Mapeamento de ambientes externos utilizando robôs móveis

Hata, Alberto Yukinobu

doi:10.11606/d.55.2010.tde-13072010-144634

Cited by 2 publications

(1 citation statement)

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“…Cabe destacar que o presente projeto visa dar continuidade aos trabalhos em desenvolvimento junto ao LRM-ICMC/USP e INCT-SEC, focados no estudo e desenvolvimento de métodos e algoritmos para a detecção de obstáculos visando à navegação autônoma de robôs móveis, onde podemos destacar três dissertações de mestrado defendidas recentemente (HATA, 2010;SHINZATO, 2010;MENDES, 2012;KLASER, 2013) que deram origem a diversas publicações importantes e novos projetos.…”

Section: Figura 13 -A) Projeto Carina I B) Projetounclassified

Fusão de informações obtidas a partir de múltiplas imagens visando à navegação autônoma de veículos inteligentes em abiente agrícola

Utino¹

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his work presents a support system to the autonomous navigation for ground vehicles with focus on structured environments in an agricultural scenario. The estimated obstacle positions are generated based on the fusion of the detections from the processing of data from two cameras, one stereo and other thermal. Three modules obstacle detection have been developed. The first module uses monocular images of the stereo camera to detect novelties in the environment by comparing the current state with the previous state. The second module uses Stixel technique to delimit the obstacles above the ground plane. Finally, the third module uses thermal images to find signatures that reveal the presence of obstacle. The detection modules are fused using the Dempster-Shafer theory that provides an estimate of the presence of obstacles in the environment. The experiments were executed in real agricultural environment. System validation was performed in well-lit scenarios, with uneven terrain and different obstacles. The system showed satisfactory performance considering the use of an approach based on only three detection modules with methods that do not prioritize obstacle confirmation, but the search for new ones. This dissertation presents the main components of an obstacle detection system and the necessary steps for its design as well as results of experiments with the use of a real vehicle.

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Section: Figura 13 -A) Projeto Carina I B) Projetounclassified