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S22 Mecatrônica |
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Title:
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PERFORMANCE EVALUATION OF 3D COMPUTER VISION TECHNIQUES
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Summary :
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SUMMARY. THIS WORK PRESENTS THE IMPLEMENTATION AND COMPARISON OF THREE DIFFERENT TECHNIQUES OF THREE-DIMENSIONAL COMPUTER VISION AS FOLLOWS:
· STEREO VISION - CORRELATION BETWEEN TWO 2D IMAGES
· SENSORIAL FUSION - USE OF DIFFERENT SENSORS: CAMERA 2D + ULTRASONIC SENSOR (1D);
· STRUCTURED LIGHT
THE COMPUTER VISION ALGORITHMS PRESENTED IN THIS WORK ARE BASICALLY IMPLEMENTATIONS OF PREVIOUS WORKS, EXECUTED WITH ACTUAL TECHNIQUES OF PROVEN EFFICIENCY. THE MAIN CONTRIBUTION OF THIS WORK IS TO MAKE AVAILABLE FOR THE SCIENTIFIC COMMUNITY DIFFERENT 3D COMPUTER VISION TECHNIQUES, AS WELL AS AN EVALUATION OF WHICH METHOD IS MORE APPROPRIATE FOR CERTAIN APPLICATIONS. THE COMPARATIVE STUDY AMONG THE THREE TECHNIQUES TOOK INTO CONSIDERATION THE FOLLOWING CHARACTERISTICS:
· COMPUTATIONAL EFFORT ( ELAPSED TIME FOR OBTAIN THE 3D INFORMATION);
· INFLUENCE OF THE ENVIRONMENT CONDITIONS (NOISE DUE TO AN NON UNIFORM LIGHTNING, OVERLIGHTNING, SHADES);
· THE COST OF THE INFRASTRUCTURE FOR EACH TECHNIQUE;
· ANALYSIS OF UNCERTAINTIES, PRECISION ( AND ACCURACY
THE OPTION OF EMPLOYING THE MATLAB SOFTWARE, VERSION 5.1, FOR THE IMPLEMENTATION OF THE OF COMPUTER VISION ALGORITHMS WAS DUE TO THE SIMPLICITY OF COMMANDS, PROGRAMMING AND DEBUGING. BESIDES, THIS SOFTWARE IS KNOWN AND USED IN THE ACADEMIC COMMUNITY, ALLOWING THE RESULTS OF THIS WORK TO BE REPRODUCED AND VERIFIED. EXAMPLES OF THREE-DIMENSIONAL VISION PRESENTED ARE APPLIED TO ROBOTICS ASSEMBLING TASKS.
KEY WORDS: COMPUTER VISION, RANGE FINDERS, ROBOTICS, MECHATRONICS.
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Author :
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KABAYAMA, ALFRED MAKOTO
TRABASSO, LUÍS GONZAGA
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Paper View :
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COBEM99
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