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Scene representation for object monitoring

In robotics, having a 3D representation of the environment where a robot is working can be very useful. In real-life scenarios, this environment is constantly changing for example by human interaction, external agents or by the robot itself. Thus, the representation needs to be constantly updated and extended to account for these dynamic scene changes. In this work we face the problem of representing the scene where a robot is acting. Moreover, we ought to improve this representation by reusing the information obtained in previous scenes. Our goal is to build a method to represent a scene and to update it while changes are produced. In order to achieve that, different aspects of computer vision such as space representation or feature tracking are discussed

Manager: García Campos, Rafael
Other contributions: Universitat de Girona. Escola Politècnica Superior
Author: Pla Planas, Albert
Date: 2009 July
Abstract: In robotics, having a 3D representation of the environment where a robot is working can be very useful. In real-life scenarios, this environment is constantly changing for example by human interaction, external agents or by the robot itself. Thus, the representation needs to be constantly updated and extended to account for these dynamic scene changes. In this work we face the problem of representing the scene where a robot is acting. Moreover, we ought to improve this representation by reusing the information obtained in previous scenes. Our goal is to build a method to represent a scene and to update it while changes are produced. In order to achieve that, different aspects of computer vision such as space representation or feature tracking are discussed
Format: application/pdf
Document access: http://hdl.handle.net/10256/7082
Language: eng
Collection: Enginyeria Informàtica (EINF)
Rights: Attribution-NonCommercial-NoDerivs 3.0 Spain
Rights URI: http://creativecommons.org/licenses/by-nc-nd/3.0/es/
Subject: Visió per ordinador
Visió artificial (Robòtica)
Visualització tridimensional (Informàtica)
Computer vision
Robot vision
Three-dimensional display systems
Title: Scene representation for object monitoring
Type: info:eu-repo/semantics/bachelorThesis
Repository: DUGiDocs

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