Exploring stereo vision on Pepper for distance estimation of people

Peña Roncero, Javier (2019). Exploring stereo vision on Pepper for distance estimation of people. Proyecto Fin de Carrera / Trabajo Fin de Grado, E.T.S. de Ingenieros Informáticos (UPM), Madrid, España.

Description

Title: Exploring stereo vision on Pepper for distance estimation of people
Author/s:
  • Peña Roncero, Javier
Contributor/s:
  • Hindriks, Koen V.
Item Type: Final Project
Degree: Grado en Ingeniería Informática
Date: June 2019
Subjects:
Faculty: E.T.S. de Ingenieros Informáticos (UPM)
Department: Otro
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

Robots y la forma en la que interactúan con personas, en los últimos años, ha sufrido un increíble crecimiento. En particular por la popularidad que están obteniendo por su uso en museos, centros de congresos, aeropuertos… El problema principal es que su software es aun no suficientemente funcional y no es capaz de ofrecer un buen rendimiento. El objetivo de esta investigación es mejorar las capacidades de Pepper en el campo de detección de personas y estimación de distancia. Para hacerlo usaremos un nuevo componente de hardware que Pepper integra en esta última versión, las visión en estéreo. Usaremos OpenCV y tensorFlow para procesar las imágenes. Compararemos las mejoras que nuestra técnica tiene frente a los métodos integrados en Pepper para estimar distancia a personas.---ABSTRACT---Robotics, and the way that they interact with people, in the last years, has seen incredible growth, in particular for the popularization that they are getting in museums, congress centers, airports. The main problem is that its software is still clumsy and not capable of offering a good performance. The aim of this research is to improve Pepper capabilities in the field of people detection and distance estimation. For doing this we will use one of the new hardware components that Pepper provides, Stereo Vision. We will make use of OpenCV and tensorFlow for processing the images. We compare the improvements that our technique has with the built-in methods of pepper robot for distance estimation and people detection.

More information

Item ID: 56909
DC Identifier: http://oa.upm.es/56909/
OAI Identifier: oai:oa.upm.es:56909
Deposited by: Biblioteca Facultad de Informatica
Deposited on: 16 Oct 2019 08:42
Last Modified: 16 Oct 2019 08:42
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