{"id":19453,"date":"2002-11-10T00:00:00","date_gmt":"2002-11-10T00:00:00","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/metodos-visuales-de-reconstruccion-3d-en-robots-moviles\/"},"modified":"2002-11-10T00:00:00","modified_gmt":"2002-11-10T00:00:00","slug":"metodos-visuales-de-reconstruccion-3d-en-robots-moviles","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/politecnica-de-madrid\/metodos-visuales-de-reconstruccion-3d-en-robots-moviles\/","title":{"rendered":"M\u00e9todos visuales de reconstrucci\u00f3n 3d en robots m\u00f3viles"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Jos\u00e9 Vicento Crespo <\/strong><\/h2>\n<p>En eta tesis se proponen un modelo de integraci\u00f3n percepci\u00f3n-acci\u00f3n en robots m\u00f3viles basado en una representaci\u00f3n din\u00e1mica del espacio tridimensional. el objetivo que se pretende es conseguir una realimentaci\u00f3n continua entre el entorno y el robot cuyo efecto sea la generaci\u00f3n y actualizaci\u00f3n de un modelo interno espacial del mundo. Para ello, se ha desarrollado un sistema software orientado al tiempo real capaz de construir incrementalmente una representaci\u00f3n del espacio a partir de informaci\u00f3n visual obtenida desde una torreta estereosc\u00f3pica. Junto a este sistema se ha construido \u00edntegramente un robot m\u00f3vil dotado de una torreta de visi\u00f3n esteroesc\u00f3pica y que incorpora los elementos de proceso, alimetnaci\u00f3n y control a bordo.  los algoritmos desarrollados para la reconstrucci\u00f3n 3d parte de los principios de la geometr\u00eda epipolar para obtener un conjunto inicial de correspondencias. a partir de estas medidas, se extrae informaci\u00f3n adicional utilizando criterios de planaridad en el espacio. Finalmente, se utiliza la ecuaci\u00f3n de difusi\u00f3n del calor para interpolar incrementalmente el resto del espacio no medido. en cualquier punto del proceso es posible calcular el error de reproyecci\u00f3n existente en el modelo 3d interno y utilizarlo para generar movimientos de reorientaci\u00f3n de las c\u00e1maras y del robot. Con estos movimientos se accede a nuevas regiones del entorno que aportan informaci\u00f3n complementaria y contribuyen a mejorar la representaci\u00f3n.  la informaci\u00f3n espacial y de luminosidad se integran en el tiempo sobre una geometr\u00eda esf\u00e9rica de representaci\u00f3n centrada en el robot. Este sistema funciona como una memoria predictiva directamente acoplada al sistema de control de movimientos.  los resultados obtenidos sobre el robot muestran la viabilidad de este enfoque y sugieren nuevas investigaciones dirigidas a conseguir un mayor nivel de autonom\u00eda y fiabilidad en la navegaci\u00f3n visual de robots m\u00f3viles.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>M\u00e9todos visuales de reconstrucci\u00f3n 3d en robots m\u00f3viles<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 M\u00e9todos visuales de reconstrucci\u00f3n 3d en robots m\u00f3viles <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Jos\u00e9 Vicento Crespo <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Polit\u00e9cnica de Madrid<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 11\/10\/2002<\/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>Pablo Bustos Garcia De Castro<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal:  Buamela <\/li>\n<li>Alberto Ru\u00edz Garc\u00eda (vocal)<\/li>\n<li> Moreno del pozo Jos\u00e9 (vocal)<\/li>\n<li>lourdes De agapito vicente (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Jos\u00e9 Vicento Crespo En eta tesis se proponen un modelo de integraci\u00f3n percepci\u00f3n-acci\u00f3n en robots m\u00f3viles basado [&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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