Browsing by Author "Krčmařík, David"

Now showing 1 - 7 of 7
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    Autonomous Vehicle Control based on HoloLens Technology and Raspberry Pi Platform: an Educational Perspective
    (ELSEVIER, RADARWEG 29, 1043 NX AMSTERDAM, NETHERLANDS, 2019) Moezzi, Reza; Krčmařík, David; Bahri, Haythem; Hlava, Jaroslav
    Localization and mapping is an essential part of an autonomous vehicle control. Microsoft HoloLens is a sophisticated augmented reality device using many advanced technologies. As such HoloLens has high appeal for young people and its use in teaching may increase the attractiveness of control classes. In this paper we describe how this device can be used in advanced control education for experiments with autonomous vehicles localization, mapping and control. Among other capabilities HoloLens can provide 3D position information by its spatial mapping feature. This facilitates the simultaneous localization and mapping (SLAM) problem. Furthermore, based on HoloLens position information the students can design vehicle longitudinal and lateral control systems and compare the performance achieved with different strategies such as PID and Model Predictive control. Example comparisons are given in this paper.
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    Cooperation of Virtual Reality and Real Objects with HoloLens
    (SPRINGER INTERNATIONAL PUBLISHING AG, 2020) Cýrus, Jindřich; Krčmařík, David; Petrů, Michal; Kočí, Jan
    We propose several approaches when programming applications for Microsoft HoloLens. These applications aim at close cooperation of real world with holographic objects (virtual reality). Often a precise placement that does not change with the position of a user can be challenging. One way of avoiding such problems is to use technology of anchors. Another way proposed in this paper is a prior scanning of object of interest with an application aimed for Vuforia plugin. Both concepts use close cooperation with user-friendly environment for developing of mixed reality applications - Unity. We present and discuss examples in this article. The area of precise location for mixed reality (augmented reality mixed with real reality in a way that one can interact witch each other) is of paramount importance. If we know precise position of virtual objects in the scene and precise position of the device in the scene, we can alleviate the burden of massive computing within HoloLens. As a result, we gain better experience from mixed reality.
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    Efficient Use of Mixed Reality for BIM system using Microsoft HoloLens
    (ELSEVIER, RADARWEG 29, 1043 NX AMSTERDAM, NETHERLANDS, 2019) Bahri, Haythem; Krčmařík, David; Moezzi, Reza; Kočí, Jan
    Recently, a new independent concept used to classify the spectrum of reality technologies, as referenced in the reality virtuality continuum is MR of Mixed Reality. As an independent concept, MR mixes the best of both Virtual Reality (VR) and Augmented Reality (AR) int the same environment for the user's gaze. It covers essentially of all possible variations and compositions of real and virtual objects. Which is the result of blending the digital world and the physical world together, brings new advancements and challenges to human, computer and environment interactions. Thus, they offer potential for acquiring at least coarse point clouds and meshes of single rooms or even complete building structures that can be used in the context of building information modelling (BIM) in the future instead of manually modelling existing buildings based on 2D floor plans or manual measurements with laser scanners or computationally expensive image based 3D reconstruction techniques. In this paper, we proposed an efficient usage of MR techniques to manage the items of furniture of rooms using Microsoft HoloLens to create a BIM system. Therefore, we succeeded to map the occupied and unoccupied spaces of the rooms using the method of spatial mapping in 3D. In this case, we can add the items of furniture for each room in the order we choose in respecting its original organization. One hand, our BIM system allows moving the furniture from one side to the other side in real time. In the other hand, we applied the flexibility to rotate and to resize all items of furniture of our BIM system.
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    Hololens used for precise position tracking of the third party devices - Autonomous vehicles
    (2019) Cyrus, Jindřich; Krčmařík, David; Moezzi, Reza; Kočí, Jan; Petrů, Michal
    A completely new area of HoloLens usage is proposed. The Hololens is an augmented reality device, which provides the high precision location information. Such an information is normally used to accurately position holograms within the real space with respect to the viewer (user of HoloLens). The information is precise enough to use it for reporting the position for the purpose of autonomous driving. Several experiments have been executed in vast areas (20m x 40m) in order to find out the potential error coming from vibrations or other effects when moving the HoloLens. The results show that the technology can be used for spaces, which are previously known by the system - pre-scan of the space is needed. The big advantage of the system is its readiness for indoor positioning applications with no additional infrastructure needed, simultaneous localization and mapping, complex space mapping and reached precision. The disadvantage is mainly the costs.
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    Increasing of precision technology of glass sorting based on very fast reconfigurable image processing
    (2019-08-13) Krčmařík, David; Petrů, Michal; Mašín, Ivan
    The paper deals with a method and technology for increasing of precision sorting of transparent materials – glass. The recycled glass is a valuable material which is necessary as an ingredient in the process of glass manufacturing. We propose a very fast industrial device based on FPGA (field-programmable gate array) image processing along with a novel algorithm for a robust real-time treatment of acquired data. The system consists from a line-scan camera with fast CameraLink interface, FPGA processing, battery of valves propelled via pneumatics and nozzle block. Very important part of the system is a background configuration software enables precise assessment of required limits as inputs to FPGA processing. The overall performance is discussed from the perspective of laboratory and industrial tests. The proposed FPGA image processing can be utilized for further future enhancements in the field of precise sorting of glass with stuck labels on it. The results give very good performance even in the industrial environment with a lot of dust and dirt and hence the glass does not need to be extensively cleaned.
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    Innovative IoT Sensing and Communication Unit in Agriculture
    (International Information and Engineering Technology Association (IIETA), 2019-08-15) Krčmařík, David; Petrů, Michal; Moezzi, Reza
    This paper aims to propose an innovative reconfigurable sensing unit, suited to be used in harsh agriculture environment. The heart of the unit is a PCB with Linux based processor which is established such a way that the unit communicates via a backend, SQL based database with a user-friendly web interface. It can aggregate several data sources: tensometers, accelerometer, temperature sensor, CAN, digital and analog inputs. It communicates via GSM and It implements GPS information to provide precise real-time position. The unit is designed to be powered with different power sources. Collection the units which are used, can be easily reached using standard private network. The backend enables the users to configure desired actions. One can choose certain data to be sensed. It is possible to configure also the data acquisition rate and time interval between two packages sent to backend. Data are available through the web interface and can be downloaded to universal format of CSV for further processing. It has been shown that the whole system is capable to monitor user defined data limits and if such a limit is reached a notification (e.g. SMS) can be sent to a predefined destination.
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    Thorax measurement and analysis using electrical impedance tomography
    (JVE International, 2019-09-01) Krčmařík, David; Petrů, Michal; Kočí, Jan
    The article deals with a novel method of visualizing interior of an object based on the measurements made on the boundary. Although an electrical impedance tomography is well established in areas where reference measurement can be easily made (difference method), it is still rather a theoretical approach for areas where reference cannot be taken (mainly in medicine). We have made a thorax measurement using difference method. The results show that electrical impedance tomography can provide valuable information for thorax visualization.