Fakulta elektrotechniky a informatiky / Faculty of Electrical Engineering and Informatics
Stálý URI pro tuto komunituhttps://hdl.handle.net/10195/3847
Práce obhájené před rokem 2008 jsou uloženy pouze v kolekci Vysokoškolské kvalifikační práce
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Konferenční objektpeer-reviewedpostprint (accepted version) Otevřený přístup Grasping Point Detection Using Monocular Camera Image Processing and Knowledge of Center of Gravity(Springer Nature Switzerland AG, 2022) Štursa, Dominik; Doležel, Petr; Honc, DanielThe ability to grasp objects is one of the basic functions of modern industrial robots. In this article, the focus is placed on a system for processing the image provided by a robot visual perception system leading to the detection of objects grasping points. The proposed processing system is based on a multi-step method using convolutional neural networks (CNN). The first step is to use the first CNN to transform the input image into a schematic image with labeled objects centers of gravity, which then serves as a supporting input to the second CNN. In this second CNN, original input and supporting input images are used to obtain a schematic image containing the grasping points of the objects. This solution is further compared with a network providing grasping points directly from the input image. As a result, the proposed method provided a 0.7% improvement in the average intersection over union for all of the models.Konferenční objektpeer-reviewedpostprint (accepted version) Otevřený přístup Spectral Classification of Microplastics using Neural Networks: Pilot Feasibility Study(SciTePress - Science and Technology Publications, 2022) Doležel, Petr; Roleček, Jiří; Honc, Daniel; Štursa, Dominik; Baruque Zanon, BrunoMicroplastics, i.e. synthetic polymers that have particle size smaller than 5 mm, are emerging pollutants that are widespread in the environment. In order to monitor environmental pollution by microplastics, it is necessary to have available rapid screening techniques, which provide the accurate information about the quality (type of polymer) and quantity (amount). Spectroscopy is an indispensable method, if precise classification of individual polymers in microplastics is required. In order to contribute to the topic of autonomous spectra matching when using spectroscopy, we decided to demonstrate the quality and efficiency of neural networks. We adopted three neural network architectures, and we tested them for application to spectra matching. In order to keep our study transparent, we use publicly available dataset of FTIR spectra. Furthermore, we performed a deep statistical analysis of all the architectures performance and efficiency to show the suitability of neural networks for spectra matching. The results presented at the end of this article indicated the overall suitability of the selected neural network architectures for spectra matching in microplastics classification.Konferenční objektpeer-reviewedpostprint (accepted version) Otevřený přístup Multiple Objects Localization Using Image Segmentation with U-Net(IEEE (Institute of Electrical and Electronics Engineers), 2021) Štursa, Dominik; Doležel, Petr; Honc, DanielPrecise object localization in an industrial environment is a significant task affecting follow-up processes for a pick and place application. One of the solutions to effectively ensure the success of this task is to use modern methods of machine vision. Machine vision is still a highly evolving topic, in which the use of approaches based on convolutional neural networks is rising. And so in this contribution, an innovative engineering approach based on convolutional neural networks is proposed for an object localization task. The approach is based on an atypical image segmentation, where the individual objects are represented by two colored gradient circles. These circles represent significant parts of the object like its center or ending. Each object type (class) is determined by a specific color. By use of a local maxima finder, all circles in an image are transformed to points. With knowledge of these points the coordinates and rotations are calculated. The proposed approach was tested on a legitimate localization problem with 100% precision, more than 99.52% recall on the positioning task and with an average of 6 minutes angle variance per object.Konferenční objektpeer-reviewedpostprint Omezený přístup One Step Deep Learning Approach to Grasp Detection in Robotics(Springer Science and Business Media, 2021) Doležel, Petr; Štursa, Dominik; Honc, DanielGrasp point detection is a necessary ability to handle for industrial robots. In recent years, various deep learning-based techniques for robotic grasping have been introduced. To follow this trend, we introduce a convolutional neural network-based approach for model-free one step method for grasp point detection. This method provides all feasible grasp points suitable for parallel grippers, based on a single RGB image of the scene. A case study, which shows the outstanding accuracy of the presented approach as well as its acceptable response time, is presented at the end of this contribution.Konferenční objektpeer-reviewedpostprint Otevřený přístup Basic urinal flow curves classification with proposed solutions(Springer Nature Switzerland AG, 2020) Štursa, Dominik; Doležel, Petr; Honc, DanielNowadays, the pressure on prevent invasive methods for for diagnostics is still increasing in the health care sector. In the case of the lower urinary tract, early diagnosis can play a significant role to prevent a surgery. Here, the widely used non-invasive