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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.
| Identifer | oai:union.ndltd.org:IBICT/oai:repositorio.ufrn.br:123456789/24322 |
| Date | 05 July 2017 |
| Creators | Avila, Elizabeth Viviana Cabrera |
| Contributors | 32541457120, Gomes, Rafael Beserra, 05155222443, Maia, Rosiery da Silva, 02819914489, Gon?alves, Luiz Marcos Garcia |
| Publisher | PROGRAMA DE P?S-GRADUA??O EM ENGENHARIA MECATR?NICA, UFRN, Brasil |
| Source Sets | IBICT Brazilian ETDs |
| Language | Portuguese |
| Detected Language | English |
| Type | info:eu-repo/semantics/publishedVersion, info:eu-repo/semantics/masterThesis |
| Source | reponame:Repositório Institucional da UFRN, instname:Universidade Federal do Rio Grande do Norte, instacron:UFRN |
| Rights | info:eu-repo/semantics/openAccess |
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