Ricardopalacios

• Project Name: Developed several schemas for mate, people, door and wall robust identification using ethological sensor fusion tecnhiques.

• Authors: Ricardo Palacios and Jose María Cañas Plaza (jmplaza [at] gsyc [dot] es)

• Academic Year: 2005-2006

• Degree: Undergrad

• Jde Version: jde-2.4

• SVN Repository: source code

• Tags: robot, cameras, identify, laser.

• Technology: c, c++, jde suite, xforms

• State: Finished

• Source License: GPLv3

• Document License: Creative Commons Attribution-Share Alike 3.0 Unported License

• Documentation:

Master Thesis: PDF (latex code)

• Presentation:

In this project was developed some schemas to allow the robot to identifies a lot of objects like door, people, walls and others robots. To recognize these objects we use the measures of the laser, the odometry and the pictures from the camera. Then the differents measures has been merged and allow us to decided if this is a relevant object, or not. To navigate the algorithm used is VFF.

The next picture shows how the robot identifies the wall and the door.

In the second picture the robot identifies the wall, the door and the person in the same scene.

This picture shows a scene were there is a person and the robot identifies it.

The last image shows that the robot also can identify a door that is partialy closed.

• Videos:

The video is an execution of this system over the real robot.