Banca de DEFESA: LEONARDO ANGELO VIRGINIO DE SOUTO

Uma banca de DEFESA de DOUTORADO foi cadastrada pelo programa.
STUDENT : LEONARDO ANGELO VIRGINIO DE SOUTO
DATE: 30/11/2020
TIME: 09:00
LOCAL: Sala Virtual PPgEEC
TITLE:

Extracting Stairs and Doors as Natural Landmarks for Mobile Robot Localization from Clouds of 3D Edge-Points

KEY WORDS:

Natural Landmarks; RGB-D Sensors; 3D Edge-point Cloud; Robot Localization

PAGES: 62
BIG AREA: Ciências Exatas e da Terra
AREA: Ciência da Computação
SUBÁREA: Metodologia e Técnicas da Computação
SPECIALTY: Processamento Gráfico (Graphics)
SUMMARY:

Natural landmarks are the main features in the next step of the research in localization of mobile robot platforms. The identification and recognition of these landmarks are crucial to better localize a robot. To help solving this problem, this work proposes an approach for the identification and recognition of natural marks included in the environment using images from RGB-D sensors. In the identification step, a structural analysis of the natural landmarks that are present in the environment is performed. The extraction of edge points of these landmarks is done using the 3D point cloud obtained from the RGB-D sensor. These edge points are smoothed through the $Sl_0$ algorithm, which minimizes the standard deviation of the normals at each point. Then, the second step of the proposed algorithm begins, which is the proper recognition of the natural landmarks. This recognition step is done as a real-time algorithm that extracts the points referring to the filtered edges and determines to which structure they belong to in the current scenario: stairs or doors. Finally,  the geometrical characteristics that are intrinsic to the doors and stairs are identified. The approach proposed here has been validated with real robot experiments. The performed tests verify the efficacy of our proposed approach. 

BANKING MEMBERS:
Presidente - 1345674 - LUIZ MARCOS GARCIA GONCALVES
Interno - 2929823 - RAFAEL BESERRA GOMES
Externo ao Programa - 1170845 - BRUNO MARQUES FERREIRA DA SILVA
Externo à Instituição - ANDERSON ABNER DE SANTANA SOUZA - UERN
Externo à Instituição - TIAGO PEREIRA DO NASCIMENTO - UFPB