{"id":37676,"date":"1998-01-01T00:00:00","date_gmt":"1998-01-01T00:00:00","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/sistema-de-posicionamiento-basado-en-vision-y-planos-cad-para-navegacion-de-robots-moviles-de-interiores\/"},"modified":"1998-01-01T00:00:00","modified_gmt":"1998-01-01T00:00:00","slug":"sistema-de-posicionamiento-basado-en-vision-y-planos-cad-para-navegacion-de-robots-moviles-de-interiores","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/ciencias-tecnologicas\/sistema-de-posicionamiento-basado-en-vision-y-planos-cad-para-navegacion-de-robots-moviles-de-interiores\/","title":{"rendered":"Sistema de posicionamiento basado en vision y planos cad para navegacion de robots moviles de interiores."},"content":{"rendered":"<h2>Tesis doctoral de <strong> Enrique Paz Domonte <\/strong><\/h2>\n<p>En esta tesis se propone una soluci\u00f3n para el problema del posicionamiento para navegaci\u00f3n de robots m\u00f3viles de interiores que no requiere modificar el entorno. Dicha soluci\u00f3n emplea t\u00e9cnicas de localizaci\u00f3n absolutas basadas en visi\u00f3n artificial y ajuste de modelos de entorno, junto con la odometr\u00eda como apoyo entre intervalos de localizaci\u00f3n absoluta.  el posicionamiento se ha planteado en dos fases:  la primera, llamada posicionamiento inicial emplea un ajuste geom\u00e9trico sobre el mapa del entorno. Se basa en t\u00e9cnicas cl\u00e1sicas, en las que se han incluido nuevos modelos de incertidumbre debidos a errores en el propio modelo cad, en la posici\u00f3n de la c\u00e1mara y en los par\u00e1metros del suelo. La segunda, llamada fase de seguimiento de la pose, emplea una t\u00e9cnica original de ajuste ic\u00f3nico muy eficiente computacionalmente. Con esta t\u00e9cnica se consigue una mayor precisi\u00f3n que con la anterior, lo que unido a su elevada cadencia de ejecuci\u00f3n, permite al robot navegar a velocidades de hasta 1m\/s (muy superior a la m\u00e1xima velocidad lograda mediante otras t\u00e9cnicas).  en la tesis se presentan los resultados de aplicar estas t\u00e9cnicas sobre el robot gato, y se comparan con otros trabajos recientes de nivel internacional.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Sistema de posicionamiento basado en vision y planos cad para navegacion de robots moviles de interiores.<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Sistema de posicionamiento basado en vision y planos cad para navegacion de robots moviles de interiores. <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Enrique Paz Domonte <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Vigo<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 01\/01\/1998<\/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>Ricardo Marin Martin<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: Anibal Ollero Baturone <\/li>\n<li>Luis Montano Gella (vocal)<\/li>\n<li>Alfonso Jos\u00e9 Garcia Cerezo (vocal)<\/li>\n<li>Rafael Sanz Dominguez (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Enrique Paz Domonte En esta tesis se propone una soluci\u00f3n para el problema del posicionamiento para navegaci\u00f3n [&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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