Detection system for humanoid robots in semi-structured environments based on stereoscopic vision
Sistema de detección de robots humanoides en ambientes semiestructurados basado en visión estereoscópica
| 2021 | |
|
Visión artificial Video estéreo Red neuronal convolucional Robots humanoides Artificial vision Stereo video Convolutional neural network Humanoid robots |
|
| Español | |
| Universidad de Montevideo | |
| REDUM | |
| http://revistas.um.edu.uy/index.php/ingenieria/article/view/855 | |
| Acceso abierto | |
| Atribución 4.0 Internacional |
| _version_ | 1807356687993012224 |
|---|---|
| author | Herrera, Oscar |
| author2 | González, Yesenia Cortez, Paola Granados, Benito |
| author2_role | author author author |
| author_facet | Herrera, Oscar González, Yesenia Cortez, Paola Granados, Benito |
| author_role | author |
| collection | REDUM |
| dc.creator.none.fl_str_mv | Herrera, Oscar González, Yesenia Cortez, Paola Granados, Benito |
| dc.date.none.fl_str_mv | 2021-12-10 |
| dc.description.en-US.fl_txt_mv | This work proposes the design, development and implementation of an artificial vision system based on stereo video, which is executed in an embedded system, to identify humanoid robots within a semi-structured area. The embedded system uses an Intel RealSense camera that, in addition to being able to obtain distances to objects due to its stereo vision, is capable of discriminating information after a distance threshold determined by the user, eliminating objects in the background of the scene and, through Image recognition based on a convolutional neural network recognizes the humanoid robots within it. The application of the system is based on the Robocup Humanoid League contest, where two teams of robots play soccer, so in addition to recognizing humanoid robots at different angles and distances, the system can classify recognized robots as companions or opponents (depending on the recognition of color marks they carry), emulating that, in the future, the proposed system will be mounted on another humanoid robot. |
| dc.description.es-ES.fl_txt_mv | El presente trabajo propone el diseño, desarrollo e implementación de un sistema de visión artificial basado en vídeo estéreo, el cual es ejecutado en un sistema embebido, con el fin de identificar a robots humanoides dentro de un área semiestructurada. El sistema embebido utiliza una cámara RealSense de Intel que además de poder obtener distancias hacia los objetos debido a la visión estéreo que posee, es capaz de discriminar información después de un umbral de distancia determinado por el usuario, eliminando los objetos de fondo de la escena y mediante reconocimiento de imágenes basado en una red neuronal convolucional reconoce a robots humanoides dentro de esta. La aplicación del sistema se basa en el concurso Robocup Humanoid League, donde dos equipos de robots juegan fútbol, por lo que además de reconocer a robots humanoides a diferentes ángulos y distancias, el sistema puede clasificar a los robots reconocidos como compañeros o contrincantes (dependiendo del reconocimiento de marcas de color que estos porten), emulando que, a futuro, el sistema propuesto estará montado sobre otro robot humanoide. |
| dc.format.none.fl_str_mv | application/pdf |
| dc.identifier.none.fl_str_mv | http://revistas.um.edu.uy/index.php/ingenieria/article/view/855 10.36561/ING.21.8 |
| dc.language.iso.none.fl_str_mv | spa |
| dc.publisher.es-ES.fl_str_mv | Universidad de Montevideo |
| dc.relation.none.fl_str_mv | http://revistas.um.edu.uy/index.php/ingenieria/article/view/855/1054 |
| dc.rights.es-ES.fl_str_mv | Derechos de autor 2021 Oscar Herrera, Yesenia González, Paola Cortez, Benito Granados http://creativecommons.org/licenses/by/4.0 |
| dc.rights.license.none.fl_str_mv | Atribución 4.0 Internacional |
| dc.rights.none.fl_str_mv | info:eu-repo/semantics/openAccess |
| dc.source.en-US.fl_str_mv | Memoria Investigaciones en Ingeniería; No. 21 (2021); 94-107 |
| dc.source.es-ES.fl_str_mv | Memoria Investigaciones en Ingeniería; Núm. 21 (2021); 94-107 |
| dc.source.none.fl_str_mv | 2301-1106 2301-1092 10.36561/ING.21 reponame:REDUM instname:Universidad de Montevideo instacron:Universidad de Montevideo |
| dc.source.pt-BR.fl_str_mv | Memoria Investigaciones en Ingenieria; n. 21 (2021); 94-107 |
| dc.subject.en-US.fl_str_mv | Artificial vision Stereo video Convolutional neural network Humanoid robots |
| dc.subject.es-ES.fl_str_mv | Visión artificial Video estéreo Red neuronal convolucional Robots humanoides |
| dc.title.none.fl_str_mv | Detection system for humanoid robots in semi-structured environments based on stereoscopic vision Sistema de detección de robots humanoides en ambientes semiestructurados basado en visión estereoscópica |
| dc.type.en-US.fl_str_mv | Peer reviewed articles |
| dc.type.es-ES.fl_str_mv | Artículos evaluados por pares |
| dc.type.none.fl_str_mv | info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion |
| dc.type.pt-BR.fl_str_mv | Artigos revistos por pares |
| dc.type.version.none.fl_str_mv | publishedVersion info:eu-repo/semantics/publishedVersion |
| description | This work proposes the design, development and implementation of an artificial vision system based on stereo video, which is executed in an embedded system, to identify humanoid robots within a semi-structured area. The embedded system uses an Intel RealSense camera that, in addition to being able to obtain distances to objects due to its stereo vision, is capable of discriminating information after a distance threshold determined by the user, eliminating objects in the background of the scene and, through Image recognition based on a convolutional neural network recognizes the humanoid robots within it. The application of the system is based on the Robocup Humanoid League contest, where two teams of robots play soccer, so in addition to recognizing humanoid robots at different angles and distances, the system can classify recognized robots as companions or opponents (depending on the recognition of color marks they carry), emulating that, in the future, the proposed system will be mounted on another humanoid robot. |
