Submitted by Automa??o e Estat?stica (sst@bczm.ufrn.br) on 2017-11-06T19:32:32Z No. of bitstreams: 1 ElizabethVivianaCabreraAvila_DISSERT.pdf: 25950680 bytes, checksum: d7419fec7a225d199d438d7c2c6390dd (MD5) / Approved for entry into archive by Arlan Eloi Leite Silva (eloihistoriador@yahoo.com.br) on 2017-11-20T19:57:50Z (GMT) No. of bitstreams: 1 ElizabethVivianaCabreraAvila_DISSERT.pdf: 25950680 bytes, checksum: d7419fec7a225d199d438d7c2c6390dd (MD5) / Made available in DSpace on 2017-11-20T19:57:50Z (GMT). No. of bitstreams: 1 ElizabethVivianaCabreraAvila_DISSERT.pdf: 25950680 bytes, checksum: d7419fec7a225d199d438d7c2c6390dd (MD5) Previous issue date: 2017-07-05 / Coordena??o de Aperfei?oamento de Pessoal de N?vel Superior (CAPES) / Dentro da ?rea de Mecatr?nica, principalmente em CAD (Computer Aided Desing) e Vis?o Rob?tica, s?o desenvolvidas uma s?rie de aplica??es que necessitam da an?lise de objetos n?o r?gidos ou deform?veis atrav?s de representa??es computacionais dos mesmos. Esta pesquisa mostra como medir similaridade de objetos deform?veis utilizando a representa??o atrav?s de nuvens de pontos tridimensionais. Basicamente, s?o consideradas tr?s nuvens de pontos do objeto analisado: uma sem altera??es, outra que representa o grau de m?xima deforma??o e uma terceira que descreve a deforma??o de interesse, no momento de execu??o de alguma aplica??o. Estudamos dois m?todos alternativos para medir similaridade baseadas em medidas de dist?ncias, com as respectivas verifica??es da precis?o e tempos. O primeiro m?todo ? baseado no c?lculo da dist?ncia de Mahalanobis e, no segundo, ? usada a dist?ncia de Hausdorff ap?s uma etapa pr?via de registro e alinhamento dos dados. Foram realizados experimentos e an?lises considerando algumas partes do corpo humano, onde se evidencia que a dist?ncia de Mahalanobis tem o menor tempo de execu??o, sendo fact?vel em tempo real. V?rias aplica??es nas ?reas acima mencionadas podem se basear nos resultados obtidos nesta disserta??o para determinar os n?veis de deforma??o de objetos deform?veis restritos. / Within the area of Mechatronics, mainly in CAD (Computer Aided Desing) and Robotic Vision, many applications are developed that require the analysis of non-rigid or deformable objects through computational representations of them. This master thesis proposes an approach to measure similarity of deformable objects using three-dimensional points clouds of them. Basically, three point clouds of the analyzed object are considered: one without changes, another representing the degree of maximum deformation and a third that describes the deformation of interest, at the time of application execution. Here are presented two alternatives to measure similarity based on Distance measures, with the respective accuracy and time checks. The first method is based on the Mahalanobis distance computation and, in the second, the Hausdorff distance is used after a registration and alignment steps of the data. The experiments are developed considering some parts of the human body, its evidents that the analysis with Mahalanobis distance has the shortest execution time, being feasible in real time. Several applications in the above mentioned areas can be based on the results obtained in this dissertation to determine the deformation levels of restricted deformable objects.