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Previous issue date: 2016-04-27 / Ag?ncia Nacional do Petr?leo - ANP / Esse trabalho tem como objetivo o estudo de t?cnicas de vis?o computacional para o reconhecimento de gestos humanos, bem como sua aplica??o ao controle de rob?s m?veis. S?o analisados os desafios e propostas algumas solu??es para o desenvolvimento de uma interface simples, a qual permita o reconhecimento e a interpreta??o dos gestos gerados pela m?o humana, no intuito de controlar os movimentos de um rob?. Neste contexto, foi desenvolvido um programa em C++ para captar as imagens geradas por uma c?mera de alta defini??o e, a partir da informa??o extra?da das imagens, definir qual movimento seria realizado pelo rob?. Para auxiliar a tarefa de reconhecimento e processamento da imagem captada foram utilizadas fun??es da biblioteca OpenCV. Os resultados obtidos com a interface desenvolvida confirmam e demonstram a viabilidade de aplica??o desta tecnologia. / The main objective of this work was to enable the recognition of human gestures
through the development of a computer program. The program created captures the
gestures executed by the user through a camera attached to the computer and sends
it to the robot command referring to the gesture. They were interpreted in total ve
gestures made by human hand. The software (developed in C ++) widely used the
computer vision concepts and open source library OpenCV that directly impact the
overall e ciency of the control of mobile robots. The computer vision concepts take into
account the use of lters to smooth/blur the image noise reduction, color space to better
suit the developer's desktop as well as useful information for manipulating digital images.
The OpenCV library was essential in creating the project because it was possible to use
various functions/procedures for complete control lters, image borders, image area, the
geometric center of borders, exchange of color spaces, convex hull and convexity defect,
plus all the necessary means for the characterization of imaged features. During the
development of the software was the appearance of several problems, as false positives
(noise), underperforming the insertion of various lters with sizes oversized masks, as
well as problems arising from the choice of color space for processing human skin tones.
However, after the development of seven versions of the control software, it was possible
to minimize the occurrence of false positives due to a better use of lters combined with
a well-dimensioned mask size (tested at run time) all associated with a programming
logic that has been perfected over the construction of the seven versions. After all the
development is managed software that met the established requirements. After the
completion of the control software, it was observed that the overall e ectiveness of the
various programs, highlighting in particular the V programs: 84.75 %, with VI: 93.00
% and VII with: 94.67 % showed that the nal program performed well in interpreting
gestures, proving that it was possible the mobile robot control through human gestures
without the need for external accessories to give it a better mobility and cost savings
for maintain such a system. The great merit of the program was to assist capacity in
demystifying the man set/machine therefore uses an easy and intuitive interface for
control of mobile robots. Another important feature observed is that to control the mobile
robot is not necessary to be close to the same, as to control the equipment is necessary
to receive only the address that the Robotino passes to the program via network or Wi-Fi.
| Identifer | oai:union.ndltd.org:IBICT/oai:repositorio.ufrn.br:123456789/21177 |
| Date | 27 April 2016 |
| Creators | Albuquerque, Oto Emerson de |
| Contributors | 05362438751, http://lattes.cnpq.br/3256782908311485, Guerra, Angelo Roncalli Oliveira, 35808225434, http://lattes.cnpq.br/7353332474621022, Lima, Carlos Magno de, 27185400449, http://lattes.cnpq.br/2682764296612645, Souza, Luiz Guilherme Meira de, 25094955420, http://lattes.cnpq.br/0801747108308706, Santos, Natanaeyfle Randemberg Gomes dos, 03047568499, http://lattes.cnpq.br/0174046631340409, Bessa, Wallace Moreira |
| Publisher | Universidade Federal do Rio Grande do Norte, PROGRAMA DE P?S-GRADUA??O EM ENGENHARIA MEC?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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