Estimativa de orientação com uma bússola visual baseada em cores
Autor(a) principal: | |
---|---|
Data de Publicação: | 2016 |
Tipo de documento: | Dissertação |
Idioma: | por |
Título da fonte: | Biblioteca Digital de Teses e Dissertações do UFSM |
Texto Completo: | http://repositorio.ufsm.br/handle/1/12172 |
Resumo: | Humans and animals make use of many senses to interact with the environment around them. Computers, in turn, interact through input and output devices such as speakers, keyboards, and monitors, and their interactions have many more limitations. But currently, devices like cameras and microphones have been added to computers, increasing their interactivity. With this advancement, there are autonomous robots equipped with sensors, such as sound, touch and vision, the latter through one or more cameras. A robot, to be considered autonomous, must make decisions without human intervention and, in order to have excellence in what it does, must be provided with a good form of guidance. This work presents an alternative visual compass to stipulate the orientation of robots and autonomous vehicles, so that they can get around in a scenario (environment) and do the work in which they were built to perform. The proposed approach works with 360o perspective of environments, in which information is extracted from the color changes that occur. With color change counts, the process is repeated with images received from the robots or vehicles in motion, and the color changes of this image with those stored from the 360o perspective. The result of the color change comparison is used to estimate the degree of similarity between the images and thus to present the angle at which the image of the moving robot is present in the 360o perspective. Robots or autonomous vehicles can use this value presented in their decision making. |
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2017-12-20T13:21:38Z2017-12-20T13:21:38Z2016-12-21http://repositorio.ufsm.br/handle/1/12172Humans and animals make use of many senses to interact with the environment around them. Computers, in turn, interact through input and output devices such as speakers, keyboards, and monitors, and their interactions have many more limitations. But currently, devices like cameras and microphones have been added to computers, increasing their interactivity. With this advancement, there are autonomous robots equipped with sensors, such as sound, touch and vision, the latter through one or more cameras. A robot, to be considered autonomous, must make decisions without human intervention and, in order to have excellence in what it does, must be provided with a good form of guidance. This work presents an alternative visual compass to stipulate the orientation of robots and autonomous vehicles, so that they can get around in a scenario (environment) and do the work in which they were built to perform. The proposed approach works with 360o perspective of environments, in which information is extracted from the color changes that occur. With color change counts, the process is repeated with images received from the robots or vehicles in motion, and the color changes of this image with those stored from the 360o perspective. The result of the color change comparison is used to estimate the degree of similarity between the images and thus to present the angle at which the image of the moving robot is present in the 360o perspective. Robots or autonomous vehicles can use this value presented in their decision making.Os seres humanos e animais fazem uso de muitos sentidos para interagir com o ambiente a sua volta. Os computadores, por sua vez, interagem por meio de dispositivos de entrada e saída, tais como caixas de som, teclados e monitores, tendo suas interações muito mais limitações. Mas, atualmente, dispositivos como câmeras e microfones foram adicionado à computadores, aumentando sua interatividade. Com este avanço, surgem robôs autônomos equipados com sensores, tais como de som, de tato e visão, este último por intermédio de uma ou de mais câmeras. Um robô, para ser considerado autônomo, deve tomar decisões sem a intervenção humana e, para possuir excelência no que faz, deve ser munido de uma boa forma de orientação. Este trabalho apresenta uma alternativa de bússola visual para estipular a orientação de robôs e veículos autônomos, para que estes consigam se locomover em um cenário (ambiente) e efetuar o trabalho no qual foram construídos para desempenhar. A abordagem proposta trabalha com perspectivas 360o do ambientes, no qual se extrai informações das trocas de cores que ocorrem. Com as contagens de trocas de cores, o processo é repetido com imagens recebidas dos robôs ou veículos em movimento, e as trocas de cores desta imagem com as armazenadas da perspectiva 360o. O resultado da comparação de troca de cores é utilizado para estimar o grau de similaridade entre as imagens e assim, apresentar o ângulo no qual a imagem do robô em movimentação está presente na perspectiva 360o. Os robôs ou veículos autônomos podem usar deste valor apresentado nas suas tomadas de decisão.porUniversidade Federal de Santa MariaCentro de TecnologiaPrograma de Pós-Graduação em InformáticaUFSMBrasilCiência da ComputaçãoAttribution-NonCommercial-NoDerivatives 4.0 Internationalhttp://creativecommons.org/licenses/by-nc-nd/4.0/info:eu-repo/semantics/openAccessBússola visualOrientação visualOrientação baseada em coresVisual compassColor-based guidanceCNPQ::CIENCIAS EXATAS E DA TERRA::CIENCIA DA COMPUTACAOEstimativa de orientação com uma bússola visual baseada em coresEstimates guidance with a visual compass based in colorinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/masterThesisLibrelotto, Giovani Ruberthttp://lattes.cnpq.br/0865997296771785Piveta, Eduardo Kesslerhttp://lattes.cnpq.br/8687196768910831Perozzo, Reiner Franthescohttp://lattes.cnpq.br/0623222241801764http://lattes.cnpq.br/0042392018480711Londero, Fabrício Tonetto10030000000760080e07393-0dd8-4aec-b0d4-7bbfa5881f1e047f911d-a2c4-41f3-8f59-53cbcabd383c15b6c103-19c6-4ace-8789-f26318c8023f0efe7742-4400-4142-8592-a20ab5f64c03reponame:Biblioteca Digital de Teses e Dissertações do UFSMinstname:Universidade Federal de Santa Maria (UFSM)instacron:UFSMORIGINALDIS_PPGINFORMATICA_2016_LONDERO_FABRICIO.pdfDIS_PPGINFORMATICA_2016_LONDERO_FABRICIO.pdfDissertação de Mestradoapplication/pdf1819137http://repositorio.ufsm.br/bitstream/1/12172/1/DIS_PPGINFORMATICA_2016_LONDERO_FABRICIO.pdff362109c743748ee760e72225c535982MD51CC-LICENSElicense_rdflicense_rdfapplication/rdf+xml; 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dc.title.por.fl_str_mv |
