Navegación de robot movil en entornos domésticos basada en reconocimiento de objetos
This document presents a navigation system for a mobile robot in domestic environments based on object recognizing. First, it presents an evaluation of some state-art object detection networks using images of the simulator that was used in the project (Habitat-Sim). Then, it presents a full explorat...
- Autores:
-
Vitery Gómez, Santiago
- Tipo de recurso:
- Trabajo de grado de pregrado
- Fecha de publicación:
- 2021
- Institución:
- Universidad de los Andes
- Repositorio:
- Séneca: repositorio Uniandes
- Idioma:
- spa
- OAI Identifier:
- oai:repositorio.uniandes.edu.co:1992/51562
- Acceso en línea:
- http://hdl.handle.net/1992/51562
- Palabra clave:
- Robots móviles
Redes neuronales convolucionales
Sistema de reconocimiento de configuraciones
Ingeniería
- Rights
- openAccess
- License
- https://repositorio.uniandes.edu.co/static/pdf/aceptacion_uso_es.pdf
| Summary: | This document presents a navigation system for a mobile robot in domestic environments based on object recognizing. First, it presents an evaluation of some state-art object detection networks using images of the simulator that was used in the project (Habitat-Sim). Then, it presents a full exploration of a domestic environment and the labeling of the points of a grid with the possible places of the environment. After that, it presents the clustering of the labels and the computing of the geometric center or a near navigable point to define the high-level graph. Finally, a navigation where a user choose a start and end point of the graph. |
|---|