{"id":105490,"date":"2010-10-12T00:00:00","date_gmt":"2010-10-12T00:00:00","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/a-stochastic-parallel-method-for-real-time-monocular-slam-applied-to-augmented-reality\/"},"modified":"2010-10-12T00:00:00","modified_gmt":"2010-10-12T00:00:00","slug":"a-stochastic-parallel-method-for-real-time-monocular-slam-applied-to-augmented-reality","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/teoria-estocastica-y-analisis-de-series-temporales\/a-stochastic-parallel-method-for-real-time-monocular-slam-applied-to-augmented-reality\/","title":{"rendered":"A stochastic parallel method for real time monocular slam applied to augmented reality"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Jairo Roberto S\u00e1nchez Tapia <\/strong><\/h2>\n<p>En las aplicaciones de realidad aumentada es necesario estimar la posici\u00f3n y la orientaci\u00f3n del observador para poder configurar una c\u00e1mara virtual que dibuje objetos virtuales alineados con los reales. En el mercado existe una gran variedad de sensores de movimiento destinados a este prop\u00f3sito. Sin embargo, normalmente resultan caros o poco pr\u00e1cticos. En respuesta a estos sensores, algunas t\u00e9cnicas de visi\u00f3n por computador permiten estimar la posici\u00f3n de la c\u00e1mara utilizando \u00fanicamente las im\u00e1genes capturadas, si se conoce de antemano la estructura 3d de la escena. Si no se conoce, existen m\u00e9todos que utilizan marcadores externos. Sin embargo, requieren intervenir el entorno, cosa que no es siempre posible.  las t\u00e9cnicas de  simultaneous localization and mapping (slam) son capaces de hacer frente a escenas de las que no se conoce nada, pudiendo estimar la posici\u00f3n de la c\u00e1mara al mismo tiempo que la estructura 3d de la escena. Normalmente, estos m\u00e9todos se basan en t\u00e9cnicas de optimizaci\u00f3n no lineal que, siendo muy precisas, resultan dif\u00edciles de implementar en tiempo real. Sobre esta premisa, esta tesis propone una soluci\u00f3n altamente paralelizable basada en el m\u00e9todo de monte carlo dise\u00f1ada para ser ejecutada en el hardware gr\u00e1fico del pc. Como se demuestra, la precisi\u00f3n que se obtiene es comparable a la de los m\u00e9todos cl\u00e1sicos de optimizaci\u00f3n no lineal, consiguiendo tiempo real utilizando hardware gr\u00e1fico de consumo.  a lo largo del presente documento, se detalla el m\u00e9todo de slam propuesto, as\u00ed como su implementaci\u00f3n en gpu. Adem\u00e1s, se expone un resumen de las t\u00e9cnicas existentes en este campo, compar\u00e1ndolas con el m\u00e9todo propuesto.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>A stochastic parallel method for real time monocular slam applied to augmented reality<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 A stochastic parallel method for real time monocular slam applied to augmented reality <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Jairo Roberto S\u00e1nchez Tapia <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Navarra<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 10\/12\/2010<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h3>Direcci\u00f3n y tribunal<\/h3>\n<ul>\n<li><strong>Director de la tesis<\/strong>\n<ul>\n<li>Diego Borro Y\u00e1guez<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: roberto agust\u00edn Viv\u00f3 hernando <\/li>\n<li>Francisco Jos\u00e9 Perales l\u00f3pez (vocal)<\/li>\n<li>salavador Bayarri romar (vocal)<\/li>\n<li>jordi Vi\u00f1olas prat (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Jairo Roberto S\u00e1nchez Tapia En las aplicaciones de realidad aumentada es necesario estimar la posici\u00f3n y la [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center 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