| eu_rights_str_mv | openAccess |
| format | article |
| id | REDUM_f6c6e44fd20333a1c4e348c90f71bcb8 |
| identifier_str_mv | 10.36561/ING.21.8 |
| instacron_str | Universidad de Montevideo |
| institution | Universidad de Montevideo |
| instname_str | Universidad de Montevideo |
| language | spa |
| network_acronym_str | REDUM |
| network_name_str | REDUM |
| oai_identifier_str | oai:redum.um.edu.uy:20.500.12806/2557 |
| publishDate | 2021 |
| reponame_str | REDUM |
| repository.mail.fl_str_mv | nolascoaga@um.edu.uy |
| repository.name.fl_str_mv | REDUM - Universidad de Montevideo |
| repository_id_str | 10501 |
| rights_invalid_str_mv | Derechos de autor 2021 Oscar Herrera, Yesenia González, Paola Cortez, Benito Granados http://creativecommons.org/licenses/by/4.0 Atribución 4.0 Internacional |
| spelling | Herrera, OscarGonzález, YeseniaCortez, PaolaGranados, Benito2021-12-10http://revistas.um.edu.uy/index.php/ingenieria/article/view/85510.36561/ING.21.8This work proposes the design, development and implementation of an artificial vision system based on stereo video, which is executed in an embedded system, to identify humanoid robots within a semi-structured area. The embedded system uses an Intel RealSense camera that, in addition to being able to obtain distances to objects due to its stereo vision, is capable of discriminating information after a distance threshold determined by the user, eliminating objects in the background of the scene and, through Image recognition based on a convolutional neural network recognizes the humanoid robots within it. The application of the system is based on the Robocup Humanoid League contest, where two teams of robots play soccer, so in addition to recognizing humanoid robots at different angles and distances, the system can classify recognized robots as companions or opponents (depending on the recognition of color marks they carry), emulating that, in the future, the proposed system will be mounted on another humanoid robot.El presente trabajo propone el diseño, desarrollo e implementación de un sistema de visión artificial basado en vídeo estéreo, el cual es ejecutado en un sistema embebido, con el fin de identificar a robots humanoides dentro de un área semiestructurada. El sistema embebido utiliza una cámara RealSense de Intel que además de poder obtener distancias hacia los objetos debido a la visión estéreo que posee, es capaz de discriminar información después de un umbral de distancia determinado por el usuario, eliminando los objetos de fondo de la escena y mediante reconocimiento de imágenes basado en una red neuronal convolucional reconoce a robots humanoides dentro de esta. La aplicación del sistema se basa en el concurso Robocup Humanoid League, donde dos equipos de robots juegan fútbol, por lo que además de reconocer a robots humanoides a diferentes ángulos y distancias, el sistema puede clasificar a los robots reconocidos como compañeros o contrincantes (dependiendo del reconocimiento de marcas de color que estos porten), emulando que, a futuro, el sistema propuesto estará montado sobre otro robot humanoide.application/pdfspaUniversidad de Montevideohttp://revistas.um.edu.uy/index.php/ingenieria/article/view/855/1054Derechos de autor 2021 Oscar Herrera, Yesenia González, Paola Cortez, Benito Granadoshttp://creativecommons.org/licenses/by/4.0info:eu-repo/semantics/openAccessAtribución 4.0 InternacionalMemoria Investigaciones en Ingeniería; No. 21 (2021); 94-107Memoria Investigaciones en Ingeniería; Núm. 21 (2021); 94-107Memoria Investigaciones en Ingenieria; n. 21 (2021); 94-1072301-11062301-109210.36561/ING.21reponame:REDUMinstname:Universidad de Montevideoinstacron:Universidad de MontevideoVisión artificialVideo estéreoRed neuronal convolucionalRobots humanoidesArtificial visionStereo videoConvolutional neural networkHumanoid robotsDetection system for humanoid robots in semi-structured environments based on stereoscopic visionSistema de detección de robots humanoides en ambientes semiestructurados basado en visión estereoscópicainfo:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionPeer reviewed articlesArtículos evaluados por paresArtigos revistos por parespublishedVersioninfo:eu-repo/semantics/publishedVersion20.500.12806/25572024-07-17 09:46:43.85oai:redum.um.edu.uy:20.500.12806/2557Universidadhttps://um.edu.uy/https://redum.um.edu.uy/oai/requestnolascoaga@um.edu.uyUruguayopendoar:105012024-07-17T12:46:43REDUM - Universidad de Montevideofalse |
| spellingShingle | Detection system for humanoid robots in semi-structured environments based on stereoscopic vision Herrera, Oscar Visión artificial Video estéreo Red neuronal convolucional Robots humanoides Artificial vision Stereo video Convolutional neural network Humanoid robots |
| status_str | publishedVersion |
| title | Detection system for humanoid robots in semi-structured environments based on stereoscopic vision |
| title_full | Detection system for humanoid robots in semi-structured environments based on stereoscopic vision |
| title_fullStr | Detection system for humanoid robots in semi-structured environments based on stereoscopic vision |
| title_full_unstemmed | Detection system for humanoid robots in semi-structured environments based on stereoscopic vision |
| title_short | Detection system for humanoid robots in semi-structured environments based on stereoscopic vision |
| title_sort | Detection system for humanoid robots in semi-structured environments based on stereoscopic vision |
| topic | Visión artificial Video estéreo Red neuronal convolucional Robots humanoides Artificial vision Stereo video Convolutional neural network Humanoid robots |
| url | http://revistas.um.edu.uy/index.php/ingenieria/article/view/855 |
