{"id":14684,"date":"2018-03-09T09:01:29","date_gmt":"2018-03-09T09:01:29","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/a-proposal-to-estimate-the-motion-of-an-underwater-vehicle-through-visual-mosaicking\/"},"modified":"2018-03-09T09:01:29","modified_gmt":"2018-03-09T09:01:29","slug":"a-proposal-to-estimate-the-motion-of-an-underwater-vehicle-through-visual-mosaicking","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/matematicas\/a-proposal-to-estimate-the-motion-of-an-underwater-vehicle-through-visual-mosaicking\/","title":{"rendered":"A proposal to estimate the motion of an underwater vehicle through visual mosaicking"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Rafael Garcia Campos <\/strong><\/h2>\n<p>Esta tesis propone una soluci\u00f3n al problema de estimar el movimiento de un veh\u00edculo submarino no tripulado (uuv) a partir de la utilizaci\u00f3n de la visi\u00f3n por computador. Mediante este sistema, cuando el veh\u00edculo se halla cerca del fondo marino va construyendo un mapa de la zona en que est\u00e1 realizando la misi\u00f3n, la mismo tiempo que se localiza sobre dicho mapa (\u00abconcurente mapping and localization\u00bb).  para conseguir este objetivo se propone un algoritmo de construcci\u00f3n de mosaicos visuales basado en la detecci\u00f3n de caracter\u00edsticas en una imagen y sus correspondencias en la siguiente imagen de la secuencia. El problema de las correspondencia se soluciona mediante una metodolog\u00eda mixta de correlaci\u00f3n en nivel de fris y el an\u00e1lisis exhaustivo de las componentes textuales de la imagen. Una vez se han establecido las correspondencias entre im\u00e1genes sucesivas se elimina aquellas que describan movimientos que no se correspondan con el movimiento dominante en la imagen. A continuaci\u00f3n se determina una transformaci\u00f3n plana (o homograf\u00eda) que describe el movimiento aparente de la imagen. Finalmente se fusiona la imagen procesada con las im\u00e1genes anteriores dando lugar a la creaci\u00f3n de un mosaico. A partir de este mosaico se estima el movimiento del robot.  como la eventual trayectoria del robot intersecta sobre ella misma, un filtro de kalman de estado aumentado askf fusiona toda la informaci\u00f3n  disponible proporcionando no s\u00f3lo una estimaci\u00f3n de la posici\u00f3n del robot sin\u00f3 tambi\u00e9n de la trayectoria descrita por el mimso.  los resultados experimentales muestran funcionamiento del sistema tanto en un entorno de laboratorio como en mar abierto mediante la teleoperaci\u00f3n del robot submarino uris.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>A proposal to estimate the motion of an underwater vehicle through visual mosaicking<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 A proposal to estimate the motion of an underwater vehicle through visual mosaicking <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Rafael Garcia Campos <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Girona<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 17\/12\/2001<\/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>Xavier Cuf\u00ed Sol\u00e9<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: joan Batlle grabulosa <\/li>\n<li>jordi Vitri? marca (vocal)<\/li>\n<li>mustapha El mouaddib (vocal)<\/li>\n<li>gabriel Oliver (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Rafael Garcia Campos Esta tesis propone una soluci\u00f3n al problema de estimar el movimiento de un veh\u00edculo [&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 center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""},"tablet":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""},"mobile":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""}},"ast-content-background-meta":{"desktop":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""},"tablet":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""},"mobile":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""}},"footnotes":""},"categories":[1890,332,18809,2528,126,8967,2535,1577,30983,11658],"tags":[47162,47160,30472,47161,47158,47159],"class_list":["post-14684","post","type-post","status-publish","format-standard","hentry","category-ciencia-de-los-ordenadores","category-ciencias-tecnologicas","category-girona","category-inteligencia-artificial","category-matematicas","category-sistemas-en-tiempo-real","category-tecnologia-de-los-ordenadores","category-tecnologia-naval","category-vehiculos-submarinos","category-vision-artificial","tag-gabriel-oliver","tag-joan-batlle-grabulosa","tag-jordi-vitri-marca","tag-mustapha-el-mouaddib","tag-rafael-garcia-campos","tag-xavier-cufi-sole"],"_links":{"self":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/posts\/14684","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/comments?post=14684"}],"version-history":[{"count":0,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/posts\/14684\/revisions"}],"wp:attachment":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/media?parent=14684"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/categories?post=14684"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/tags?post=14684"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}