This work is concerned by the issue of calibrating a robotic workplace, including the localization of a calibration object for the purpose of calibrating a 2D or 3D camera, a robotic arm and a scene of robotic workplace. At first, the problems related to the calibration of the aforementioned elements were studied. Further, an analysis of suitable methods for performing these calibrations was performed. The result of this work is application of ROS robotic system providing methods for three different types of calibration programs, whose functionality is experimentally verified at the end of this work.

This diploma thesis deals with the creation and testing of optical measurement system. There are basic parts of computer vision. Some ways of image preprocessing and templates matching are discussed. Everything is directed to a particular practical task. Selected methods for templates matching are the Correlation Method, the Classical and Hybrid Hausdorff Distance, Radial and Circular Sampling Space. These methods are programmed in C++ and they are compared with function for searching templates from specific library.

This document discusses a problem of tooth detection on jaw 3D polygonal model. It describes known methods that can be used to reach expected results, such as their advantages and disadvantages. Considering this, I choose one solution that is closely described with all theory needed for its implementation.

The thesis deals with analysis and design of system for automatic localization and recognition of the license plate. The input images are from different sources, and contain large scenic and weather variations. The aim was to create a system able to find the licence plate on the image and recognize its alphanumeric figure. In this work, there is a focus on analysis and implementation of localization and optical character recognition methods. One own and four other localization methods are compared. There are also compared three classifiers for optical character recognition. Localization and OCR methods are tested on real data and evaluated in accordance with the calculated evaluation parameters. The work also contains sensitivity analysis of the proposed system.

We manipulate two superconducting qubits using digital microwave electronics. Starting fromtheir characterization, we develop a real-time reset scheme and implement the iSwap gate. Thequbits’ parameters are obtained using standard single-qubit characterization techniques, such asRabi and Ramsey oscillations and frequency sweep of the resonators. We also characterized theexperimental setup, including finding the working point of a Josephson Parametric Amplifierand the coupler between the two qubits. We solve the linear differential equations that modelthe resonator, in order to design a high-fidelity, single-shot qubit-measurement pulse shape,which actively empties the cavity. Using this pulse, we achieve a readout assignment fidelity of99.9%. The readout is formed in real-time using template matching. In addition, we implementa conditional reset of the qubit’s state in 1.4 μs, which resets the excited state population from5.4% to 0.5%. We simulate the cavity using QuTip to further optimize the readout pulse.Furthermore, we characterize the third energy level of the qubit to implement a qutrit readoutand observe a second excited state population of 0.3%, in accordance with theory. Finally,we implement the iSwap gate that, together with single-qubit gates, constitute a set of universalquantum gates, where we swap the 95.4% of the quantum state between the qubits in 690 ns. Allexperiments, including the pulse events and synchronization of the readout and feedback, wereperformed using a digital microwave platform based on a radio-frequency-on-a-chip system,and implemented using a Python interface. / Vi manipulerar två supraledande kvantbitar med digital mikrovågselektronik. Vi utgår frånderas karakterisering och utvecklar en realtidsåterställningsschema och implementerar iSwap-grinden. Kvantbitarnas parametrar erhålls med standardtekniker för karakterisering av enskildakvantbitar, såsom Rabi- och Ramsey-svängningar och frekvenssvep av resonatorerna. Vikaraketeriserar även den experimentella uppställningen, där vi finner arbetspunkten för enJosephson-parametrisk förstärkare, samt kopplaren mellan de två kvantbitarna. Vi löser delinjära differentialekvationerna som modellerar resonatorn, i syfte att designa en pulsformför en enkelmätning av en kvantbit med hög tillförlitlighet som aktivt tömmer kaviteten.Med denna puls uppnår vi en avläsningstillförlitlighet på 99,9 %. Avläsningspulsen bildas irealtid med hjälp av mallmatchning. Därtill implementerar vi en villkorlig återställning avkvantbitens tillstånd på 1,4 μs, vilket återställer den exciterade tillståndspopulationen från 5,4 %till 0,5 %. Vi simulerar kaviteten med QuTip för att ytterligare optimera avläsningspulsen.Dessutom karakteriserar vi den tredje energinivån på kvantbiten för att implementera enså-kallad qutrit-avläsning och observerar en andraexciterad tillståndspopulation på 0,3 %,i enlighet med teorin. Slutligen implementerar vi iSwap-grinden som, tillsammans medgrindarna för enskilda kvantbitar, utgör en uppsättning universella kvantgrindar, är vi byter95,4 % av kvanttillståndet mellan våra kvantbitarna på 0,6 μs. Alla experiment, såsompulshändelserna och synkroniseringen av avläsningspulsen och återkopplingspulsen, utfördesmed hjälp av en digital mikrovågsplattform, baserad på ett radiofrekvens-på-ett-chip-system,och implementerades med ett Python-gränssnitt.

