Banca de DEFESA: RAFAEL CARDOSO PEREIRA

Uma banca de DEFESA de MESTRADO foi cadastrada pelo programa.
DISCENTE : RAFAEL CARDOSO PEREIRA
DATA : 23/06/2017
HORA: 15:00
LOCAL: Auditório do nPITI
TÍTULO:

Tracking and target pursuit technique using the Haar cascade algorithm applied to ground Robots with movement restrictions

PALAVRAS-CHAVES:

computer vision; target detection; configuration estimation; cascade classifiers; non-holonomic control; restricted control; path generatio

PÁGINAS: 96
GRANDE ÁREA: Engenharias
ÁREA: Engenharia Elétrica
RESUMO:

The ability to follow or move along with a specified person or object, capable of move, is a necessary skill in several autonomous agents to perform various tasks present in everyday life, and can be applied either in everyday tasks, as in supermarket carts or cleaning environments, as well in high-risk tasks such as in large industries or autonomous cars. The idea presented here is to develop a target tracking and following method applicable to mobile wheeled land robots that have restrictions on their movement, which mean that standard control techniques can not always be applied. The work developed here also takes into account the use of a target detection technique that can be adapted to practically any type of target stipulated by the designer according to the needs of its application. The development of the proposed methods was accomplished by adding standard recognition techniques, used in common RGB cameras, position estimation and orientation techniques, and intelligent control algorithms applicable to robots with movement restrictions, which have a low computational cost.

MEMBROS DA BANCA:
Presidente - 2579664 - ALLAN DE MEDEIROS MARTINS
Interno - 1242315 - PABLO JAVIER ALSINA
Externo ao Programa - 347628 - ADRIAO DUARTE DORIA NETO
Externo à Instituição - TIAGO PEREIRA DO NASCIMENTO - UFPB