test, the uroflowmetry, is observed. As the new measurement devices are being created, new algorithms for basic urinary flow classification must be developed.Konferenční objektpeer-reviewedpostprint Omezený přístup Rapid 2D Positioning of Multiple Complex Objects for Pick and Place Application Using Convolutional Neural Network(IEEE (Institute of Electrical and Electronics Engineers), 2020) Doležel, Petr; Štursa, Dominik; Honc, DanielRobot guidance in an industrial environment is an important task to be solved in modern production facilities. A pick and place task is definitely one of the most common robot guidance issues to solve. In the beginning of the pick and place task, we need to perform a precise positioning of the objects of interest. In this contribution, an innovative engineering approach to multiple object positioning is proposed. The approach consists of two consecutive steps. At first, the original scene with objects of interest is transformed using a neural network. The output of this transformation is a schematic image, which represents the positions of the objects with gradient circles of various colors. Then, the positions of the gradient circles are determined by finding local maxima in the transformed image. The proposed approach is tested on a legitimate positioning problem with more than 99.8 % accuracy.Konferenční objektpeer-reviewedpostprint Otevřený přístup Counting Livestock with Image Segmentation Neural Network(Springer Nature Switzerland AG, 2020) Doležel, Petr; Štursa, Dominik; Honc, Daniel; Merta, Jan; Rozsívalová, Veronika; Beran, Ladislav; Hora, IvoLivestock farming industries, as well as almost any industry, want more and more data about the operation of their business and activities in order to make the right decisions. However, especially when considering very large animal farms, the precise and up-to-date information about the position and numbers of the animals is rather difficult to obtain. In this contribution, a novel engineering approach to livestock positioning and counting, based on image processing, is proposed. The approach is composed of two parts. Namely, a fully convolutional neural network for input image transformation, and a locator for animal positioning. The transformation process is designed in order to transform the original RGB image into a gray-scale image, where animal positions are highlighted as gradient circles. The locator then detects the positions of the circles in order to provide the positions of animals. The presented approach provides a precision rate of 0.9842 and a recall rate of 0.9911 with the testing set, which is, in combination with a rather suitable computational complexity, a good premise for the future implementation under real conditions.Článekpeer-reviewedpublished version Otevřený přístup Development of image procesing system for person detection(MM spektrum, 2020) Štursa, Dominik; Honc, Daniel; Doležel, PetrWith the rise of modern technology in computer science and engineering, as well as with the growing population in big cities around the world, many new approaches for person detection have become a very interesting and demanding topic. Person detection is a necessary building block for people monitoring systems and, therefore, various detection methods must be inspected comprehensively in order to select the one with the most suitable performance and accuracy. In this paper, a set of different image processing techniques applied to images captured from a high angle were used for people detection. To be more specific, selected feature extraction techniques, like edge detectors, local binary patterns, pixel intensities or histograms of oriented gradients, were used in combination with several classification algorithms. The combinations of each feature extractor and its best classifier were selected for performance comparison. As a result of the comparison, the most suitable image processing method for person detection in high angle image is presented at the end of the paper.Konferenční objektpeer-reviewedpostprint Otevřený přístup Convolutional Neural Network for Sound Processing - Study of Deployed Application(IEEE (Institute of Electrical and Electronics Engineers), 2019) Doležel, Petr; Štursa, Dominik; Honc, DanielPest birds are considered as a special kind of vermin, since, in most of countries, their legal position does not enable their direct extermination. Therefore, in order to protect the agricultural areas indirectly from pest birds, the robust and highly selective pest bird sensor is necessary to design. In this contribution, the pest bird detection unit, based on a convolutional neural network, is presented. The convolutional neural network itself is used for the decision making about the pest bird occurrence, while sound recordings are used as input data. The testings, presented at the end of the contribution, proved a very high accuracy of the detection unit, with the results indispensably improved in comparison to previously presented approaches.Konferenční objektpeer-reviewedpostprint Omezený přístup Predictive Controller Based on Feedforward Neural Network with Rectified Linear Units(Springer Nature Switzerland AG, 2019) Doležel, Petr; Honc, Daniel; Štursa, DominikThis paper deals with a nonlinear Model Predictive Control with a special form of the process model. Controller uses for the prediction purposes a locally valid linear sub-models. The sub-models are obtained from a neural model with the rectifier activation function in hidden neurons. Simulation example is given to demonstrate proposed solution - neural model design and predictive controller application.