Estimativa de orientação com uma bússola visual baseada em cores |
dc.title.alternative.eng.fl_str_mv |
Estimates guidance with a visual compass based in color |
title |
Estimativa de orientação com uma bússola visual baseada em cores |
spellingShingle |
Estimativa de orientação com uma bússola visual baseada em cores Londero, Fabrício Tonetto Bússola visual Orientação visual Orientação baseada em cores Visual compass Color-based guidance CNPQ::CIENCIAS EXATAS E DA TERRA::CIENCIA DA COMPUTACAO |
title_short |
Estimativa de orientação com uma bússola visual baseada em cores |
title_full |
Estimativa de orientação com uma bússola visual baseada em cores |
title_fullStr |
Estimativa de orientação com uma bússola visual baseada em cores |
title_full_unstemmed |
Estimativa de orientação com uma bússola visual baseada em cores |
title_sort |
Estimativa de orientação com uma bússola visual baseada em cores |
author |
Londero, Fabrício Tonetto |
author_facet |
Londero, Fabrício Tonetto |
author_role |
author |
dc.contributor.advisor1.fl_str_mv |
Librelotto, Giovani Rubert |
dc.contributor.advisor1Lattes.fl_str_mv |
http://lattes.cnpq.br/0865997296771785 |
dc.contributor.referee1.fl_str_mv |
Piveta, Eduardo Kessler |
dc.contributor.referee1Lattes.fl_str_mv |
http://lattes.cnpq.br/8687196768910831 |
dc.contributor.referee2.fl_str_mv |
Perozzo, Reiner Franthesco |
dc.contributor.referee2Lattes.fl_str_mv |
http://lattes.cnpq.br/0623222241801764 |
dc.contributor.authorLattes.fl_str_mv |
http://lattes.cnpq.br/0042392018480711 |
dc.contributor.author.fl_str_mv |
Londero, Fabrício Tonetto |
contributor_str_mv |
Librelotto, Giovani Rubert Piveta, Eduardo Kessler Perozzo, Reiner Franthesco |
dc.subject.por.fl_str_mv |
Bússola visual Orientação visual Orientação baseada em cores |
topic |
Bússola visual Orientação visual Orientação baseada em cores Visual compass Color-based guidance CNPQ::CIENCIAS EXATAS E DA TERRA::CIENCIA DA COMPUTACAO |
dc.subject.eng.fl_str_mv |
Visual compass Color-based guidance |
dc.subject.cnpq.fl_str_mv |
CNPQ::CIENCIAS EXATAS E DA TERRA::CIENCIA DA COMPUTACAO |
description |
Humans and animals make use of many senses to interact with the environment around them. Computers, in turn, interact through input and output devices such as speakers, keyboards, and monitors, and their interactions have many more limitations. But currently, devices like cameras and microphones have been added to computers, increasing their interactivity. With this advancement, there are autonomous robots equipped with sensors, such as sound, touch and vision, the latter through one or more cameras. A robot, to be considered autonomous, must make decisions without human intervention and, in order to have excellence in what it does, must be provided with a good form of guidance. This work presents an alternative visual compass to stipulate the orientation of robots and autonomous vehicles, so that they can get around in a scenario (environment) and do the work in which they were built to perform. The proposed approach works with 360o perspective of environments, in which information is extracted from the color changes that occur. With color change counts, the process is repeated with images received from the robots or vehicles in motion, and the color changes of this image with those stored from the 360o perspective. The result of the color change comparison is used to estimate the degree of similarity between the images and thus to present the angle at which the image of the moving robot is present in the 360o perspective. Robots or autonomous vehicles can use this value presented in their decision making. |
publishDate |
2016 |
dc.date.issued.fl_str_mv |
2016-12-21 |
dc.date.accessioned.fl_str_mv |
2017-12-20T13:21:38Z |
dc.date.available.fl_str_mv |
2017-12-20T13:21:38Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/masterThesis |
format |
masterThesis |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://repositorio.ufsm.br/handle/1/12172 |
url |
http://repositorio.ufsm.br/handle/1/12172 |
dc.language.iso.fl_str_mv |
por |
language |
por |
dc.relation.cnpq.fl_str_mv |
100300000007 |
dc.relation.confidence.fl_str_mv |
600 |
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dc.rights.driver.fl_str_mv |
Attribution-NonCommercial-NoDerivatives 4.0 International http://creativecommons.org/licenses/by-nc-nd/4.0/ info:eu-repo/semantics/openAccess |
rights_invalid_str_mv |
Attribution-NonCommercial-NoDerivatives 4.0 International http://creativecommons.org/licenses/by-nc-nd/4.0/ |
eu_rights_str_mv |
openAccess |
dc.publisher.none.fl_str_mv |
Universidade Federal de Santa Maria Centro de Tecnologia |
dc.publisher.program.fl_str_mv |
Programa de Pós-Graduação em Informática |
dc.publisher.initials.fl_str_mv |
UFSM |
dc.publisher.country.fl_str_mv |
Brasil |
dc.publisher.department.fl_str_mv |
Ciência da Computação |
publisher.none.fl_str_mv |
Universidade Federal de Santa Maria Centro de Tecnologia |
dc.source.none.fl_str_mv |
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