Coordinates obtaining for the disassembly of duplo bricks structures

This project is part of the Distributed and Intelligent Disassembly of Products with Mobile Robots project launched by the research program of the Sparkling Science of the "Federal Ministry of Science and Research (BMWF)" with the collaboration of the Institute of Automation and Control, U...

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Detalhes bibliográficos
Autor: Moser Passani, Alejandro
Formato: tesis de maestría
Fecha de publicación:2015
País:España
Recursos:Universitat Politècnica de Catalunya (UPC)
Repositorio:UPCommons. Portal del coneixement obert de la UPC
Idioma:inglés
OAI Identifier:oai:upcommons.upc.edu:2117/78691
Acesso em linha:https://hdl.handle.net/2117/78691
Access Level:acceso abierto
Palavra-chave:Mobile robots
OpenCv
Robots mòbils
Àrees temàtiques de la UPC::Informàtica::Robòtica
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spelling Coordinates obtaining for the disassembly of duplo bricks structuresObtaining coordinates for the disassembly of duplo brick structuresMoser Passani, AlejandroMobile robotsOpenCvRobots mòbilsÀrees temàtiques de la UPC::Informàtica::RobòticaThis project is part of the Distributed and Intelligent Disassembly of Products with Mobile Robots project launched by the research program of the Sparkling Science of the "Federal Ministry of Science and Research (BMWF)" with the collaboration of the Institute of Automation and Control, University of Vienna. It contributes to develop software and research on how to provide knowledge to a robotic to disassembly of objects. The fact of providing a robot with a certain ability to develop this task, requires a prior study of the current image processing techniques, with the aim of obtaining the right solution to solve the problem. This thesis shows a study of different image processing algorithms available nowadays. It also studies the possibility of adapting the software to be developed in an embedded platform, in order to avoid the robot to depend from a high performance PC. As a starting point for the development of the idea, it poses a simple problem: the disassembly of Duplo bricks structures. To address the difficult task of image processing, the well known OpenCV libraries created by Intel, currently in Open source, will be used. These libraries contain more than 500 functions. The problem of disassembling the Duplo bricks has been divided into 3 steps: object recognition, verification and feature extraction and calculation of its coordinates in the real world. For the object recognition, the system has been trained with pictures from different angles, backgrounds and lighting of the piece to be recognized. The complexity of this first stage lies on the fact that the Duplo bricks have a uniform color. Due to the difficulty involved in generating models that recognize the full bricks, it has been chosen to recognize the small hollow cylinders that serve as anchorage between bricks, getting an extra edge: Making possible in a future to recognize bricks with different number of cylinders. The verification and feature extraction has been done manually, as the functions provided by OpenCV were not quite optimal. This verification consists in checking if the founded cylinders are lined up in groups of 8 (in our particular case) forming a rectangle. The last step has been solved using a specific function that compares the obtained points in the picture with the points that define the object. After this last stage, and with the previous calibration of the camera, the translation and rotation matrices of the object in the real world are obtained. With these data, the robot is able to find with good precision the brick to take. The result of this Project is a completely functional code able to give the coordinates of the Duplo bricks got through a camera.Universitat Politècnica de CatalunyaKoppensteiner, Prof.20152015-07-2420152015-11-03master thesishttp://purl.org/coar/resource_type/c_bdccNAhttp://purl.org/coar/version/c_be7fb7dd8ff6fe43info:eu-repo/semantics/masterThesisapplication/pdfhttps://hdl.handle.net/2117/78691reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2http://creativecommons.org/licenses/by-nc-nd/3.0/es/info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/786912026-05-27T15:37:01Z
dc.title.none.fl_str_mv Coordinates obtaining for the disassembly of duplo bricks structures
Obtaining coordinates for the disassembly of duplo brick structures
title Coordinates obtaining for the disassembly of duplo bricks structures
spellingShingle Coordinates obtaining for the disassembly of duplo bricks structures
Moser Passani, Alejandro
Mobile robots
OpenCv
Robots mòbils
Àrees temàtiques de la UPC::Informàtica::Robòtica
title_short Coordinates obtaining for the disassembly of duplo bricks structures
title_full Coordinates obtaining for the disassembly of duplo bricks structures
title_fullStr Coordinates obtaining for the disassembly of duplo bricks structures
title_full_unstemmed Coordinates obtaining for the disassembly of duplo bricks structures
title_sort Coordinates obtaining for the disassembly of duplo bricks structures
dc.creator.none.fl_str_mv Moser Passani, Alejandro
author Moser Passani, Alejandro
author_facet Moser Passani, Alejandro
author_role author
dc.contributor.none.fl_str_mv Koppensteiner, Prof.
dc.subject.none.fl_str_mv Mobile robots
OpenCv
Robots mòbils
Àrees temàtiques de la UPC::Informàtica::Robòtica
topic Mobile robots
OpenCv
Robots mòbils
Àrees temàtiques de la UPC::Informàtica::Robòtica
description This project is part of the Distributed and Intelligent Disassembly of Products with Mobile Robots project launched by the research program of the Sparkling Science of the "Federal Ministry of Science and Research (BMWF)" with the collaboration of the Institute of Automation and Control, University of Vienna. It contributes to develop software and research on how to provide knowledge to a robotic to disassembly of objects. The fact of providing a robot with a certain ability to develop this task, requires a prior study of the current image processing techniques, with the aim of obtaining the right solution to solve the problem. This thesis shows a study of different image processing algorithms available nowadays. It also studies the possibility of adapting the software to be developed in an embedded platform, in order to avoid the robot to depend from a high performance PC. As a starting point for the development of the idea, it poses a simple problem: the disassembly of Duplo bricks structures. To address the difficult task of image processing, the well known OpenCV libraries created by Intel, currently in Open source, will be used. These libraries contain more than 500 functions. The problem of disassembling the Duplo bricks has been divided into 3 steps: object recognition, verification and feature extraction and calculation of its coordinates in the real world. For the object recognition, the system has been trained with pictures from different angles, backgrounds and lighting of the piece to be recognized. The complexity of this first stage lies on the fact that the Duplo bricks have a uniform color. Due to the difficulty involved in generating models that recognize the full bricks, it has been chosen to recognize the small hollow cylinders that serve as anchorage between bricks, getting an extra edge: Making possible in a future to recognize bricks with different number of cylinders. The verification and feature extraction has been done manually, as the functions provided by OpenCV were not quite optimal. This verification consists in checking if the founded cylinders are lined up in groups of 8 (in our particular case) forming a rectangle. The last step has been solved using a specific function that compares the obtained points in the picture with the points that define the object. After this last stage, and with the previous calibration of the camera, the translation and rotation matrices of the object in the real world are obtained. With these data, the robot is able to find with good precision the brick to take. The result of this Project is a completely functional code able to give the coordinates of the Duplo bricks got through a camera.
publishDate 2015
dc.date.none.fl_str_mv 2015
2015-07-24
2015
2015-11-03
dc.type.none.fl_str_mv master thesis
http://purl.org/coar/resource_type/c_bdcc
NA
http://purl.org/coar/version/c_be7fb7dd8ff6fe43
dc.type.openaire.fl_str_mv info:eu-repo/semantics/masterThesis
format masterThesis
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/78691
url https://hdl.handle.net/2117/78691
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2

http://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2

http://creativecommons.org/licenses/by-nc-nd/3.0/es/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Universitat Politècnica de Catalunya
publisher.none.fl_str_mv Universitat Politècnica de Catalunya
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,198674

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