Multi-resolução com fóvea móvel para redução e abstração de dados em tempo real

• Ano de defesa: 2009
• Autor(a) principal: Gomes, Rafael Beserra
• Tipo de documento: Dissertação
• Tipo de acesso: Acesso aberto
• Idioma: por
• Instituição de defesa: Universidade Federal do Rio Grande do Norte; BR; UFRN; Programa de Pós-Graduação em Engenharia Elétrica; Automação e Sistemas; Engenharia de Computação; Telecomunicações
• Palavras-chave em Português: Visão robótica; Fóvea móvel; Multi-resolução; Robotics vision; Moving fovea; Multi-resolution; CNPQ::ENGENHARIAS::ENGENHARIA ELETRICA
• Link de acesso: https://repositorio.ufrn.br/jspui/handle/123456789/15302

We propose a new approach to reduction and abstraction of visual information for robotics vision applications. Basically, we propose to use a multi-resolution representation in combination with a moving fovea for reducing the amount of information from an image. We introduce the mathematical formalization of the moving fovea approach and mapping functions that help to use this model. Two indexes (resolution and cost) are proposed that can be useful to choose the proposed model variables. With this new theoretical approach, it is possible to apply several filters, to calculate disparity and to obtain motion analysis in real time (less than 33ms to process an image pair at a notebook AMD Turion Dual Core 2GHz). As the main result, most of time, the moving fovea allows the robot not to perform physical motion of its robotics devices to keep a possible region of interest visible in both images. We validate the proposed model with experimental results