checksum: 4b1283a1da5ca466fcf0357c33091a30 (MD5) / Made available in DSpace on 2018-10-01T15:06:04Z (GMT). No. of bitstreams: 1 MATHEUS BEZERRA ESTRELA RODRIGUES - DISSERTAÇÃO PPGCC 2012..pdf: 7068761 bytes, checksum: 4b1283a1da5ca466fcf0357c33091a30 (MD5) Previous issue date: 2012-02-29 / Impulsionado pelo crescimento no uso de vigilância eletrônica, essa pesquisa introduz o uso de uma técnica que demonstra eficiência no reconhecimento de faces em imagens, alterando o objeto de busca para pneus de veículos, visando o reconhecimento da presença do veículo na cena. A técnica aplicada para o reconhecimento é o algoritmo Viola-Jones. Essa técnica é dividida em dois momentos: o treinamento e a detecção. Na primeira etapa, vários treinamentos são executados, usando aproximadamente 7000 imagens diferentes. Para a etapa final, um detector de faces foi adaptado para reconhecer pneus, utilizando o treinamento da etapa anterior, e sua eficiência em reconhecer os pneus foi comparável à eficiência do detector de faces que usa treinamento de referência da biblioteca em software que é referência nesta área, OpenCV. O detector desenvolvido apresentou taxa de reconhecimento de 77%, quando o reconhecimento de faces obteve 80%. A taxa de falsos negativos também foi próxima, apresentando o detector de pneus 2% e o de faces 1%. / Motivated by the growing use of electronic surveillance, this research introduces the use of the Viola-Jones algorithm, which is known to be efficient in recognition of human faces in images, changing the object to be recognized to vehicle tires, aiming to detect vehicles in a scene. This approach divides the process in two steps: training and detection. Training was done using around 7000 different images of vehicles. For the detection step, work was done to adapt a face detector to detect vehicles tires. The tire detector was compared to a face detector that used a reference training for faces from OpenCV library. The tire detector showed 77% efficiency, whereas the face detector showed 80%. False negative numbers also showed similar closeness, as 2% for the tire detector and 1% for the reference face detector.

Panoramas or stitched images are used in topographical mapping, panoramic 3D reconstruction, deep space exploration image processing, medical image processing, multimedia broadcasting, system automation, photography and other numerous fields. Generating real-time panoramic images in small embedded computer is of particular importance being lighter, smaller and mobile imaging system. Moreover, this type of lightweight panoramic imaging system is used for different types of industrial or home inspection. A real-time handheld panorama imaging system is developed using embedded real-time Linux as software module and Gumstix Overo and PandaBoard ES as hardware module. The proposed algorithm takes 62.6602 milliseconds to generate a panorama frame from three images using a homography matrix. Hence, the proposed algorithm is capable of generating panorama video with 15.95909365 frames per second. However, the algorithm is capable to be much speedier with more optimal homography matrix. During the development, Ångström Linux and Ubuntu Linux are used as the operating system with Gumstix Overo and PandaBoard ES respectively. The real-time kernel patch is used to configure the non-real-time Linux distribution for real-time operation. The serial communication software tools C-Kermit, Minicom are used for terminal emulation between development computer and small embedded computer. The software framework of the system consist UVC driver, V4L/V4L2 API, OpenCV API, FFMPEG API, GStreamer, x264, Cmake, Make software packages. The software framework of the system also consist stitching algorithm that has been adopted from available stitching methods with necessary modification. Our proposed stitching process automatically finds out motion model of the Spherical camera system and saves the matrix in a look file. The extracted homography matrix is then read from look file and used to generate real-time panorama image. The developed system generates real-time 180° view panorama image from a spherical camera system. Beside, a test environment is also developed to experiment calibration and real-time stitching with different image parameters. It is able to take images with different resolutions as input and produce high quality real-time panorama image. The QT framework is used to develop a multifunctional standalone software that has functions for displaying real-time process algorithm performance in real-time through data visualization, camera system calibration and other stitching options. The software runs both in Linux and Windows. Moreover, the system has been also realized as a prototype to develop a chimney inspection system for a local company. / Main Uddin-Al-Hasan, E-mail: main.hasan@gmail.com

This thesis describes the design and realization of a mobile robot with autonomous audio-visual control. This robot is able of movement based on sensors consisting of camera and microphone. The mechanical part consists of components made with 3D print technology and omnidirectional Mecanum wheels. Software utilizes OpenCV library for image processing and computes MFCC a DTW for voice command detection.

The goal of the master thesis is the design and construction of a device for capturing video sequences of the cardiovascular system of the finger of a human hand and the subsequently design and implementation of a method of data extraction for its reconstruction into a 3D model.

This thesis describes the principles of making application which is able to set and control camera. The first part describes basic camera connections and it explains definition and specification of camera’s features. The second part of my thesis describes implementation of application, which can use more cameras to image preview, image acquisition and to simply set of camera’s features. To implement the applications we can use MATLAB and C++BUILDER uses opencv libraries.

This master's thesis deals with the user interface for machine quality assessment of the technical groups of photos. This work is written about photos, graphics editors and their evaluation. The practical part is focused on the design and creation of application with web user interface, which evaluates and compares the quality of photos. Finally is this created application with its user interface tested by users, its benefits and opportunities for further expansion are evaluated.

The project is focused on face detection in video. Firstly, it contains a summary of basic color models. Secondly, you can find the description and comparison of the basic methods for detection of human skin with a practical example of implementation of parametric detector. Thirdly, a theoretical basis for face detection and face tracking in a video containing a list of basic concepts and methods of this issue follows. Greater emphasis is placed on the description of machine learning algorithm AdaBoost and description of the possible application of the Kalman filter for the purpose of face tracking. Design, implementation and testing of library accomplished within the master thesis are listed in the final part of this thesis.