Publication: Estabilización de la visión artificial del robot humanoide HOAP-3 durante su movimiento
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2010-10
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2010-10-04
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Abstract
La robótica humanoide se prevé como una de las mayores revoluciones tecnológicas de la industria. En la próxima década se espera que puedan formar parte de nuestra vida cotidiana, como por ejemplo en asistencia de menores y ancianos, o realización de tareas domésticas y entretenimiento. Económicamente provocará un gran movimiento mundial, permitiendo su adquisición a precios mucho más asequibles y por lo tanto se producirá una gran difusión en cualquier ámbito, ya sea doméstico o empresarial. Previo a este desarrollo es necesario un proceso de investigación en las distintas tareas que pueden realizar los humanoides de forma que el uso de estos sea de manera sencilla, cómoda y precisa. Este proyecto trata sobre la obtención imágenes estables tomadas por el robot cuando se encuentra en movimiento. Esto permite que la imagen no fluctúe, obteniendo una secuencia nítida y preparada para posteriores procesos, como identificación o manipulación de precisión de objetos o simplemente para el desarrollo de tareas implicadas en visión o la telemática. El software utilizado se basará principalmente en programación en C++ y en el uso de librerías OpenCV, así mismo trata de integrar los conocimientos adquiridos a lo largo de la carrera ya que contiene aspectos matemáticos, físicos, informáticos y de visión. Realizando un programa robusto que permita su utilización de una manera sencilla y en cualquier ámbito. __________________________________________________________________________________
The humanoid robot is expected to be one of the greatest technological revolutions in the industry; day by day is getting more common in households and society. In the next decade humanoid robots are expected to be part of our daily lives, such as in child and elderly care or domestic tasks and entertainment. Economically lead a large global movement, allowing them to purchase much more affordable prices and therefore will be a large spread in any field, whether home or business. Prior to this development requires research process in different tasks that humanoids can perform this way the use of these robots is simple, convenient and accurate. This project consist in obtain stable images taken by the robot when it is in motion. This allows not fluctuating the image, resulting in a clear stream and prepared for subsequent processes, such as identification for precise objects manipulation or simply for the development of tasks involved in vision or telematics. The software used mainly consists of programming in C++ and use OpenCV libraries. Furthermore, this project seeks to integrate the knowledge acquired throughout the degree because it contains aspects related to mathematics, physics and computer vision.
The humanoid robot is expected to be one of the greatest technological revolutions in the industry; day by day is getting more common in households and society. In the next decade humanoid robots are expected to be part of our daily lives, such as in child and elderly care or domestic tasks and entertainment. Economically lead a large global movement, allowing them to purchase much more affordable prices and therefore will be a large spread in any field, whether home or business. Prior to this development requires research process in different tasks that humanoids can perform this way the use of these robots is simple, convenient and accurate. This project consist in obtain stable images taken by the robot when it is in motion. This allows not fluctuating the image, resulting in a clear stream and prepared for subsequent processes, such as identification for precise objects manipulation or simply for the development of tasks involved in vision or telematics. The software used mainly consists of programming in C++ and use OpenCV libraries. Furthermore, this project seeks to integrate the knowledge acquired throughout the degree because it contains aspects related to mathematics, physics and computer vision.
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Keywords
Robótica, Robots humanoides, Proceso de imágenes, Visión artificial