{"id":25073,"date":"2018-03-09T09:16:18","date_gmt":"2018-03-09T09:16:18","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/una-arquitectura-eficiente-de-percepcion-de-alto-nivel-navegacion-visual-para-robots-autonomos-en-entornos-estructurados\/"},"modified":"2018-03-09T09:16:18","modified_gmt":"2018-03-09T09:16:18","slug":"una-arquitectura-eficiente-de-percepcion-de-alto-nivel-navegacion-visual-para-robots-autonomos-en-entornos-estructurados","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/murcia\/una-arquitectura-eficiente-de-percepcion-de-alto-nivel-navegacion-visual-para-robots-autonomos-en-entornos-estructurados\/","title":{"rendered":"Una arquitectura eficiente de percepci\u00f3n de alto nivel: navegaci\u00f3n visual para robots aut\u00f3nomos en entornos estructurados"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Pedro Enrique Lopez De Teruel Alcolea <\/strong><\/h2>\n<p>Esta tesis describe el dise\u00f1o e implementaci\u00f3n de un robot m\u00f3vil capaz de realizar una interpretaci\u00f3n estructural del entorno usando \u00fanicamente informaci\u00f3n sensorial de tipo visual y propioceptivo. El comportamiento deseado es la navegaci\u00f3n en tiempo real basada en esta interpretaci\u00f3n, en lugar de la estrictamente reactiva a los est\u00edmulos inmediantos. Optmamos por un criterio de dise\u00f1o fundamentalmente predictivo: el sistema debe anticipar las consecuencias de sus acciones, mostrando una cierta comprensi\u00f3n predictiva de la escena en la que se mueve.  se propone soluciones para todos los niveles de la percepci\u00f3n. En las etapas inferiores se ha desarrollado una t\u00e9cnica de extracci\u00f3n de segmentos con informaci\u00f3n de color, de gran potencia expresiva y eficiencia computacional. con objeto de inferir propiedades eucl\u00eddeas del espacio se presenta una colecci\u00f3n de m\u00e9todos de autocalibraci\u00f3n que, apoy\u00e1ndose en el formalismo de la geometr\u00eda proyectiva, aprovechan tambi\u00e9n la informaci\u00f3n odom\u00e9trica de agente aut\u00f3nomo. La percepci\u00f3n de alto nivel, finalmente, se resuelve mediante un ciclo de generaci\u00f3n, seguimiento y corroboraci\u00f3n de hip\u00f3tesis modelizadoras del entorno, que son mantenidas en una representaci\u00f3n interna estable y sintonizada con los movimientos del agente. La principal caracter\u00edstica de este mecanismo es la interacci\u00f3n constante entre los procesos perceptivos ascendentes, guiados por los est\u00edmulos sensoriales, y los descendentes, guiados por los modelos previos. Todos estos elementos se integran en una arquitectura hardware-software eficiente, modular y flexible, en la que acci\u00f3n y percepci\u00f3n cooperan estrechamente para lograr la robustez y continuidad necesarias en la navegaci\u00f3n.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Una arquitectura eficiente de percepci\u00f3n de alto nivel: navegaci\u00f3n visual para robots aut\u00f3nomos en entornos estructurados<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Una arquitectura eficiente de percepci\u00f3n de alto nivel: navegaci\u00f3n visual para robots aut\u00f3nomos en entornos estructurados <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Pedro Enrique Lopez De Teruel Alcolea <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Murcia<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 25\/07\/2003<\/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>Alberto Ru\u00edz Garc\u00eda<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: Juan  manuel Garc\u00eda chamizo <\/li>\n<li>Luis Baumela molina (vocal)<\/li>\n<li>lourdes De agapito vicente (vocal)<\/li>\n<li>pablo Bustos garcia de castro (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Pedro Enrique Lopez De Teruel Alcolea Esta tesis describe el dise\u00f1o e implementaci\u00f3n de un robot m\u00f3vil [&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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