{"id":77404,"date":"2018-03-09T23:22:57","date_gmt":"2018-03-09T23:22:57","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/assited-visual-servoing-by-means-of-structured-light\/"},"modified":"2018-03-09T23:22:57","modified_gmt":"2018-03-09T23:22:57","slug":"assited-visual-servoing-by-means-of-structured-light","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/ciencia-de-los-ordenadores\/assited-visual-servoing-by-means-of-structured-light\/","title":{"rendered":"Assited visual servoing by means of structured light"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Jordi Pag\u00e9s Marco <\/strong><\/h2>\n<p>Este trabajo trata sobre la combinaci\u00f3n del control visual con la luz estructurada para realizar tareas de posicionamiento de robots respecto objetos. el control visual es una t\u00e9cnica muy extendida actualmente que permite realizar tareas en rob\u00f3tica utilizando un bucle de control asado en informaci\u00f3n visual. La configuraci\u00f3n m\u00e1s habitual consiste en acoplar una c\u00e1mara en el elemento terminal de un brazo rob\u00f3tico o aun robot m\u00f3vil. el objetivo de la tarea se define a partir de la imagen que percibe la c\u00e1mara una vez el robot se encuentran en la posici\u00f3n deseada respecto el objeto. Entonces, cuando el robot es movido a otra posici\u00f3n o bien el objeto es movido, el bucle de control basado en visi\u00f3n es capaz de devolver al robot a la posici\u00f3n relativa deseada. para poder realizar un bucle basado en visi\u00f3n es necesario que el objeto de inter\u00e9s contenga elementos visuales. Por lo tanto, el control visual cl\u00e1sico no es capaz de tratar con objetos poco texturados, con apariencia uniforme, u objetos complejos en los que se hace dif\u00edcil extraer elementos visuales de forma robusta y r\u00e1pida. La soluci\u00f3n que proponemos en esta tesis es utilizar luz estructurada para proyectar elementos visuales en los objetos independientemente de su apariencia. La luz estructurada es una t\u00e9cnica de estereo-visi\u00f3n activa en la que un emisor de luz (actualmente la opci\u00f3n m\u00e1s flexible es un video-proyector) proyecta un patr\u00f3n de luz conocido. Entonces, observando el objeto iluminado a trav\u00e9s de una c\u00e1mara, es posible obtener correspondencias entre la imagen y el patr\u00f3n, y posteriormente se puede obtener correspondencias entre la imagen y el patr\u00f3n, y posteriormente se puede obtener informaci\u00f3n 3d a partir de reconstrucci\u00f3n. la tesis presenta un estudio detallado de la luz estructurada codificada, analizando los distintos patrones existentes. Distintos patrones existentes. Distintos resultados muestran el rendimiento de cada tipo de patr\u00f3n en el marco de la aplica<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Assited visual servoing by means of structured light<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Assited visual servoing by means of structured light <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Jordi Pag\u00e9s Marco <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Girona<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 25\/11\/2005<\/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>Joaquim Salvi Mas<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: joan Batlle <\/li>\n<li>nicolas Perez de la blanca capilla (vocal)<\/li>\n<li>david Lane (vocal)<\/li>\n<li>patrick Rives (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Jordi Pag\u00e9s Marco Este trabajo trata sobre la combinaci\u00f3n del control visual con la luz estructurada para [&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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