In the area of automation, object localization stands as a fundamental functionalitywith widespread applicability. This master’s thesis focuses on a specificapplication involving robot object picking. Given recent advancements in depthcamera technology, there is a high interest in exploring the synergistic integrationof both 2D and 3D data to address challenges such as missing data, occlusion,varying viewing angles, and diverse lighting conditions. This master’s thesis presents the development of two distinct algorithms for arbitraryshaped template matching using 2D image features. Both algorithms leveragefeatures detected by the GoodFeaturesToTrack algorithm and described withScale-invariant feature transform (SIFT) descriptors. While an initial sliding windowmatcher was developed, it was ultimately discarded due to extensive timerequirements. Instead, a correspondence matcher was created, offering two variations:one exclusively employing 2D image data for matching and another utilizing3D coordinates to enhance matching accuracy. The correspondence matchingalgorithms showed similar strengths and weaknesses. They demonstrated proficiencyin handling scenarios characterized by occlusion, minor tilt, and varyingscaling. Both variations struggled with objects 90-degrees rotated and could inmany cases not find them. The findings suggest that the developed feature-based correspondence matchingalgorithm holds promise for object localization in industrial picking applications,although with limitations concerning objects with substantial rotationdifferences. Addressing the challenge of large rotations is recommended for enhancingthe algorithm’s robustness, followed by comprehensive testing to ascertainits efficacy in diverse scenarios.iii

面對大量習慣用嘗試錯誤方式去學習使用複雜線上遊戲功能的使用者，如果沒有一個好的網頁佈局設計，會妨礙讓使用者易於上手。本研究試圖綜合以往在電腦學習認知方面的模板比對理論、CoLiDeS Model、及資訊氣味等相關研究，增強對線上遊戲介面設計的了解。本研究設計一個線上遊戲介面認知的實驗，用「仙劍Online」多人線上遊戲的介面為實驗工具，運用眼動儀去觀察受試者的瀏覽行為。「功能的群組位置」(Location)與圖像(Icon)皆為介面設計的重要因素；這兩項因素可能會影響受試者對任務難易的知覺判斷與瀏覽行為的Pattern。這些差異會顯示在任務的「間隔多久時間看到正確區域位置」、「凝視次數」、「凝視正確區域佔全部的比例」、任務的「完成率」與任務的「使用時間」等資料上。經過本研究驗證可以明確的知道「功能的群組位置」(Location)與圖像(Icon)何者為設計者首要考量之因素，在學術上能加強對CoLiDeS Model的了解，提出兩階段修正的認知模式；在實務上幫助介面設計師進行更有效的頁面設計和實用的建議。 / A large amount of users practice the trial and error approach to learn to use complicated online games. This leads to low user perception of "easy to use" when the game lacks good webpage layout design. This study attempts to integrate previous studies on cognitive learning through computer including Template Matching, Information Scent, and Comprehension-based Linked model of Deliberate Search Model ( CoLiDes Model), to enhance the understanding on online game interface design. A cognitive experiment of online game interface was designed utilizing the multiplayer simulation game "Chinese Paladin Online" in an attempt to observe and record user’s browsing behaviors through the eye tracker. "Location of functional group " and "Icon" are important factor of interface design and affect user’s browse behavior pattern . These differences will appear in "Time spent", "Accuracy", "Frequency of fixation ", “ and "Time spent before first fixation on the correct position" of the tasks. We expect the results extended the CoLiDeS Model, enhanced understanding of the interface layout user cognition, and provided fruitful suggestions in how to further design on effective WebPages.

Les travaux de cette thèse sont destinés à la conception d'outils algorithmiques permettant d'accroître le facteur de compression des standards actuels de codage vidéo, tels que H.264/AVC. Pour cela, une étude préalable portant sur un ensemble de méthodes de restauration d'image a permis d'identifier et d'inspecter deux axes de recherche distincts. La première partie est fondée sur des méthodes d'analyse et de synthèse de texture. Ce type de procédé, aussi connu sous le nom de template matching, est couramment utilisé dans un contexte de codage vidéo pour prédire une portion de la texture de l'image suite à l'analyse de son voisinage. Nous avons cherché à améliorer le modèle de prédiction en prenant en compte les spécificités d'un codeur vidéo de type H.264/AVC. En particulier, la fonction débit/distorsion utilisée dans les schémas de codage vidéo normatifs se base sur une mesure objective de la qualité. Ce mécanisme est par nature incompatible avec le concept de synthèse de texture, dont l'efficacité est habituellement mesurée selon des critères purement perceptuels. Cette contradiction a motivé le travail de notre première contribution. La deuxième partie des travaux de cette thèse s'inspire des méthodes de régularisation d'image basée sur la minimisation de la variation totale. Des méthodes ont été élaborées originellement dans le but d'améliorer la qualité d'une image en fonction de la connaissance a priori des dégradations qu'elle a subies. Nous nous sommes basés sur ces travaux pour concevoir un modèle de prédiction des coefficients transformés obtenus à partir d'une image naturelle, qui a été intégré dans un schéma de codage vidéo conventionnel.

The subject of this graduation thesis is an application of speech recognition into ATC commands. The selection of methods and approaches to automatic recognition of ATC commands rises from detailed air traffic studies. By the reason that there is not any definite solution in such extensive field like speech recognition, this diploma work is focused just on speech recognizer based on comparison with templates (DTW). This recognizor is in this thesis realized and compared with freely accessible HTK system from Cambrige University based on statistic methods making use of Hidden Markov models. The usage propriety of both methods is verified by practical testing and results evaluation.

This thesis is devoted to learn detectors by object tracking in video sequence. In this thesis, we discuss methods for object tracking, object detection and online learning and possibilities of their using in sophisticated techniques, which combine object tracking and online learning detectors.