{"id":108878,"date":"2011-03-06T00:00:00","date_gmt":"2011-03-06T00:00:00","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/computer-vision-methods-for-robot-tasks-motion-detection-depth-estimation-and-tracking\/"},"modified":"2011-03-06T00:00:00","modified_gmt":"2011-03-06T00:00:00","slug":"computer-vision-methods-for-robot-tasks-motion-detection-depth-estimation-and-tracking","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/robotica\/computer-vision-methods-for-robot-tasks-motion-detection-depth-estimation-and-tracking\/","title":{"rendered":"Computer vision methods for robot tasks: motion detection, depth estimation and tracking"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Ester Mart\u00ednez Mart\u00edn <\/strong><\/h2>\n<p>Con el objetivo de trabajar con y para las personas, los robots deber\u00edan ser capaces de interactuar, de forma aut\u00f3noma, con entornos cotidianos. Para ello, se les dota de sensores, que les permiten percibir su entorno, y de actuadores, que les permiten llevar a cabo distintas acciones como respuesta a los perceptos recibidos. Entre los sentidos de percepci\u00f3n, la visi\u00f3n es indudablemente el m\u00e1s importante por la informaci\u00f3n que puede proporcionar. Sin embargo, a pesar de la amplia investigaci\u00f3n realizada en este campo, todav\u00eda quedan muchas cuestiones por resolver. Entre ellas, esta tesis se centra en la percepci\u00f3n de los objetos y personas en la vecindad de un sistema, tomando el movimiento como se\u00f1al primaria. Con tal fin, se propone un sistema de visi\u00f3n completo e independiente del sistema de captura que proporciona una detecci\u00f3n, localizaci\u00f3n y seguimiento robustos de los elementos de inter\u00e9s en movimiento. Para ello, primero se estudia la forma en la que los sensores obtienen las im\u00e1genes tal que pueda llevarse a cabo un an\u00e1lisis espacial adecuado del movimiento. Despu\u00e9s, se implementa una nueva t\u00e9cnica de mantenimiento del fondo para la detecci\u00f3n robusta de los objetos de inter\u00e9s en movimiento. A continuaci\u00f3n, se dise\u00f1a una representaci\u00f3n invariante de los objetivos que permite identificarlos y seguirlos a lo largo del tiempo, incluso ante oclusiones parciales y totales. Finalmente, se ha abordado, desde un punto de vista tanto cuantitativo como cualitativo, la estimaci\u00f3n de la profundidad, cuesti\u00f3n de gran importancia en las aplicaciones rob\u00f3ticas. Los m\u00e9todos propuestos en esta tesis proporcionan avances importantes con respecto a los enfoques de visi\u00f3n por ordenador del estado de la cuesti\u00f3n en t\u00e9rminos de fiabilidad, validados con un conjunto extenso de experimentos y aplicaciones.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Computer vision methods for robot tasks: motion detection, depth estimation and tracking<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Computer vision methods for robot tasks: motion detection, depth estimation and tracking <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Ester Mart\u00ednez Mart\u00edn <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Jaume i de castell\u00f3n<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 03\/06\/2011<\/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>Angel Pascual Del Pobil Y Ferr\u00e9<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: philippe Martinet <\/li>\n<li>Alberto Sanfeliu cortes (vocal)<\/li>\n<li>Jorge  Manuel Miranda dias (vocal)<\/li>\n<li>amalia cristina Urdiales garcia (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Ester Mart\u00ednez Mart\u00edn Con el objetivo de trabajar con y para las personas, los robots deber\u00edan ser [&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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